KR101307828B1 - Wave height measuring device for shipping - Google Patents

Abstract

PURPOSE: A wave height measuring device for a ship is provided to measure the wave height, wave period, and wave direction on the sea where a ship is located in real-time. CONSTITUTION: A wave height measuring device (100) for a ship comprises a three-axis accelerator sensor (120), a finite impulse response (FIR) filter (130), a calculation unit (140), a wireless communication unit (150), and a control unit. The three-axis accelerator sensor is installed within a 5m radius of the center of a ship and measures the accelerations in the ship in bow, width, and vertical directions. The FIR filter removes engine oscillation frequency, oscillation frequency caused by the interaction of the ship and waves, and ship oscillation frequency from the data measured by the three-axis accelerator sensor. The calculation unit calculates the wave height and period through the wave signals passing through the FIR filter. The wireless communication unit transmits the calculated wave height and period data to a weather data server. The control unit controls all units of the device. [Reference numerals] (120) Acceleration sensor; (130) FIR filter; (140) Calculation unit; (150) Wireless communication unit; (AA) Control unit; (BB) Weather data server

Description

Wave height measuring device for ships {Wave height measuring device for shipping}

The present invention relates to a wave height measurement system for ships, and more particularly, to install the device consisting of an acceleration sensor, a gyroscope and a geomagnetic sensor in the center of the ship to measure the wave height and wave period and wave direction in which the corresponding ship is located in real time The present invention relates to a ship crest measurement system as a marine observation device.

Buoys for marine observation are generally very useful in that they are installed and dropped in difficult waters to measure the atmospheric pressure, sea temperature, and crest in the area, but these buoys Since anchors are fixed at depths of tens to hundreds of meters so as not to be swept away by tides and waves, it is not possible to observe the sea conditions other than the dropped sea area.

In particular, the data collected by the Buoy as described above is the data of the sea surface conditions of the dropped sea area is collected by the Meteorological Agency and delivered to each port as weather forecasts, Even if the weather is good, fishing boats that rely on the weather forecast of the Korea Meteorological Administration have a problem that their feet are tied to the port.

As mentioned above, in case of fishing vessels that live offshore, the weather forecast of the Korea Meteorological Administration that provides weather forecasts for the sea based on the data collected from Buoy if the fishing vessels fail to float even after one day Because they have to rely only on the circumstance, they are frequently unable to depart even in good weather, which can depart.

On the other hand, in addition to the buoy (Buoy) described above as a technique for obtaining data on the wave height, wave period and wave direction, there is a ship wave measurement system for estimating the movement of the sea surface in order to measure the wave height, such a technique is the top and bottom of the vessel The motion is measured by GPS, but the relative motion between the ship and the sea level is estimated by the athlete by measuring the gap through the beam firing on the sea level.

However, in the case of the ship wave measurement system for estimating the movement of the sea surface in order to measure the wave height as described above, there is a problem that it is impossible to measure the vertical movement of the ship by GPS, which is not practical.

As a technique for obtaining data on wave height, wave direction, and wave period in the prior art, a technique for acquiring bird information using a navigation radar has been developed. This technique obtains radar image information through a navigation radar and calculates a wave direction from this information.

However, in the case of the technique of acquiring bird information using the navigator radar as described above, the wave direction can be extracted to a certain extent, but in the case of the digging, there is a problem that it is difficult to extract the wave information, and even if the digging data is extracted, there is a conventional expression such as buoy expression. Compared to the measurement method of the error has a big disadvantage.

Patent Document 1. Registered Utility Model Publication No. 20-0426753 (announced on September 18, 2006) Patent Document 2. Registered Patent Publication No. 10-0795497 (Announced on January 17, 2008) Patent Document 3. Registered Patent Publication No. 10-0166173 (announced on May 1, 1999)

The present invention has been made to solve all the problems of the prior art, consisting of a device consisting of a three-axis acceleration sensor, three-axis gyroscope and three-axis geomagnetic sensor within a radius of 5m from the center of the ship of the corresponding sea area The purpose is to provide a wave height measurement system for ships that can measure the wave height, wave period and wave direction in real time.

In addition, another object of the technology according to the present invention comprises a device consisting of a three-axis acceleration sensor, three-axis gyroscope and three-axis geomagnetic sensor within a radius of 5 meters from the center of the ship, the wave height and wave period and wave direction of the sea area from which the vessel departed The purpose of the measurement is to collect more accurate maritime data by measuring in real time.

In addition, the technology according to the present invention comprises a device consisting of a three-axis acceleration sensor, three-axis gyroscope and three-axis geomagnetic sensor within a radius of 5 meters from the center of the ship in real time to determine the wave height, wave period and wave direction of the sea area from which the vessel departed The purpose of this is to provide accurate weather forecasts of the sea area through the collection of more accurate maritime data so that ships can be accurately judged as to whether or not the ship is sailing.

