CN104269075B - Navigation mark based on multiple sensors collision monitoring system - Google Patents

Abstract

The invention discloses a navigation mark collision monitoring system based on multiple sensors, comprising: a collision detection unit for measuring and collecting attitude angle information and acceleration information of a navigation mark ship; a ranging early warning unit for measuring the distance between other ships and the navigation mark ship distance information, and transmit the information to the information processing and storage unit through the information transmission unit; the information processing and storage unit is used to receive and process the attitude angle information and acceleration information, distance measurement information and image information; the photographic evidence collection unit is used to obtain Real-time image information; information transmission unit, used for information transmission between units, and transmits real-time image information to the waterway management department; power supply unit, used to provide power for the system. The invention can timely carry out early warning processing on the ships entering the dangerous distance, detect the collision, and the joint judgment method of the gyroscope and the acceleration sensor reduces the detection error.

Description

A Navigation Mark Collision Monitoring System Based on Multiple Sensors

technical field

The invention relates to the technical field of ship safety, in particular to a navigation mark collision monitoring system based on various sensors.

Background technique

The navigation mark ship is an important navigation aid for ships to safely navigate inland rivers. The main function of the navigation mark ship is to mark the direction, boundaries and obstructions of the channel, reveal relevant channel information, and point out safe and economical channels for ships to navigate.

With the continuous development of our country's economy, the inland waterway transportation is becoming more and more prosperous, the density of ships is gradually increasing, and the collision accidents of navigation marks occur from time to time. The current collision detection method of the navigation mark generally uses the acceleration sensor to measure the acceleration information of the navigation mark and then judges whether the navigation mark is collided. Damage to the equipment on the navigation mark will bring high maintenance costs to the navigation mark management department, and if the navigation mark ship breaks down after being hit and cannot perform the function of the navigation mark, it will also have a serious impact on shipping safety.

In order to solve the above problems, it is necessary to build a collision warning and monitoring system with high accuracy, good safety and low false alarm rate.

Contents of the invention

The technical problem to be solved by the present invention is to provide a navigation mark collision monitoring system based on multiple sensors in view of the defects in the prior art.

The technical solution adopted by the present invention to solve its technical problems is:

A navigation mark collision monitoring system based on multiple sensors, including:

The collision detection unit is used to measure and collect the attitude angle information and acceleration information of the navigation mark ship;

The ranging warning unit is used to measure the distance information between other ships and the navigation mark ship, and transmit the information to the information processing and storage unit through the information transmission unit;

The information processing and storage unit is used to receive and process the attitude angle information and acceleration information of the collision detection unit, the ranging information from the radar, and the image information returned from the photographing and evidence collection unit, and to process and store it; specifically include:

The collision determination device, according to the acceleration value and the attitude angle data including the heading angle, roll angle and pitch angle, compares the four criteria with the corresponding thresholds, when any two or more of the criteria exceed the corresponding thresholds , that is, it is determined that a collision occurs, otherwise it is determined that a collision does not occur.

The collision warning device is used to send a warning signal when the distance exceeds the preset threshold; and start the camera and evidence collection unit to take pictures;

A camera and evidence collection unit, used to obtain real-time image information;

The information transmission unit is used for information transmission between units, and transmits real-time image information to the waterway management department, and sends acceleration information, attitude angle information and ranging information to the database of the remote server;

The power supply unit is used to provide power for the system.

According to the above scheme, the collision detection unit includes a gyroscope, an acceleration sensor and a sensor information acquisition board; the gyroscope is arranged near the bottom of the middle deck of the navigation mark ship, and the acceleration sensor is arranged at the bottom of the bow, stern and both sides of the navigation mark ship near the deck. In the cabin, the gyroscope and the acceleration sensor are installed on the sensor information acquisition board, and return the attitude angle measurement value and the acceleration measurement value to the sensor information acquisition board respectively.

According to the above scheme, the ranging warning unit is mainly composed of a radar range finder, and the radar range finder is arranged at the highest point of the navigation mark ship.

According to the above scheme, the photographing and evidence collection unit is a plurality of cameras, and the arrangement position of the cameras is determined according to the position of the navigation mark ship: if the navigation mark ship is in the middle of the river, 4 to 6 cameras need to be set around the navigation mark ship; side, you only need to set up 2 to 3 cameras on the side close to the water surface.

