CN220996698U - Ship instrument panel - Google Patents
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- CN220996698U CN220996698U CN202322493422.4U CN202322493422U CN220996698U CN 220996698 U CN220996698 U CN 220996698U CN 202322493422 U CN202322493422 U CN 202322493422U CN 220996698 U CN220996698 U CN 220996698U
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Abstract
The utility model discloses a ship instrument panel. The instrument panel of the ship comprises: a gyroscope; the method comprises the steps of determining rudder angle information, balance angle information and speed information according to triaxial acceleration information and triaxial angular speed information of a ship; a CAN transceiver; the rudder angle information, the balance angle information and the speed information are respectively sent to a rudder angle table, a balance table and a speed table; a rudder angle gauge; the gyroscope is in communication connection with the rudder angle gauge through the CAN transceiver; a rudder angle gauge configured to display rudder angle information; a balance table; the gyroscope is in communication connection with the balance meter through the CAN transceiver; a balance table configured to display balance angle information; a speedometer; the gyroscope is in communication connection with the speedometer through the CAN transceiver; a speedometer configured to display speed information; according to the scheme, the gyroscope is used for realizing high-precision measurement of the ship position, and meanwhile the problems that in the prior art, the precision of measuring various information by adopting various resistance sensors is low, wiring from various resistance sensors to various instruments is complex and the cost is high are avoided.
Description
Technical Field
The embodiment of the utility model relates to the field of ship angle measurement, in particular to a ship instrument panel.
Background
In the technical field of ships, various meters are often arranged on a ship body to monitor the position of the ship body due to the requirement of the self-navigation safety of the ship or the requirement of scientific research.
The traditional instrument for ships basically takes the instrument as a separate indication instrument, the input signal depends on the acquisition and analysis of an external sensor, each instrument has only one single function, such as a rudder angle meter, a balance meter and the like, two corresponding resistance value type sensors are needed, and generally, the accuracy error of the resistance type sensors is relatively large and commonly reaches + -3%. In addition, the wiring connection from various sensors to the instrument is not avoided, so that the cost is increased, wiring layout and the like are considered, the overall appearance of the ship is affected, and the error probability is increased.
Disclosure of utility model
The utility model provides a ship instrument panel, which is used for realizing high-precision measurement of the ship body position through a gyroscope, and solving the problems of low precision of measuring various information by adopting various resistance sensors and complex wiring and high cost caused by wiring connection from various resistance sensors to various instruments in the prior art.
To achieve the above object, an embodiment of the present utility model provides a marine vessel dashboard, including:
A gyroscope; the method comprises the steps of determining rudder angle information, balance angle information and speed information according to triaxial acceleration information and triaxial angular speed information of a ship;
A CAN transceiver; configured to transmit the rudder angle information, the balance angle information, and the speed information to the rudder angle table, the balance table, and the speed table, respectively;
a rudder angle gauge; the gyroscope is in communication connection with the rudder angle gauge through the CAN transceiver; the rudder angle gauge is configured to display the rudder angle information;
A balance table; the gyroscope is in communication connection with the balance meter through the CAN transceiver; the balance table is configured to display the balance angle information;
A speedometer; the gyroscope is in communication connection with the speedometer through the CAN transceiver; the speed meter is configured to display the speed information.
Optionally, the gyroscope is integrated in the rudder angle gauge; and the gyroscope is respectively in communication connection with the balance meter and the speedometer through the CAN transceiver.
Optionally, the gyroscope is integrated within the balance meter; and the gyroscope is respectively in communication connection with the rudder angle meter and the speedometer through the CAN transceiver.
Optionally, the gyroscope is integrated within the speedometer; and the gyroscope is respectively in communication connection with the rudder angle meter and the balance meter through the CAN transceiver.
Optionally, the gyroscope comprises a triaxial accelerometer, a triaxial angular velocity meter and a main control unit;
the triaxial accelerometer is used for measuring and outputting triaxial acceleration information of the ship;
The triaxial angular velocity meter is used for measuring and outputting triaxial angular velocity information of the ship;
The main control unit is specifically used for determining the rudder angle information according to the X-axis acceleration information, the Z-axis acceleration information and the Y-axis angular velocity information; the balance angle information is further determined according to the Y-axis acceleration information, the Z-axis acceleration information and the X-axis angular velocity information; the method is also specifically used for determining the speed information according to the X-axis acceleration information, the Y-axis acceleration information and the Z-axis acceleration information.