The present invention configured to achieve the above object is as follows. That is, the ship crest measurement system according to the present invention is installed within a radius of 5m range from the center of the vessel, the three-axis acceleration sensor for measuring the acceleration of the bow (x) and line width (y) and up and down (z) direction of the ship; A FIR filter for removing the ship vibration frequency from the data measured by the 3-axis acceleration sensor; An arithmetic unit that calculates a wave height at which the z-position value passes and a wave height, which is a displacement width of the z-position value, through a blue signal passing through the FIR filter; A wireless communication unit which is installed adjacent to the three-axis acceleration sensor and transmits wave height and wave period data calculated through a calculation unit to a weather data server; And a control unit for controlling the entire apparatus including the wireless communication unit.

In the configuration according to the present invention as described above, the ship vibration frequency is the engine vibration frequency of the ship, the vibration frequency due to the interaction of the ship and the wave and the structure vibration frequency of the ship.

In addition, in the configuration according to the present invention, the control unit may be configured to receive the position value of the vessel from the GPS sensor configured in the CAN device of the vessel and determine that the vessel is stopped only when the speed of the vessel is less than the set value, and measure the blue information. have.

In addition, in the configuration according to the present invention, the control unit receives the position value of the vessel from the GPS sensor configured in the CAN device of the vessel, and when the speed of the vessel is greater than or equal to the set value, the control unit is configured to ignore the measured blue information. Can be done.

In addition, in the configuration according to the present invention, the control unit may be configured to ignore the measured value of the frequency domain where the signal of the blue and the signal of the ship overlap each other.

A three-axis gyroscope sensor installed adjacent to the three-axis acceleration sensor in addition to the above-described configuration and measuring the longitudinal, roll and yaw motion of the ship; A three-axis geomagnetic sensor installed adjacent to the three-axis acceleration sensor and measuring magnetic north; And a comparison decision unit that compares the data measured from the three-axis gyroscope sensor and the three-axis geomagnetic sensor using the wave signal calculated by the calculation unit to the largest value among the values analyzed through spectrum analysis. It can be further configured.

According to the technique of the present invention by configuring the device consisting of a three-axis acceleration sensor, three-axis gyroscope and three-axis geomagnetic sensor within a radius of 5m from the center of the vessel to measure the wave height, wave period and wave direction of the sea area where the vessel is located in real time The advantage is that it can be expressed.

In addition, the technology according to the invention is composed of a three-axis acceleration sensor, three-axis gyroscope and three-axis geomagnetic sensor within a radius of 5m from the center of the ship to measure the wave height, wave period and wave direction of the sea area from which the ship departed in real time As a result, more accurate maritime data can be collected.

In addition, the technology according to the present invention comprises a device consisting of a three-axis acceleration sensor, three-axis gyroscope and three-axis geomagnetic sensor within a radius of 5 meters from the center of the ship in real time to determine the wave height, wave period and wave direction of the sea area from which the vessel departed By measuring more accurate data on the sea surface, it is possible to solve the problem of not being able to sail even in good weather by providing accurate weather forecast of the sea area.

1 is a block diagram showing a ship height measurement system according to the present invention.
Figure 2 is a block diagram showing another embodiment of the ship crest measurement system according to the present invention.
Figure 3 is a block diagram showing the installation of an acceleration sensor for explaining a ship crest measurement system according to the present invention.
Figure 4 is a graph for explaining the crest and wave period calculation algorithm of the ship crest measurement system according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the ship crest measurement system according to the present invention.

1 is a block diagram showing a ship crest measurement system according to the present invention, Figure 2 is a block diagram showing another embodiment of a ship crest measurement system according to the present invention, Figure 3 to explain a ship crest measurement system according to the present invention Figure 4 is a configuration diagram showing the installation of the acceleration sensor, Figure 4 is a graph for explaining the wave height and wave period calculation algorithm of the ship wave height measurement system according to the present invention.

1 and 3, the technique according to the present invention relates to a ship's wave height measurement system 100 is installed on a ship to measure the wave height, wave period and wave direction of the wave, such a ship wave height measurement system of the present invention 100 is installed within a radius of 5 m from the center of the ship.

Looking at the configuration of the ship crest measurement system 100 as described above, the three-axis acceleration sensor 120, the three-axis acceleration sensor for measuring the acceleration of the bow (x) and line width (y) and up and down (z) direction of the ship ( The wave frequency at the point where the z position value passes and the crest period when the z position value passes through 0 through the blue signal through the FIR filter 130 and the FIR filter 130 which removes the ship vibration frequency from the data measured by 120) The control unit 110 for controlling the overall unit including the operation unit 140, the wireless communication unit 150 for transmitting the wave height and wave period data calculated by the operation unit 140 to the weather data server 160 and the wireless communication unit It consists of the included configuration.

