Intelligent sensing navigation mark device and early warning method thereof

Abstract

The present invention relates to the field of navigation equipment technology, and in particular to an intelligent sensing navigation mark device and an early warning method thereof, including an AIS receiving unit, a control unit, a compass sensor, a positioning unit and an LED warning light; a Raspberry Pi PC and an 8-way switch on-off controller are integrated inside the control unit, and the AIS receiving unit forwards the message to the Raspberry Pi PC of the control unit to enter the data processing process after receiving the AIS message; the AIS receiving unit is used to receive the AIS message of the ship in the waters near the navigation mark, and extract the ship coordinates and speed and heading information after parsing; the compass sensor is used to obtain the rotation angle of the navigation mark, and the positioning unit is used to obtain the position of the navigation mark; the control unit controls the operation of the LED warning light. The present invention integrates a variety of information technologies to collect navigation environment data in real time. When a ship approaches, it can actively warn the ship to avoid it, reduce the economic losses and navigation risks caused by collision, greatly improve the efficiency of navigation mark navigation at night, and make navigation in waters safer.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation equipment, and in particular to an intelligent sensing navigation mark equipment and an early warning method thereof. Background Art

[0002] As an important visual navigation facility, navigation marks play an important role in supporting water transportation, fisheries, marine development and national defense construction. With the development of the shipping industry, the volume of navigation in various navigable waters has increased exponentially, and the probability of collision between navigation marks and ships has also increased.

[0003] It is said that the maintenance cycle of current navigation marks is long. If a navigation mark is disabled due to a collision, it will pose a threat to the safe navigation of passing ships. Conventional navigation marks use point light sources for ship pilots to identify at night. When sailing in waters with large ship traffic and complex background light, it is often difficult to find the exact position of the navigation mark, resulting in accidents where ships collide with navigation marks. Once a navigation mark is disabled due to a collision, it will not only cause economic losses to the navigation mark maintenance unit, but also bring great navigation risks to the sailing ship. In order to reduce the probability of navigation mark safety accidents and ensure navigation safety, the present invention starts from the navigation mark function and proposes an intelligent sensing navigation mark device and its early warning method. Summary of the invention

[0004] Based on the technical problems existing in the background technology, the present invention proposes an intelligent sensing navigation mark device and its early warning method, which has the characteristics of integrating multiple information technologies, collecting navigation environment data in real time, and actively warning the ship to avoid when a ship approaches, thereby reducing the economic losses and navigation risks caused by collision. It solves the problem that the existing technology is often difficult to detect the exact position of the navigation mark, resulting in frequent accidents of ships colliding with the navigation mark.

[0005] The present invention provides the following technical solutions:

[0006] An intelligent sensing navigation device, comprising an AIS receiving unit, a control unit, a compass sensor, a positioning unit and an LED warning light;

[0007] The control unit is internally integrated with a Raspberry Pi PC and an 8-way switch on / off controller. After receiving the AIS message, the AIS receiving unit forwards the message to the Raspberry Pi PC of the control unit to enter the data processing process;

[0008] The AIS receiving unit is used to receive AIS messages from ships in waters near the buoy, and extract the ship coordinates and speed and heading information after parsing;

[0009] The compass sensor is used to obtain the rotation angle of the navigation mark, and the positioning unit is used to obtain the position of the navigation mark;

[0010] The control unit controls the operation of the LED warning light.

[0011] Preferably, the control unit is fixed to the hollow support rod by a clamp, the hollow support rod and the lamp panel are fastened by a connecting nut, an AIS antenna mounting base is provided at the bottom of the AIS receiving unit, the LED warning light is mounted on the lamp panel through the LED fixing hole, the AIS receiving unit and the positioning unit are mounted on the lamp panel base, all lines are aggregated to the central collection hole of the lamp panel and enter the control unit through the inside of the hollow support rod, and the LED warning light is connected to the Raspberry Pi PC through the 8-way switch controller in the control unit.

[0012] Preferably, the control unit is connected to a solar power storage power supply device via a power interface.

[0013] Preferably, the AIS receiving unit uses an AIS antenna interface to connect to a marine VHF very high frequency omnidirectional antenna.

[0014] Preferably, the positioning unit uses a positioning antenna interface to connect to one or more mushroom-head antennas of the ship GPS and Beidou satellite navigation system.

[0015] Preferably, the LED warning light uses an LED warning light interface to connect to an omnidirectional multi-channel integrated searchlight warning light.

