A ship trajectory monitoring method and system based on Beidou positioning

Abstract

The ship trajectory monitoring method and system based on Beidou positioning of the present invention belong to the field of radio positioning technology. The buoy component is applied to trajectory monitoring and navigation route planning. Before the ship sails, the obstacles faced by the ship during navigation or the ocean conditions during the ship's navigation can be monitored in advance according to the set buoy component, and the navigation route of the ship can be planned in advance. When the navigation route needs to be changed, the original coordinate position of the buoy component can be used as the center of the circle and a certain distance can be used as the radius to drive the collection buoy to rotate around the ocean to detect the sea conditions or obstacle information on the ocean surface. After comparison, the best navigation position is selected, and the buoy component is changed from the original coordinates to the existing best navigation position coordinates, thereby re-planning the navigation route of the ship, and the navigation route of the ship can be planned quickly, accurately and more safely.

Description

Technical Field

[0001] The present invention relates to the field of radio positioning technology, and in particular to a ship track monitoring method and system based on Beidou positioning. Background Art

[0002] Beidou closely combines navigation and communication, which is superior to other navigation systems. It can send short message information while positioning. In the prior art, it is common to use Beidou navigation satellites for navigation and positioning of ships or ocean buoys. As for the monitoring method of ship trajectory, for example, Patent Document 1 (CN117933100A) discloses a ship trajectory monitoring method based on Beidou positioning. It obtains the ship's route map and ship driving information, obtains wind speed and tidal data within the navigation range according to the route map to establish a ship model, sets the ship's driving trajectory and navigation period, obtains navigation data within the navigation trajectory, evaluates the probability of navigation risk and the ship's offset distance, and sets the corresponding planning scheme and alarm system according to the risk probability value and the offset distance. However, when it needs to adjust the heading, it can only send reminders to the ship staff through sound to adjust the ship's navigation direction. Moreover, the adjustment of its navigation direction is also made after a problem occurs, which is lagging. Its ship trajectory route is not used in conjunction with the buoy for corresponding planning and adjustment. For example, Patent Document 2 (CN110222138A) A buoy search method and system based on a route are disclosed. Users can search for buoys around a route according to the route. When the searched buoys detect climate and ocean disasters, such as hurricanes, typhoons, tornadoes, ice storms, etc., an alarm is issued. The user re-customizes the route according to the alarm to ensure that the navigation can be completed safely. Although the document adjusts the navigation route based on the buoy information, it does not specifically explain how to correct or adjust the route according to the buoy; finally, patent document 3 (CN118658334A) discloses an intelligent judgment system for water traffic law enforcement based on IoT perception, including a buoy module distributed along the direction of water flow in the waterway, a laser radar perception module, etc., by installing a buoy module on the waterway line in the direction of the water flow. When the buoy module deviates from the route, the judgment system controls the adjustment pendulum to swing in the direction of the deviation from the waterway line until it returns to the specified position of the waterway line. It monitors the ship route through the buoy module, and does not establish a connection between the buoy and the ship route.

[0003] In summary, although the existing monitoring of ship trajectories can monitor the corresponding ship trajectories by comparing the ship's route to be sailed and the ship's driving trajectory, there is no structure that can adjust the subsequent navigation route deviation according to the specific route. Even if it is adjusted, the deviation from the course will be pushed to the ship staff, and the staff will make corresponding adjustments. The buoy is not well combined with the navigation route for adjustment. The buoy is only used as a monitoring means and is not used for ship route navigation. There is no flexible adjustment of the position of the buoy, that is, the ship's route can be well planned. For this reason, the present invention provides a ship trajectory monitoring method and system based on Beidou positioning that combines buoys and ship navigation driving trajectories and can quickly select and simulate navigation routes. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a ship trajectory monitoring method based on Beidou positioning, comprising the following steps:

[0005] S1. Obtain a route map of the ship to be sailed, and select corresponding buoy components to form the ship's sailing route;

[0006] A navigation route map is obtained according to the destination of the ship, expected weather conditions, sea conditions and nautical charts. A plurality of buoy assemblies are preset on the ocean. The buoy assemblies are arranged in a plurality of rows and columns on the ocean. Beidou positioning systems are arranged on all buoy assemblies. According to the navigation route map, buoy assemblies on the navigation path are selected as navigation points. The buoy assemblies on the navigation points constitute the navigation route of the ship.