Optionally, the gyroscope is separately arranged from the rudder angle gauge, the balance gauge and the speedometer; and the gyroscope is respectively in communication connection with the rudder angle meter, the balance meter and the speedometer through the CAN transceiver.
Optionally, the gyroscope is integrated on a PCB on which the rudder angle gauge is located.
Optionally, the gyroscope is integrated on a PCB on which the balance meter is located.
Optionally, the gyroscope is integrated on a PCB on which the speedometer is located.
Optionally, the gyroscope is arranged on one PCB, and the rudder angle gauge, the balance gauge and the speedometer are separately arranged on different PCBs.
According to the embodiment of the utility model, the gyroscope determines rudder angle information, balance angle information and speed information according to the triaxial acceleration information and triaxial angular speed information of the ship; the CAN transceiver transmits the rudder angle information, the balance angle information and the speed information to the rudder angle meter, the balance meter and the speed meter respectively; the rudder angle meter displays the rudder angle information; the balance table displays the balance angle information; the speedometer displays the speed information, so that the high-precision measurement of the ship position is realized through the gyroscope, and the problems of low precision of measuring each information by adopting various resistance sensors and complex wiring and high cost caused by wiring connection from various resistance sensors to each instrument in the prior art are avoided.
Drawings
Fig. 1 is a schematic structural view of a dashboard of a ship according to an embodiment of the present utility model;
Fig. 2 is a schematic diagram of a specific structure of a dashboard of a ship according to an embodiment of the present utility model;
Fig. 3 is a schematic diagram of a specific structure of a dashboard of a ship according to an embodiment of the present utility model;
fig. 4 is a schematic structural diagram of a dashboard of a ship according to an embodiment of the present utility model;
fig. 5 is a schematic diagram of a specific structure of a dashboard of a ship according to an embodiment of the present utility model.
Fig. 6 is a schematic diagram of a specific structure of a dashboard of a ship according to an embodiment of the present utility model;
Fig. 7 is a diagram of a space coordinate system provided by the present utility model.
Detailed Description
The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.
Fig. 1 is a schematic structural view of a dashboard of a ship according to an embodiment of the present utility model; as shown in fig. 1, the marine vessel dashboard includes: a gyroscope 10, a CAN transceiver 20, a rudder angle gauge 30, a balance gauge 40 and a speedometer 50; the gyroscope 10 is configured to determine rudder angle information, balance angle information, and speed information from the triaxial acceleration information and triaxial angular speed information of the ship; the CAN transceiver 20 is configured to transmit rudder angle information, balance angle information, and speed information to the rudder angle gauge 30, balance gauge 40, and speed gauge 50, respectively; the gyroscope 10 is in communication connection with the rudder angle gauge 30 through the CAN transceiver 20; a rudder angle gauge 30 configured to display rudder angle information; the gyroscope 10 is in communication connection with the balance meter 40 through the CAN transceiver 20; a balance table 40 configured to display balance angle information; the gyroscope 10 is in communication connection with the speedometer 50 through the CAN transceiver 20; the speedometer 50 is configured to display speed information.
The gyroscope 10 in this embodiment is a MEMS (micro electro mechanical system) six-axis sensor; the gyroscope 10 can collect triaxial acceleration information and triaxial angular velocity information of the ship; the triaxial acceleration information is the acceleration of the gyroscope on each axis of a space reference coordinate system (X, Y, Z) of the ship motion track measured in real time; the three-axis angular velocity information is the angular velocity information of the gyroscope, which is used for measuring the ship motion trail around each axis in real time in a space reference coordinate system (X, Y, Z);
The gyroscope 10 can also determine rudder angle information, balance angle information and speed information of the ship at the same time by using a Kalman fusion method according to triaxial acceleration information and triaxial angular speed information of the ship; the rudder angle information is the yaw angle of the ship deviating from the motion track in the motion plane; the balance angle information is the pitch angle of the ship in the vertical motion plane; the gyroscope 10 outputs rudder angle information, balance angle information and speed information of the ship with high accuracy and high reliability.