Vessel wave measurement system 100 according to the present invention configured as described above is composed of a single unit is installed within a radius of 5m from the center of the vessel. The ship height measurement system 100 installed in this way is measured by the three-axis acceleration sensor 120 of the bow (x) and the line width (y) and the vertical acceleration (z) direction of the vessel.

Next, as described above, the data measured by the three-axis acceleration sensor 120 is removed from the vibration frequency of the ship through the FIR filter 130, and then the wave height and wave period of the blue measured by the calculating unit 140 The operation is made. At this time, the wave height and wave period operation of the blue are integrated by converting the xyz axis acceleration signal measured from the 3-axis acceleration sensor 120 into the xyz position signal, and then using the pure blue signal obtained by passing the FIR filter 130. The wave height, which is the displacement width of the z position value, and the wave period when the z position value passes zero, are calculated.

As described above, the wave height and wave period data of the blue color calculated and measured by the calculator 140 are transmitted to the weather data server 160 through the wireless communication unit 150 under the control of the controller 110.

On the other hand, although not described in the ship wave height measurement system 100 according to the present invention includes the configuration of the GPS sensor. At this time, the GPS sensor is not configured separately in the ship wave height measurement system 100 of the present invention, but uses a GPS sensor configured in the CAN device of the ship. Through the position value of the vessel received from the information of the GPS sensor so that the data can be measured only when it is determined that the vessel is stopped.

That is, the controller 110 constituting the present invention receives the position value of the vessel from the GPS sensor configured in the CAN device of the vessel and determines that the vessel has stopped only when the speed of the vessel is less than the set value, and measures the blue information, and the vessel If the speed is above the set value, it is determined that the ship has moved and the measured blue information is ignored.

Ship height measurement system 100 according to the present invention is installed in a radius of 5m range from the center of the ship as shown in FIG. At this time, the x-axis is the bow direction, the y-axis is the line width direction and the z-axis is the upward direction. In this case, the algorithm for calculating the crest and wave period is described by integrating the up and down (z) direction acceleration data measured by the three-axis acceleration sensor 120 to convert to a z position signal, and then converted into this z position signal The FIR filter 130 removes the signal from the engine vibration frequency of the ship, the vibration frequency caused by the interaction between the ship and the blue, and the structure vibration frequency of the ship through the FIR filter 130.

As described above, there are a myriad of filters that remove specific frequency bands from the up and down (z) direction acceleration data measured by the 3-axis acceleration sensor 120. Among them, for example, a FIR (Finite Impulse Response) filter 130 is calculated by the formula of Equation 1 below. b _{0 to} b _N are values for determining filter characteristics such as a frequency band to be used, and vary depending on the filter design.

In Equation 1, x [n] is an array of measured values measured periodically. For example, if the acceleration value is measured at 0.1 second intervals, this value is x [n], and y [n] is the result of applying the filter.

In general, the motion of the ship is located at a high frequency compared to the blue signal, and the blue signal is located at a low frequency, so that the overlap of the frequency domain is not a big problem, but when the blue signal and the signal of the ship overlap each other, the controller 110 The measurements of overlapping frequency domains are discarded.

On the other hand, the vibration as described above has a strong characteristic that the signal around a specific frequency is removed by the FIR filter 130, it is possible to measure the signal inherent in the blue. Of course, if there is a frequency range where the blue signal and the ship's signal overlap each other, the measured values in this area will be inaccurate, so the measured values in this area are ignored.

Next, the wave height and wave period are calculated using the pure blue signal obtained by passing the signal converted into the z position signal through the FIR filter 130 as described above. That is, as shown in FIG. 4, a time point at which the z position value passes 0 is determined, and a time difference between a time point at which the z position passes from negative to positive and a time point at which the next z position passes from negative to positive is obtained from the wave period ( Period), and the z position displacement width is crest.

As described above, the wave height and wave period data of the blue calculated through the operation unit 140 are transmitted to and stored in the weather data server 160 through the wireless communication unit 150 under the control of the control unit 110, so that It is utilized.

On the other hand, in the configuration of the ship crest measurement system 100 according to the present invention as shown in Figure 2 adjacent to the three-axis acceleration sensor 120, the longitudinal (pitch) movement and the roll (roll) movement and the bow of the ship (yaw) 3-axis gyroscope sensor 170 for measuring the motion, 3-axis geomagnetic sensor 180 for measuring the magnetic north adjacent to the 3-axis acceleration sensor and the three-axis using the blue signal calculated by the calculating unit 140 The comparison determination unit 190 is further configured to compare the data measured from the gyroscope sensor 180 and the three-axis geomagnetic sensor 190 with the largest value among the values analyzed through spectrum analysis. Lose.