[0007] S2. The buoy component, which serves as a navigation point, monitors the marine situation in real time. When route adjustment is required, the buoy component replans the ship's navigation trajectory;

[0008] The buoy assembly comprises a folding floating assembly, a mother buoy moving assembly 2 and a sub-buoy moving assembly 1, the mother buoy moving assembly 2 and the sub-buoy moving assembly 1 are both movably arranged on the folding floating assembly, the folding floating assembly is fixed by a seabed positioning assembly, a buoy flip frame is rotatably arranged on the upper end of the mother buoy moving assembly 2, a positioning buoy and a collection buoy are arranged in the buoy flip frame, a Beidou positioning system is arranged in the positioning buoy for positioning the buoy assembly, an environmental sampling sensor is arranged on the periphery of the collection buoy, when the position of the buoy assembly is no longer suitable for the navigation of the ship, the buoy assembly is rotated by a certain angle to be located at the adjusted navigation position with the position of the buoy assembly as the center and a certain distance as the radius, and the adjusted buoy assembly replans to form the navigation route 2 of the ship;

[0009] S3. The vessel sails along navigation route 1 or navigation route 2;

[0010] A Beidou navigation and positioning system is also installed on the ship, and the ship travels according to the navigation route one or the navigation route two through the Beidou navigation and positioning system.

[0011] Preferably, the timing for the buoy assembly to re-plan the ship's navigation trajectory is before the ship reaches the buoy assembly that needs to be adjusted, and all buoy assemblies located on navigation route one constantly obtain meteorological data or sea surface condition data of the ocean surface, and when it is determined that there is a risk of collision or capsizing when the ship passes by, the position of the buoy assembly with the above risks is adjusted to form the new navigation route two, so that the ship can sail on navigation route two away from the risk.

[0012] Preferably, when the buoy assembly is not position-adjusted, the positioning buoy is stacked on the collecting buoy, and the folding floating assembly is in a folded state; when the buoy assembly is position-adjusted, the folding floating assembly is in an unfolded state, the buoy flip frame rotates so that the positioning buoy engages with the sub-buoy moving assembly 1, the mother buoy moving assembly 2 moves on the folding floating assembly in the unfolded state, the positioning buoy and the collecting buoy are connected by a connecting cable, and the sub-buoy moving assembly 1 also moves on the folding floating assembly in the unfolded state, so that the positioning buoy is located at the center of the folding floating assembly in the unfolded state, and the collecting buoy is located at the edge of the folding floating assembly in the unfolded state.

[0013] Preferably, the coordinate position of the buoy assembly is (x i ,y i ), the center of the buoy assembly is O i , the radius is L, the certain angle is β i , then the coordinate position of the buoy assembly is determined by the navigation route (x i ,y i ) is changed to the coordinate position of navigation route 2 (X i , Y i ), where X i =x i +L*cosβ i , Y i =y i +L*sinβ i , i is a natural number greater than or equal to 1.

[0014] It also includes a ship monitoring system based on Beidou positioning, the ship monitoring system includes a plurality of buoy assemblies, the plurality of buoy assemblies form a navigation route one or a navigation route two, and the navigation route one is changed to the navigation route two by changing the position of the buoy assembly, the buoy assembly includes a folding floating assembly, a mother buoy moving assembly two and a sub-buoy moving assembly one, the mother buoy moving assembly two and the sub-buoy moving assembly one are both movably arranged on the folding floating assembly, the folding floating assembly is fixed by a seabed positioning assembly, a buoy flip frame is rotatably arranged on the upper end of the mother buoy moving assembly two, a positioning buoy and a collection buoy are arranged in the buoy flip frame, a Beidou positioning system is arranged in the positioning buoy for positioning the buoy assembly, an environmental sampling sensor is arranged on the periphery of the collection buoy, when the position of the buoy assembly is no longer suitable for ship navigation, the buoy assembly is rotated by a certain angle with the position of the buoy assembly as the center and a certain distance as the radius, and the adjusted buoy assembly is used to re-plan and form the navigation route two of the ship.

[0015] Preferably, the folding floating assembly includes an intermediate floating plate, a floating outer ring and a plurality of folding connecting rods, the ends of the plurality of folding connecting rods are respectively connected to the intermediate floating plate and the floating outer ring, the seabed positioning assembly includes an intermediate chain 1 fixedly arranged at the lower end of the intermediate floating plate and a plurality of peripheral chains 2 fixedly arranged at the floating outer ring, when the folding floating assembly is in an unfolded state, the intermediate floating plate, the floating outer ring and the plurality of folding connecting rods can all be located near the ocean surface, when the folding floating assembly is in a folded state, the intermediate floating plate is located near the ocean surface, the floating outer ring and the plurality of folding connecting rods are tightened by the peripheral chain 2 and are located in the ocean.