[0016] An intelligent sensing navigation mark warning method comprises the following steps:

[0017] S1. After receiving the AIS message, the AIS receiving unit forwards the message to the Raspberry Pi PC of the control unit through the RS232 serial port, and enters the data processing process. The Raspberry Pi PC reads the data and parses it to obtain the latitude, longitude, speed, and heading information of the approaching ship;

[0018] S2. Compare the incoming ship's position with the warning area; if the incoming ship is not in the warning area, the procedure ends, otherwise it continues; according to the incoming ship's position and heading, determine whether the incoming ship is heading towards the navigation mark; if the incoming ship is away from the navigation mark, the procedure ends, otherwise it continues;

[0019] S4, calculate the position of the approaching ship in 5 minutes based on its current position and speed and heading; if the estimated position is not within the alarm area, the program ends, otherwise it continues;

[0020] S5. Calculate the true direction of the incoming ship according to the position of the incoming ship and the position of the navigation mark; calculate the direction of the incoming ship relative to the navigation mark by the true direction and the compass reading; calculate the LED warning light number n according to the relative direction, and calculate the flashing frequency of the LED warning light according to the distance and speed of the incoming ship;

[0021] S6, the Raspberry Pi PC outputs a low level to the 8-way switch controller to turn off all lights; the Raspberry Pi PC outputs a control level to the nth channel of the switch controller to control the LED warning light with the corresponding number to work, and the program ends.

[0022] The present invention provides an intelligent sensing navigation mark device and an early warning method thereof. By receiving AIS position data sent by passing ships in a river or surrounding sea area, a built-in data processing device calculates the course and route trend of ships within a certain range around the protected navigation mark, and sends light warnings of different frequencies to the ships according to different collision risk levels. By integrating a variety of information technologies, navigation environment data is collected in real time. When a ship approaches, the device can actively warn the ship to avoid it, thereby reducing economic losses and navigation risks caused by collisions, greatly improving the efficiency of navigation marks in assisting navigation at night, and making navigation in waters safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of the device of the present invention;

[0024] Figure 2 A top view of the device of the present invention;

[0025] Figure 3 This is the hardware connection diagram of the present invention;

[0026] Figure 4 This is a schematic diagram of the initial compass orientation of the present invention;

[0027] Figure 5 A schematic diagram of the compass orientation after the present invention rotates;

[0028] Figure 6 This is a schematic diagram of the relationship between the navigation mark and the ship position of the present invention;

[0029] Figure 7 It is a data processing flow chart of the present invention;

[0030] Figure 8 This is a schematic diagram of the early warning alarm of the present invention.

[0031] In the figure: 1. AIS antenna mounting base; 2. AIS receiving unit; 3. Light panel; 4. LED warning light; 5. Positioning unit; 6. Cable collection hole; 7. LED fixing hole; 8. Compass sensor; 9. Control unit; 10. Hollow support rod; 11. Connecting nut. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-7, the present invention provides a technical solution:

[0034] An intelligent sensing navigation device, comprising an AIS receiving unit 2, a control unit 9, a compass sensor 8, a positioning unit 5 and an LED warning light 4;

[0035] The control unit 9 integrates a Raspberry Pi PC and an 8-way switch on-off controller. After receiving the AIS message, the AIS receiving unit 2 forwards the message to the Raspberry Pi PC of the control unit 9 to enter the data processing process; the control unit 9 is connected to the solar power storage power supply device through the power interface. The AIS receiving unit 2 uses the AIS antenna interface to connect to the marine VHF very high frequency omnidirectional antenna.

[0036] The AIS receiving unit 2 is used to receive AIS messages from ships in the waters near the navigation mark, and extract the ship coordinates and speed and heading information after parsing;

[0037] The compass sensor 8 is used to obtain the rotation angle of the navigation mark, and the positioning unit 5 is used to obtain the position of the navigation mark; the positioning unit 5 uses a positioning antenna interface to connect to one or more mushroom-head antennas of the marine GPS and Beidou satellite navigation system.

[0038] The control unit 9 controls the operation of the LED warning light 4. The LED warning light 4 uses an LED warning light interface to connect to an omnidirectional multi-channel integrated integrated searchlight warning light.