According to the above solution, the preset threshold in the collision warning device is calculated and determined in combination with the ranging range of the radar and the turning radius of the ship.

According to the above solution, the threshold value in the collision judging device is determined by analyzing the surge data and the attitude angle data and acceleration data of the actual collision of the beacon ship.

The beneficial effects produced by the present invention are:

1. The system uses the attitude angle data of the gyroscope and the monitoring data of the acceleration sensor to jointly determine whether a collision has occurred, which can better avoid false alarms caused by wind and waves;

2. If the ship enters the dangerous distance near the navigation mark ship and exceeds the preset threshold, the system will issue an early warning message and take photos; if it is determined that a collision has occurred, it can promptly return the alarm message and the video information of the ship involved in the accident to the channel management department. It is convenient for the supervisory department to obtain evidence for post-processing work.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is a layout diagram of a gyroscope according to an embodiment of the present invention.

Fig. 3 is a layout diagram of an acceleration sensor according to an embodiment of the present invention.

Fig. 4 is a layout diagram of a radar rangefinder and a camera according to an embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in Figure 1, a navigation mark ship collision monitoring system, the navigation mark ship has a collision detection unit and a ranging warning unit, the collision detection unit is composed of a gyroscope and an acceleration sensor, and the ranging warning unit is composed of a radar range finder.

At the same time, the navigation mark ship is also equipped with a power supply unit, a camera and evidence collection unit, an information processing and storage unit, and an information transmission unit.

The collision detection unit measures the attitude angle information and acceleration information of the beacon ship, and transmits these information to the information processing and storage unit. The collision detection unit includes a gyroscope, an acceleration sensor and a sensor information acquisition board. The gyroscope is arranged near the bottom of the middle deck of the navigation mark ship, and the acceleration sensor is installed in the cabin below the bow, stern and both sides of the navigation mark ship. Both the gyroscope and the acceleration sensor are installed on the sensor information acquisition board, and the attitude The angle measurement value and the acceleration measurement value are returned to the sensor information acquisition board;

As shown in Figure 2, one gyroscope 1 is arranged on the sensor information acquisition board and fixed under the middle deck of the navigation mark ship.

The ranging warning unit measures the distance information between other ships and the navigation mark ship, and transmits the information to the information processing and storage unit. The ranging and early warning unit is mainly composed of a radar range finder, which is arranged at the highest point of the navigation mark ship. FIG. 4 is a layout diagram of the radar range finder 3 and the camera 4 . The radar range finder 3 is arranged at the highest point of the navigation mark ship, and there are no obstacles around it

As shown in Figure 3, the acceleration sensor 2 is arranged in the cabin, and four acceleration sensors 2 are arranged under the deck of the bow, the stern, the port side and the starboard side.

The power supply unit is mainly composed of a solar panel, a battery and a power controller, and its function is to provide the required DC power for other parts of the hardware system; the solar panel is connected to the power controller, the power controller is connected to the battery, and the power controller is connected to the battery. The collision detection unit, distance measurement warning unit, photo evidence collection unit, information processing and transmission system loads are connected;

The photographing and evidence collection unit is mainly composed of cameras 4, and its main function is to take photos; generally, multiple cameras need to be set up for photographing and evidence collection, and the position of the navigation mark ship should be considered at the same time: if the navigation mark ship is in the middle of the center of the navigation mark ship, 4 to 6 cameras 4; if the navigation mark ship is near the shore, then only 2 to 3 cameras 4 need to be set near the water surface.

The information processing and storage unit receives the attitude angle information and acceleration information from the collision detection unit, the ranging information from the radar, and the image information returned from the photographing and evidence collection unit, and processes and stores it; the data of the ranging warning comes from the distance returned by the radar Information, when the distance exceeds the preset threshold, the system will determine that there is a risk of collision, and start the camera to take pictures and collect evidence. At the same time, it will issue an early warning through the 3G network to remind the ship to avoid it; to calculate the radius of gyration. Usually, although the ship finds an obstacle, it is still difficult to evade due to the large inertia and poor maneuverability of the ship; therefore, it is necessary to combine the ranging range of the radar and the radius of gyration of the ship to calculate and determine the appropriate threshold.