As shown in FIG. 2 described above, a ship wave height measurement system according to another embodiment of the present invention constituted of a three-axis acceleration sensor 120, a three-axis gyroscope sensor 180, and a three-axis geomagnetic sensor 190 ( In operation 100, the value measured by the xyz triaxial accelerometer sensor 120 is integrated twice to convert to the xyz position signal, and the calculation unit uses the pure blue signal obtained by passing the converted position signal through the FIR filter 130. Calculate the digging and digging period through 140. At this time, the algorithm for calculating the crest and wave period calculates the crest and wave period in the same manner as the algorithm according to the embodiment of FIG. 1.

On the other hand, after calculating the crest and wave period through the calculation unit 140 as described above from the three-axis gyroscope sensor 180 and the three-axis geomagnetic sensor 190 by using the blue signal through the comparison determination unit 190 Spectrum analysis determines the measured data from which direction the signal is the largest and estimates it as a wave direction.

In other words, the xyz position value is calculated by integrating the measured value by the three-axis acceleration sensor 120 twice, and the ship direction estimated from the values of the three-axis gyroscope sensor 180 and the three-axis geomagnetic sensor 190. By changing the reference, the direction of the signal is determined by estimating which direction is the largest value.

As described above, by constructing a three-axis acceleration sensor 120, a three-axis gyroscope sensor 180 and a three-axis geomagnetic sensor 190 as in the marine wave height measurement system 100 according to another embodiment of Figure 2 In addition to measuring the and wave periods, wave directions can also be measured.

The z-axis acceleration value or the xyz-axis acceleration value measured as in the embodiment of FIGS. 1 and 2 includes the movement of the vessel lying on the blue wave in addition to the movement of the blue wave. For example, if the measured z-axis acceleration is called Az_measurement, it is composed of Az_measurement = Az_blue + Az_ship. In order to measure the characteristics of the wave, Ax_Ship, which is a relative component of the ship and the wave, is removed and used.

As described above, the ship crest measurement system 100 according to the present invention can be installed in a number of ships to be able to measure the wave height and wave period and wave data of the sea area in which the ship is sailing in real time.

Therefore, as in the related art, it is possible to solve a problem such that a ship is tied to a port and cannot sail even in a good weather through inaccurate data limited to a corresponding sea area such as Buoy.

In addition, as described above, the ship crest measurement system 100 according to the present invention can be installed on a large number of vessels to collect a wide range of blue data from a number of vessels can predict a better sea phase.

The present invention is not limited to the above-described embodiments, and various modifications may be made within the scope of the technical idea of the present invention.

100. Crest Measurement System
110. Controls
120. 3-axis acceleration sensor
130. FIR filter
140. Computation unit
150. Wireless Communications Department
160. Weather data server
170. 3-axis gyroscope sensor
180. 3-axis geomagnetic sensor
190. Comparative Judgment

Claims (6)

A three-axis acceleration sensor which is installed within a radius of 5 m from the center of the vessel and measures movement acceleration of the bow (x), line width (y) and vertical direction (z) in the vessel;
A FIR filter for removing a ship vibration frequency which is an engine vibration frequency of the ship, a vibration frequency caused by the interaction between the ship and the waves, and a structure vibration frequency of the ship, from the data measured by the three-axis acceleration sensor;
An arithmetic unit for calculating the wave height at the time when the crest and the z-position value pass 0 through the blue signal passing through the FIR filter;
A wireless communication unit which is installed adjacent to the three-axis acceleration sensor and transmits wave height and wave period data calculated by the operation unit to a weather data server; And
Vessel wave height measurement system comprising a control unit for controlling the overall device including the wireless communication unit. delete The ship according to claim 1, wherein the control unit receives the position value of the vessel from a GPS sensor configured in the CAN device of the vessel and determines that the vessel is stopped only when the vessel's speed is less than the set value, and measures the blue information. Crest Measurement System. According to claim 1, wherein the control unit receives the position value of the vessel from the GPS sensor configured in the CAN device of the vessel, if the speed of the vessel is greater than the set value, it is determined that the vessel moved, characterized in that it ignores the measured blue information Vessel crest measurement system. The ship crest measurement system according to claim 1, wherein the control unit ignores the measured value in the frequency domain where the blue signal and the ship signal overlap each other. 6. The longitudinal and roll movement and yaw movement of a ship, as claimed in any one of claims 1 to 3, provided adjacent to said three-axis acceleration sensor. 3-axis gyroscope sensor for measuring the;
A three-axis geomagnetic sensor installed adjacent to the three-axis acceleration sensor and measuring magnetic north; And
The comparison determination unit that compares the data measured from the three-axis gyroscope sensor and the three-axis geomagnetic sensor by the spectrum using the wave signal calculated by the calculation unit to compare the largest value with the wave direction. Vessel crest measurement system, characterized in that further configured.

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