[0039] The control unit 9 is fixed on the hollow support rod 10 through a clamp, and the hollow support rod 10 and the lamp panel 3 are connected and fastened by a connecting nut 11. An AIS antenna mounting base 1 is provided at the bottom of the AIS receiving unit 2. The LED warning light 4 is installed on the lamp panel 3 through the LED fixing hole 7. The AIS receiving unit 2 and the positioning unit 5 are installed on the base of the lamp panel 3. All lines are collected at the central collection hole 6 of the lamp panel 3 and enter the control unit 9 through the hollow support rod 10. The LED warning light 4 is connected to the Raspberry Pi PC through the 8-way switch controller in the control unit 9.

[0040] An intelligent sensing navigation mark warning method comprises the following steps:

[0041] S1, after receiving the AIS message, the AIS receiving unit 2 forwards the message to the Raspberry Pi PC of the control unit 9 through the RS232 serial port, and enters the data processing process. The Raspberry Pi PC reads the data and parses it to obtain the latitude and longitude, speed, and heading information of the incoming ship;

[0042] S2. Compare the incoming ship's position with the warning area; if the incoming ship is not in the warning area, the procedure ends, otherwise it continues; according to the incoming ship's position and heading, determine whether the incoming ship is heading towards the navigation mark; if the incoming ship is away from the navigation mark, the procedure ends, otherwise it continues;

[0043] S4. Calculate the position of the incoming ship in 5 minutes (adjustable) based on its current position and speed and heading; if the estimated position is not within the alarm area, the program ends, otherwise it continues;

[0044] S5. Calculate the true direction of the incoming ship based on the position of the incoming ship and the position of the navigation mark (starting from the true north, Figure 6 Tb); through the true bearing ( Figure 6 Tc) and compass readings to calculate the relative direction of the approaching ship to the navigation mark ( Figure 6 Rb); calculate the LED warning light 4 number n according to the relative position, and calculate the flashing frequency of the LED warning light 4 according to the distance and speed of the approaching ship;

[0045] S6, the Raspberry Pi PC outputs a low level to the 8-way switch controller to turn off all lights; the Raspberry Pi PC outputs a control level to the nth channel of the switch controller to control the corresponding numbered LED warning light 4 to work, and the program ends.

[0046] The Regulations on the Management of Shipborne Electronic Chart Systems and Automatic Identification System Equipment for Domestic Navigation Vessels (Hainan Shipbuilding

[2010] No. 156) of the China Maritime Safety Administration require that: Chinese coastal vessels with a gross tonnage of 200 to 500 gross tonnage, self-propelled vessels participating in coastal water and underwater construction operations, all port tugboats; all ships with a gross tonnage of 100 or more sailing on the inland Yangtze River, the Pearl River, the Beijing-Hangzhou Canal and the Huangpu River, as well as liquid cargo ships and container ships with a gross tonnage of less than 100, need to install Class A or Class B AIS equipment that meets the requirements. According to regulations, the AIS equipment must be turned on during the navigation of the ship, and the static data of the ship and the dynamic data related to navigation must be continuously broadcasted. The present invention uses an AIS receiver to receive AIS messages from ships in waters near navigation marks, and extracts information such as ship coordinates, speed and heading after parsing.

[0047] Affected by water flow, wind, etc., the navigation mark will make a gyratory motion under the constraint of the anchor chain, and the mark body will also rotate while the position changes frequently. After the light panel 3 is installed on the navigation mark, it will follow the movement of the navigation mark. In order to realize the control of the LED warning light 4 in the direction of the incoming ship, the position and rotation angle of the navigation mark must be known. GPS positioning technology is now very mature and has a high positioning accuracy. China's BeiDou Navigation Satellite System (BDS) is a rising star and also has a high accuracy. The present invention uses GPS and BDS dual-mode positioning modules (one of which can be selected) to collect the position of the navigation mark at regular intervals (adjustable) for overwriting and storage. At the same time, the magnetic compass sensor 8 is used to obtain the rotation angle of the navigation mark, which is also overwritten and stored.

[0048] like Figure 8 As shown in the figure, the area between the outer circle and the inner circle is the early warning area, the inner circle is the alarm area, and the bow line segment is the estimated position of the ship in 5 minutes. The early warning area performs the first screening of incoming ships, which can reduce the amount of calculation. Figure 8 In the figure, ship 1 is outside the warning area and is filtered out and no longer enters the subsequent process; ship 2 is in the warning area, its estimated position is within the alarm circle and it is sailing towards the navigation mark. At this time, the LED warning light 4 responsible for the corresponding sector starts flashing, warning it to drive carefully; although ship 3 is in the warning area, its estimated position does not enter the alarm area, and the alarm will not be triggered; although ship 4 is in the alarm area, it is sailing in the direction away from the navigation mark, and the alarm will not be triggered.