The data for collision determination comes from the acceleration value obtained after analyzing the acceleration collection and the beacon positioning terminal message and the attitude angle data obtained after analyzing the ranging and angle measuring terminal message: heading angle, roll angle and pitch angle. These 4 criteria are compared with the corresponding thresholds. When any two or more of the criteria exceed the threshold, the system will determine that the beacon ship has been collided, otherwise it will be judged that no collision has occurred; the surge data and the beacon ship need to be Analyze the actual collision attitude angle data and acceleration data to determine the appropriate threshold;

The information transmission unit uses GPRS and 3G communication technology to transmit real-time image information to the waterway management department, and sends acceleration information, attitude angle information and ranging information to the database of the remote server.

In this embodiment, the information processing and storage unit adopts an industrial computer;

The specific implementation process of the navigation ship collision monitoring system is: the industrial computer receives the real-time acceleration data from the acceleration sensor, the real-time attitude angle data from the gyroscope, the real-time ranging information from the radar range finder, and the real-time image from the camera and evidence collection unit data. After the industrial computer receives the data, it is divided into three parts and processed at the same time. The first part is to process the acceleration data and attitude angle data to determine the collision; the second part is to process the ranging data to determine whether it is an early warning; the third part is to transmit the real-time image data to the monitoring terminal of the waterway management department through the information transmission unit. Once a collision is detected, the industrial computer will send the alarm information to the remote server database, and the monitoring terminal of the waterway management department accesses the server in real time, and can receive the alarm information almost at the same time; The device will take photos and store them in the industrial computer, and write the photos into the server database through 3G technology and give an early warning. The monitoring terminal can access and view the photos before the collision.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims (5)

1. navigation mark based on a multiple sensors collision monitoring system, including:

Collision detection unit, for measuring the attitude angle information and acceleration information gathering light tender；Described collision detection unit is combined by gyroscope and acceleration transducer and is constituted；

Range finding prewarning unit, for measuring the range information of other boats and ships and light tender, and is transferred to information processing and memory element by information by information transmission unit；

Information processing and memory element, for receiving and process attitude angle information and the acceleration information of collision detection unit, the ranging information from radar and the image information from evidence obtaining unit return of taking pictures；Specifically include:

Collision determination device, according to accekeration and the attitude angle data including course angle, roll angle and the angle of pitch, by 4 criterions respectively compared with corresponding threshold value, when the most any 2 and above criterion exceed threshold value, judge that light tender receives collision, otherwise judge not collide generation；Threshold value in described collision determination device is determined by the attitude angle data being collided actual to surge data and light tender and acceleration information analysis；

Collision warning device, for when distance exceedes predetermined threshold value, sends early warning signal；And start take pictures evidence obtaining unit take pictures；

Take pictures evidence obtaining unit, for obtaining real-time image information；

Information transmission unit, the information transmission between each unit, and by real-time image information transmission to sea-route management department, and acceleration information, attitude angle information and ranging information are sent the data base to remote server；

Power supply unit, for providing power supply for system.

Navigation mark the most according to claim 1 collision monitoring system, it is characterised in that described collision detection unit includes gyroscope, acceleration transducer and sensor information collection plate；Gyroscope is laid in light tender central deck close beneath, acceleration transducer is arranged near the stem of light tender, stern and two sides of a ship in the cabin below deck, described gyroscope and acceleration transducer are installed on sensor information collection plate, and respectively attitude angle value and acceleration measurement are returned to sensor information collection plate.

Navigation mark the most according to claim 1 collision monitoring system, it is characterised in that,Described range finding prewarning unit is mainly made up of radar range finder, and radar range finder is laid in light tender highest point.

Navigation mark the most according to claim 1 collision monitoring system, it is characterized in that, described evidence obtaining unit of taking pictures is multiple stage photographing unit, and the installation position of photographing unit determines according to the position of light tender: if light tender is in the middle of river course, then need around light tender to arrange 4 to 6 photographing units；If light tender is near bank, then only 2 to 3 photographing units need to be set near the water surface.

Navigation mark the most according to claim 1 collision monitoring system, it is characterised in that the radius of gyration of finding range and boats and ships that the predetermined threshold value in described collision warning device combines radar calculates and determines.