[0016] Preferably, a moving wheel group 1 is arranged below the sub-buoy moving component 1, and a moving wheel group 2 is arranged below the mother buoy moving component 2, and the movement of the sub-buoy moving component 1 on the folding floating component is achieved through the moving wheel group 1, and the movement of the mother buoy moving component 2 on the folding floating component is achieved through the moving wheel group 2.

[0017] Preferably, a first guide rail is provided on the upper section of the middle floating plate, a second guide rail is provided on the folding connecting rod, and a third guide rail is provided on the floating outer ring, the first guide rail and the second guide rail are connected, the second guide rail and the third guide rail are connected, the mother buoy moving component 2 can move to the third guide rail through the first guide rail and the second guide rail, the sub-buoy moving component 1 can move to the center of the middle floating plate through the first guide rail, and can also move to the third guide rail through the first guide rail and the second guide rail.

[0018] Preferably, the sub-buoy moving component 1 includes a moving base plate 1 and a supporting column 1 located thereon, and a ball receiving groove 1 that can be engaged with the positioning buoy is provided at the upper end of the supporting column 1. The mother buoy moving component 2 includes a moving base plate 2 and a first supporting arc plate 1 and a second supporting arc plate 2 arranged thereon, a rotating shaft hole 1 is provided at the end of the first supporting arc plate 1, and a rotating shaft hole 2 is provided at the end of the second supporting arc plate 2. The buoy flip frame includes a hemispherical frame and a first rotating shaft and a second rotating shaft arranged at both ends of the hemispherical frame, the first rotating shaft is inserted into the rotating shaft hole 1, and the second rotating shaft is inserted into the rotating shaft hole 2.

[0019] Preferably, a driving wheel group 1 is arranged at the upper end of the movable bottom plate 2, at the end of the first supporting arc plate 1 and the end of the second supporting arc plate 2, the hemispherical frame includes a ring plate, a bottom plate 1 and a plurality of supporting arc rods, the two ends of the plurality of supporting arc rods are respectively connected to the ring plate and the bottom plate 1, a continuous slide groove 2 is provided on the ring plate, the supporting arc rod and the bottom plate 1, the driving wheel group 1 can be engaged in the slide groove 2, and the rotation of the buoy flipping frame is realized by the rotation of the driving wheel group 1.

[0020] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0021] 1. In the ship trajectory monitoring method based on Beidou positioning of the present invention, the buoy component is applied to trajectory monitoring and navigation route planning. It can monitor the obstacles faced by the ship during navigation or the ocean conditions during navigation in advance according to the set buoy component before the ship sails, and it can plan the ship's navigation route in advance. Moreover, when changing the navigation route, it can pre-set the original buoy component coordinate position as the center of the circle and a certain distance as the radius, and detect the sea conditions or obstacle information of the ocean surface within the entire adjustment circular area by collecting buoys. After comparison, when the best navigation position is selected, the buoy component is changed from the original coordinates to the existing best navigation position coordinates, so that the ship's navigation route is re-planned, and the ship's navigation route can be planned quickly, accurately and more safely.

[0022] 2. The buoy assembly in the ship track monitoring system based on Beidou positioning of the present invention includes a positioning buoy and a collection buoy that can be separated from each other. Before planning a new navigation track, the buoy assembly still sets the positioning buoy at the old navigation track, and can find a suitable position at the collection buoy. If the obstacle has been eliminated, the position of the original navigation route can still be obtained. At this time, it is only necessary to return the collection buoy to its original position. In this way, the system of the present application can better adapt to the situation of moving obstacles encountered in the navigation route, and improve the intelligence and adaptability of navigation route planning and change;

[0023] 3. The buoy assembly of the present invention includes a foldable floating assembly, and the foldable floating assembly includes an intermediate floating plate, a foldable connecting rod and a floating outer ring. The foldable floating assembly can be switched between an unfolded state and a folded state, so as to adapt to the movement of the positioning buoy and the collection buoy. The floating outer ring is in a circular ring shape, and the intermediate floating plate is located at the center of the foldable floating assembly. Through the arrangement of the above-mentioned foldable floating assembly, it can adapt to the movement of the positioning buoy and the collection buoy. The intermediate floating plate is used as the movement space of the positioning buoy, and the floating outer ring is used as the movement space of the collection buoy, so that the buoy assembly is transformed from an inappropriate originally planned coordinate point to a coordinate point more suitable for ship navigation, and the newly obtained navigation route can be faster and more suitable for ship navigation;