[0049] In the present invention, by receiving AIS position data sent by passing ships in the river or surrounding sea areas, the built-in data processing equipment calculates the course and route trend of ships within a certain range around the protected buoy, and sends light warnings of different frequencies to the ships according to different collision risk levels. By integrating multiple information technologies, the navigation environment data is collected in real time. When a ship approaches, the ship can be actively warned to avoid it, thereby reducing economic losses and navigation risks caused by collisions, greatly improving the efficiency of buoys in assisting navigation at night, and making navigation in waters safer.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An early warning method for intelligent sensing navigation equipment, applied to intelligent sensing navigation equipment, characterized in that: The intelligent sensing navigation device comprises an AIS receiving unit (2), a control unit (9), a compass sensor (8), a positioning unit (5) and an LED warning light (4); The control unit (9) has a Raspberry Pi PC and an 8-way switch on / off controller integrated therein, and after receiving the AIS message, the AIS receiving unit (2) forwards the message to the Raspberry Pi PC of the control unit (9) to enter the data processing process; The AIS receiving unit (2) is used to receive AIS messages from ships in waters near the navigation mark, and extract the ship coordinates and speed and heading information after parsing; The compass sensor (8) is used to obtain the rotation angle of the navigation mark, and the positioning unit (5) is used to obtain the position of the navigation mark; The control unit (9) controls the operation of the LED warning light (4); The early warning method of the intelligent sensing navigation mark device comprises the following steps: S1, after receiving the AIS message, the AIS receiving unit (2) forwards the message to the Raspberry Pi PC of the control unit (9) through the RS232 serial port, and enters the data processing process. After reading the data, the Raspberry Pi PC parses it to obtain the latitude and longitude, speed and heading information of the incoming ship; S2. Compare the future ship position with the warning area; If the ship is not in the warning area, the procedure ends, otherwise it continues; according to the position and heading of the ship, it is determined whether the ship is heading towards the navigation mark; if the ship is away from the navigation mark, the procedure ends, otherwise it continues; S4, calculate the position of the approaching ship in 5 minutes based on its current position and speed and heading; if the estimated position is not within the alarm area, the program ends, otherwise it continues; S5. Calculate the true bearing of the incoming ship based on the position of the incoming ship and the position of the navigation mark; calculate the bearing of the incoming ship relative to the navigation mark based on the true bearing and the compass reading; Calculate the number n of the LED warning light (4) according to the relative position, and calculate the flashing frequency of the LED warning light (4) according to the distance and speed of the approaching ship; S6, Raspberry Pi PC outputs a low level to the 8-way switch controller to turn off all lights; The Raspberry Pi PC outputs a control level to the nth channel of the switch controller to control the corresponding numbered LED warning light (4) to work, and the program ends.

2. The early warning method of the intelligent sensing navigation mark equipment according to claim 1 is characterized by: The control unit (9) is fixed to the hollow support rod (10) by a clamp, the hollow support rod (10) and the lamp panel (3) are connected and fastened by a connecting nut (11), an AIS antenna mounting base (1) is provided at the bottom of the AIS receiving unit (2), the LED warning light (4) is mounted on the lamp panel (3) through the LED fixing hole (7), the AIS receiving unit (2) and the positioning unit (5) are mounted on the base of the lamp panel (3), all lines are collected at the central collection hole (6) of the lamp panel (3) and enter the control unit (9) through the hollow support rod (10), and the LED warning light (4) is connected to the Raspberry Pi PC through an 8-way switch controller in the control unit (9).

3. The early warning method of the intelligent sensing navigation mark equipment according to claim 1 is characterized by: The control unit (9) is connected to the solar power storage and power supply equipment via a power supply interface.

4. The early warning method of the intelligent sensing navigation mark equipment according to claim 1 is characterized by: The AIS receiving unit (2) uses an AIS antenna interface to connect to a ship-used VHF very high frequency omnidirectional antenna.

5. The early warning method of the intelligent sensing navigation mark equipment according to claim 1 is characterized by: The positioning unit (5) uses a positioning antenna interface to connect to one or more mushroom-head antennas of a ship GPS and a Beidou satellite navigation system.

6. The early warning method of the intelligent sensing navigation mark equipment according to claim 1 is characterized by: The LED warning light (4) uses an LED warning light interface to connect to an omnidirectional multi-channel integrated searchlight warning light.

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