The CAN transceiver 20 is a communication module for communication according to a self-defined CAN protocol; the CAN transceiver 20 may transmit rudder angle information, balance angle information, and speed information to the rudder angle gauge 30, the balance gauge 40, and the speed gauge 50, respectively; the rudder angle gauge 30 displays rudder angle information; balance table 40 displays balance angle information; the speedometer 50 displays speed information, so that the gyroscope 10 is utilized in the field of ship instrument panels, high-precision measurement of ship positions is realized through the gyroscope 10, and meanwhile, the problems of low precision of measuring each information by adopting various resistance sensors and complex wiring and high cost caused by wiring connection from various resistance sensors to each instrument in the prior art are avoided.
It will be appreciated that the specific layouts of the gyroscope 10, the CAN transceiver 20, the rudder angle gauge 30, the balance gauge 40 and the speedometer 50 may be disposed on the same PCB or may be disposed on different PCBs, which is not particularly limited in this embodiment.
Optionally, fig. 2 is a schematic structural diagram of a dashboard of a ship according to an embodiment of the present utility model; as shown in fig. 2, in some embodiments, gyroscope 10 is integrated within rudder angle gauge 30; the gyroscope 10 is communicatively connected to the balance meter 40 and the speedometer 50 via the CAN transceiver 20.
The gyroscope 10 is integrated in the rudder angle gauge 30, namely, the gyroscope 10 is integrated on a PCB where the rudder angle gauge 30 is located; the gyroscope 10 and the rudder angle gauge 30 are designed integrally, and the gyroscope 10 after the integrated design sends balance information and speed information to the balance gauge 40 and the speed gauge 50 respectively through the CAN transceiver 20; in this way, the gyroscope 10 and the rudder angle gauge 30 are integrally designed, wiring in the whole ship instrument panel is simplified, and wiring space in the whole ship instrument panel is saved.
Optionally, fig. 3 is a schematic structural diagram of a dashboard of a ship according to an embodiment of the present utility model; in other embodiments, as shown in FIG. 3, gyroscope 10 is integrated within balance meter 40; the gyroscope 10 is connected with the rudder angle gauge 30 and the speedometer 50 through the CAN transceiver 20.
The gyroscope 10 is integrated in the balance meter 40, that is, the gyroscope 10 is integrated on a PCB where the balance meter 40 is located, the gyroscope 10 and the balance meter 40 are integrally designed, and the integrally designed gyroscope 10 sends rudder angle information and speed information to the rudder angle meter 30 and the speed meter 50 through the CAN transceiver 20; in this way, the gyroscope 10 and the balance meter 40 are integrally designed, so that wiring in the whole ship instrument panel can be simplified, and wiring space in the whole ship instrument panel can be saved.
Optionally, fig. 4 is a schematic structural diagram of a dashboard of a ship according to an embodiment of the present utility model; as shown in fig. 4, in other embodiments, gyroscope 10 may also be integrated within speedometer 50; the gyroscope 10 is connected with the rudder angle gauge 30 and the balance gauge 40 through the CAN transceiver 20 in a communication mode.
Similarly, integrating the gyroscope 10 into the speedometer 50, that is, integrating the gyroscope 10 on the PCB where the speedometer 50 is located, integrating the gyroscope 10 with the speedometer 50, and transmitting rudder angle information and balance angle information of the integrally designed gyroscope 10 to the rudder angle meter 30 and the balance meter 40 through the CAN transceiver 20; in this way, the gyroscope 10 and the speedometer 50 are integrally designed, so that wiring in the whole ship instrument panel can be simplified, and wiring space in the whole ship instrument panel can be saved.
Optionally, fig. 5 is a schematic structural diagram of a dashboard of a ship according to an embodiment of the present utility model; in other embodiments, as shown in fig. 5, the gyroscope 10 is provided separately from the rudder angle gauge 30, the balance gauge 40, and the speedometer 50; the gyroscope 10 is in communication connection with the rudder angle gauge 30, the balance gauge 40 and the speedometer 50 through the CAN transceiver 20.