[0024] 4. In order to adapt to the combination and separation of the positioning buoy and the collection buoy, and to coordinate with the flipping action of the buoy flip frame, a driving wheel group 1 is arranged on the mother buoy moving component 2. The driving wheel group 1 is a gear drive structure. A slide groove 2 that runs through the entire buoy flip frame is arranged on the outer ring of the buoy flip frame. A rack structure 2 is arranged in the slide groove 2. A rack structure 1 is arranged on the upper end of the slide rod 1 of the sub-buoy moving component 1. The upper end of the driving wheel group 1 is meshed with the rack structure 2, and the lower end of the driving wheel group 1 is meshed with the rack structure 1. The driving wheel group 1 can mesh with the rack structure 1 and the rack structure 2 at the same time, so that the work when the positioning buoy and the collection buoy are separated or joined is realized, making the work between the components more compact and reducing the use of the driving source;

[0025] 5. Finally, the folding floating assembly of the present invention is fixed by a seabed positioning assembly, which includes an intermediate chain 1 located below the intermediate floating plate and a plurality of peripheral chains 2 located at the intersection of the folding connecting rod and the floating outer ring. The intermediate chain 1 and the peripheral chain 2 can be used together to position the folding floating assembly, so that the positioning buoy and the collection buoy can be well fixed regardless of whether they are located above the intermediate floating plate or at the floating outer ring, so that the buoy assembly can make the position more accurate during navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of ship trajectory change based on Beidou positioning in this application;

[0027] Figure 2 This is another schematic diagram of changing the ship trajectory based on Beidou positioning in this application;

[0028] Figure 3 It is a schematic diagram of the buoy assembly structure;

[0029] Figure 4 It is a top view of the foldable floating component when it is unfolded;

[0030] Figure 5 It is a schematic diagram of the position adjustment structure of the collection buoy when the positioning buoy is the center of the circle;

[0031] Figure 6 It is a structural schematic diagram of a sub-buoy moving component;

[0032] Figure 7 This is a schematic diagram of the structure of the second moving component of the mother buoy;

[0033] Figure 8 This is a schematic diagram of the buoy flip frame structure;

[0034] Fig. 9 for Figure 3 A magnified view of

[0035] Fig.10 It is a schematic diagram of the structure of the buoy flip frame after flipping a certain angle;

[0036] Fig.11 This is a schematic diagram of the structure after the positioning buoy and the collection buoy are separated;

[0037] Fig.12 It is a schematic diagram of the structure after the foldable floating component is unfolded;

[0038] Fig.13 This is a schematic diagram of the structure after the collection buoy moves to the floating outer ring;

[0039] Fig.14 It is a schematic diagram of the structure of the buoy assembly in the initial state without illustrating the folding floating assembly and the seabed positioning assembly;

[0040] Fig.15 for Fig.14 A schematic diagram of the structure of the buoy flip frame after flipping a certain angle;

[0041] Fig.16 for Fig.13 A magnified view of B.

[0042] Among them, 1. Ship; 2. Obstacle; 3. Buoy assembly; 4. Navigation route 1; 5. Navigation route 2; 6. Positioning buoy; 7. Collection buoy; 8. Folding floating assembly; 9. Sub-buoy moving assembly 1; 10. Mother buoy moving assembly 2; 11. Ocean; 12. Seabed positioning assembly; 13. Buoy flip frame; 14. Folding connecting rod; 15. Floating outer ring; 16. Moving bottom plate 1; 17. Support column 1; 18. Ball receiving groove 1; 19. Sliding rod 1; 20. Moving wheel group 1; 21. Moving bottom plate 2; 22. First supporting arc plate 1; 23. Second supporting arc plate 2; 24. Moving wheel group 2; 25. Driving wheel Group 1; 26, slide trough 1; 27, hemispherical frame; 28, first rotating shaft; 29, second rotating shaft; 30, slide trough 2; 31, bottom plate 1; 32, supporting arc plate; 33, ring plate; 34, rotating frame 1; 35, rotating driving wheel 1; 36, active rotating shaft 1; 37, left bracket plate 1; 38, right bracket plate 2; 39, first guide rail; 40, second guide rail; 41, connecting rope; 42, middle chain 1; 43, outer chain 2; 44, moving wheel groove 1; 45, moving wheel groove 2; 46, driving wheel groove 1; 47, rotating shaft hole 1; 48, rotating shaft hole 2; 49, middle floating plate; 50, third guide rail. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with the examples. However, the present invention is not limited to the following examples. The implementation conditions used in the examples can be further adjusted according to the different requirements of specific use, and the implementation conditions not specified are conventional conditions in the industry. The technical features involved in each embodiment of the present invention can be combined with each other as long as they do not conflict with each other.