The gyroscope 10, the rudder angle gauge 30, the balance gauge 40 and the speedometer 50 are arranged separately, namely, the gyroscope 10 is welded on a PCB independently, and the rudder angle gauge 30, the balance gauge 40 and the speedometer 50 are arranged on different PCBs separately; or rudder angle meter 30, balance meter 40 and speedometer 50 are arranged on the same PCB, gyroscope 10 CAN respectively send the determined rudder angle information, balance information and speed information to rudder angle meter 30, balance meter 40 and speedometer 50 through CAN transceiver 20, thus avoiding the problems of complicated wiring and higher cost caused by adopting wiring connection from various resistance sensors to various meters in the prior art, and simplifying wiring in the whole instrument panel of the ship as well.
In some embodiments, any two of rudder angle gauge 30, balance gauge 40 and speedometer 50 are integrated on a specific PCB, and gyroscope 10 may be integrated on the specific PCB to implement an integrated design of gyroscope 10 and any two of rudder angle gauge 30, balance gauge 40 and speedometer 50, and exemplary, gyroscope 10 is integrated on the PCB integrated with rudder angle gauge 30 and balance gauge 40, so that gyroscope 10 after the integrated design transmits speed information to speedometer 50 through CAN transceiver 20; the integrated design of the gyroscope 10, the rudder angle gauge 30, the balance gauge 40 and the speedometer 50 can simplify wiring in the whole ship instrument panel and save wiring space in the whole ship instrument panel.
The measurement principle of the gyroscope 10 is specifically described below; fig. 6 is a schematic diagram of a specific structure of a dashboard of a ship according to an embodiment of the present utility model; as shown in fig. 6, the gyroscope 10 includes a triaxial accelerometer 11, a triaxial angular velocity meter 12, and a main control unit 13; a triaxial accelerometer 11 for outputting triaxial acceleration information of the ship; a triaxial angular velocity meter 12 for outputting triaxial angular velocity information of the ship; the main control unit 13 is specifically configured to determine rudder angle information according to the X-axis acceleration information, the Z-axis acceleration information, and the Y-axis angular velocity information; the balance angle information is also specifically determined according to the Y-axis acceleration information, the Z-axis acceleration information and the X-axis angular velocity information; the method is also specifically used for determining the speed information according to the X-axis acceleration information, the Y-axis acceleration information and the Z-axis acceleration information.
Specifically, a spatial coordinate system (X, Y, Z) is established, fig. 7 is a spatial coordinate system diagram provided by the present utility model, and as shown in fig. 7, it is assumed that a gyroscope plane yz=α is a horizontal plane, a vertical plane β=xz, a bow is a positive Z direction, a stern is a negative Z direction, and a positive X direction is a gravity g direction. R is the random motion direction of the ship; taking 13 cases of a 10-bit main control unit, wherein the voltage value corresponding to the X-axis acceleration obtained by outputting by a triaxial accelerometer is AdcRx, the voltage value corresponding to the Y-axis acceleration is AdcRy, and the voltage value corresponding to the Z-axis acceleration is AdcRz; vref is the reference voltage 3.3V, vzero G is the voltage offset of 0V, and the Sensitivity of the accelerometer is Sensitivity (mv/g);
The voltage value corresponding to the X-axis angular velocity change rate measured by the triaxial angular velocity meter is AdcGyroXZ, and the voltage value corresponding to the Y-axis angular velocity change rate is AdcGyroYZ; vref is the reference voltage 3.3V, vzeroRate is the voltage offset of 0V; angular velocity meter Sensitivity is Sensitivity (mV/(deg/s));
The main control unit 13 determines balance angle information according to the X-axis acceleration information Rx, the Z-axis acceleration information Rz and the X-axis angular velocity change rate information RateAxz, and specifically includes:
1) Determining the X-axis acceleration Rx as follows according to the voltage value AdcRx corresponding to the X-axis acceleration:
Rx＝(AdcRx*Vref/1023–VzeroG)/Sensitivity；
2) And determining the Z-axis acceleration Rz as follows according to the voltage value corresponding to the Z-axis acceleration AdcRz:
Rz＝(AdcRz*Vref/1023–VzeroG)/Sensitivity；
3) Calculating an included angle Azr between the vector R and the Z axis:
Azr＝arccos(Rz/R)，
In the embodiment, the ship random motion direction vector R is the direction of the gravity vector, except the gravity, and is not influenced by any external force;
4) The angle Axr between the vector R and the X-axis:
Axr＝arccos(Rx/R)；
5) The included angle Axz between the X axis and the Z axis is:
Axz＝Axr/Azr；
Axz is the included angle between the projection of the vector R on the beta plane and the Z axis, namely the pitch angle (balance angle) in the scheme;
6) Determining the change rate RateAxz of the angular velocity of the X-axis according to the voltage value AdcGyroXZ corresponding to the change rate of the angular velocity of the X-axis as follows:
RateAxz＝(AdcGyroXZ*Vref/1023–VzeroRate)/Sensitivity；
7) Integrating the X-axis angular velocity change rate RateAxz with time to obtain X-axis angular velocity Rxro; further integrating the X-axis angular velocity Rxro with respect to time to obtain Axz';
8) Further determining balance angle information by using a Kalman fusion method; in particular to
Rest(n)＝(Axr+Axz’*wGyro)/(1+wGyro)，
Wherein Axr is a pitch angle (balance angle) obtained by using an accelerometer; axz' is a pitch angle (equilibrium angle) obtained by an angular velocity meter; rest (n) is balance angle information after fusion processing; wGyro indicates the degree of belief to accelerometers and angular velocity meters, wGyro can be determined by testing, typically with empirical values between 5 and 20.
Similarly, the main control unit 13 is configured to determine rudder angle information according to the Y-axis acceleration information Ry, the Z-axis acceleration information Rz, and the Y-axis angular velocity change rate information RateAyz, and specifically includes:
1) And determining the Y-axis acceleration Ry as follows according to the voltage value AdcRy corresponding to the Y-axis acceleration:
Ry＝(AdcRy*Vref/1023–VzeroG)/Sensitivity；
2) And determining the Z-axis acceleration Rz as follows according to the voltage value corresponding to the Z-axis acceleration AdcRz:
Rz＝(AdcRz*Vref/1023–VzeroG)/Sensitivity；
3) Calculating an included angle Ayr between the Z axis and the Y axis:
Ayz＝arccos(Rz/Ry)，
Ayz is the angle between the projection of the vector R on the alpha plane and the Z axis, namely the yaw angle (rudder angle) in the scheme;
4) And determining the Y-axis angular velocity change rate RateAyz as follows according to the voltage value AdcGyroYZ corresponding to the Y-axis angular velocity change rate:
RateAyz＝(AdcGyroYZ*Vref/1023–VzeroRate)/Sensitivity；
5) Integrating the X-axis angular velocity change rate RateAyz with time to obtain Y-axis angular velocity Ryro; further integrating the Y-axis angular velocity Ryro with respect to time to obtain Ayz';
6) Further determining balance angle information by using a Kalman fusion method; in particular to
Rest(n)＝(Ayz+Ayz’*wGyro)/(1+wGyro)，
Ayr is rudder angle information obtained by using an accelerometer; ayz' is rudder angle information obtained by an angular velocity meter; rest (n) is rudder angle information after fusion processing; wGyro indicates the degree of belief to accelerometers and angular velocity meters, wGyro can be determined by testing, typically with empirical values between 5 and 20.
Because the angular velocity meter has good dynamic response, the influence of main shaft vibration is small, and the obtained rotation angular velocity can obtain a relatively stable rotation angle through integration of time. The accelerometer has good static characteristics, and can obtain the characteristic of a relatively accurate angle in a static state, so that the gyroscope 10 comprehensively utilizes the advantages of the angular velocity meter and the accelerometer, and obtains rudder angle information and balance angle information with higher precision by using a fusion algorithm;
The main control unit 13 is further configured to determine speed information according to the X-axis acceleration information Rx, the Y-axis acceleration information Ry, and the Z-axis acceleration information Rz, specifically:
The projection of the vector R on the vertical plane β is Rxz, rxz=sqrt (rx≡2+rz ζ 2), and assuming that the instantaneous initial velocity at time T1 in the direction of the vertical plane β is vT1, the velocity after a certain period of time reaches time T2 is:
In this case, dt takes the sampling interval of 10ms, and the vector R is projected onto the β plane as an example, so that the motion speeds on the other two planes can be obtained in the same way. The determined movement speeds of the various surfaces can be used as compensation for speed calculation in the case that the ships and boats are not just connected with satellites when the ships and boats are just disconnected with the GPS, or the ships and boats lose GPS signals in a short time.
Of course, in some embodiments, to eliminate errors introduced by the accelerometer and the angular velocity meter themselves, initial rudder angle information, initial balance angle information, and initial velocity information may be factored in to enhance accurate measurements of subsequent rudder angle information, balance angle information, and velocity information.
Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.
Claims (10)
1. A marine dashboard, comprising: the device comprises a gyroscope, a CAN transceiver, a rudder angle meter, a balance meter and a speedometer;
The gyroscope is configured to determine rudder angle information, balance angle information and speed information according to triaxial acceleration information and triaxial angular speed information of the ship;
The gyroscope is in communication connection with the rudder angle gauge through the CAN transceiver; the gyroscope is in communication connection with the balance meter through the CAN transceiver; the gyroscope is in communication connection with the speedometer through the CAN transceiver; the CAN transceiver is configured to transmit the rudder angle information, the balance angle information and the speed information to the rudder angle meter, the balance meter and the speed meter respectively;
the rudder angle gauge is configured to display the rudder angle information;
The balance table is configured to display the balance angle information;
the speed meter is configured to display the speed information.
2. The marine dashboard of claim 1, wherein the gyroscope is integrated within the rudder angle gauge; and the gyroscope is respectively in communication connection with the balance meter and the speedometer through the CAN transceiver.
3. The marine dashboard of claim 1, wherein the gyroscope is integrated within the balance meter; and the gyroscope is respectively in communication connection with the rudder angle meter and the speedometer through the CAN transceiver.
4. The marine dashboard of claim 1, wherein the gyroscope is integrated within the speedometer; and the gyroscope is respectively in communication connection with the rudder angle meter and the balance meter through the CAN transceiver.
5. The marine dashboard of claim 1, wherein the gyroscope comprises a tri-axial accelerometer, a tri-axial angular accelerometer, and a master control unit;
the triaxial accelerometer is used for measuring and outputting triaxial acceleration information of the ship;
The triaxial angular velocity meter is used for measuring and outputting triaxial angular velocity information of the ship;
The main control unit is specifically used for determining the rudder angle information according to the X-axis acceleration information, the Z-axis acceleration information and the Y-axis angular velocity information; the balance angle information is further determined according to the Y-axis acceleration information, the Z-axis acceleration information and the X-axis angular velocity information; the method is also specifically used for determining the speed information according to the X-axis acceleration information, the Y-axis acceleration information and the Z-axis acceleration information.
6. The marine dashboard of claim 1, wherein the gyroscope is provided separately from the rudder angle gauge, the balance gauge, the speedometer; and the gyroscope is respectively in communication connection with the rudder angle meter, the balance meter and the speedometer through the CAN transceiver.
7. The marine dashboard of claim 2, wherein the gyroscope is integrated on a PCB on which the rudder angle gauge is located.
8. A vessel dashboard according to claim 3, wherein the gyroscopes are integrated on the PCB on which the balance meter is located.
9. The marine dashboard of claim 4, wherein the gyroscope is integrated on a PCB on which the speedometer is located.
10. The marine dashboard of claim 6, wherein the gyroscopes are disposed on one PCB, and the rudder angle gauge, the balance gauge, and the speedometer are disposed separately on different PCBs.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202322493422.4U CN220996698U (en) | 2023-09-13 | 2023-09-13 | Ship instrument panel |
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| CN202322493422.4U CN220996698U (en) | 2023-09-13 | 2023-09-13 | Ship instrument panel |
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