[0044] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0045] The disclosure below provides many different embodiments or examples to implement different structures of the embodiments of the present invention. In order to simplify the disclosure of the embodiments of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the embodiments of the present invention. In addition, the embodiments of the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0046] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. Example 1

[0047] like Figure 1-16 As shown, a ship trajectory monitoring method based on Beidou positioning includes the following steps:

[0048] S1. Obtain a map of the ship's route to be sailed, and select a corresponding buoy assembly 3 to form the sailing route of the ship 1.

[0049] A navigation plan is formulated according to factors such as the destination of the ship, expected weather conditions, sea conditions and nautical charts, and a navigation route map is obtained through navigation software. A plurality of buoy components 3 are preset on the ocean 11, and the plurality of buoy components 3 are arranged in a plurality of rows and columns on the ocean 11 (not shown in the figure). A Beidou positioning system is arranged on all the buoy components 3. According to the navigation route map, a buoy component 3 on a corresponding navigation path on the navigation route map is selected as a navigation point, and other buoy components 3 do not move, such as being in a closed state, and then sink into the ocean 11. The corresponding buoy components 3 constitute a navigation route 4 of the ship 1, such as Figure 1 shown.

[0050] S2. The buoy assembly 3 as a navigation point monitors the marine situation in real time. When the route adjustment is required, the buoy assembly 3 replans the ship's navigation track.

[0051] The buoy assembly 3 includes a folding floating assembly 8, a mother buoy moving assembly 2 10 and a sub-buoy moving assembly 1 9. The mother buoy moving assembly 2 10 and the sub-buoy moving assembly 1 9 are both movably arranged on the folding floating assembly 8. The folding floating assembly 8 is fixed by a seabed positioning assembly 12. A buoy flip frame 13 is rotatably arranged on the upper end of the mother buoy moving assembly 2 10. A positioning buoy 6 and a collection buoy 7 are arranged in the buoy flip frame 13. The positioning buoy 6 is provided with a Beidou positioning system for positioning the buoy assembly 3. The periphery of the collection buoy 7 is provided with a camera sensor, a meteorological data sensor, etc. The camera sensor is used to obtain information such as whether there are obstacles 2 on the surface of the ocean 11. The meteorological data sensor can obtain meteorological data such as wind speed, temperature and humidity, rainfall or wave height of the ocean 11. When the collection buoy 7 monitors that there are obstacles 2 near the navigation route 1 4 of the ship 1 on the ocean 11, etc., causing the original position of a certain buoy assembly 3 to be no longer suitable for the navigation of the ship 1, such as Figure 2 As shown, with the original position of a certain buoy component 3 as the center of the circle and a certain distance as the radius, the original buoy component 3 is rotated by a certain angle so that it is located at a new adjusted navigation position, and the adjusted buoy component 3 replans the navigation route 25 of the ship 1.

[0052] S3. The vessel 1 travels along the navigation route 1 4 or the navigation route 2 5 .

[0053] The ship 1 is also equipped with a Beidou navigation and positioning system, and the ship 1 travels along the navigation route 1 4 or the navigation route 2 5 through the Beidou navigation and positioning system.

[0054] Let the center of the ship 1 be O, the angle between the line passing through the bow and the center and the horizontal line be α, take the center O as the coordinate system, the horizontal line as the X-axis, and the vertical line as the Y-axis, then the ship 1 navigates at the angle α, and the angle α is determined by the navigation route 1 4 or the navigation route 2 5, and changes once after passing a buoy assembly 3. Of course, the angle α can also be manually determined according to the specific navigation of the ship 1.

[0055] In addition, the timing for the buoy component 3 to re-plan the ship's navigation trajectory is before the ship 1 travels to a certain buoy component 3 that needs to be adjusted. All buoy components 3 located on the navigation route 1 4 constantly obtain corresponding meteorological data or sea surface condition data (such as whether there are obstacles) on the surface of the ocean 11. When it is determined that there is a risk of collision or capsizing when the ship 1 passes by, the position of the buoy component 3 with the above-mentioned risk is adjusted to form a new navigation route 2 5, so that the ship 1 can sail on the navigation route 2 5 away from the risk.

[0056] In addition, when the buoy assembly 3 is not adjusted in position, the positioning buoy 6 is stacked on the collecting buoy 7, and the folding floating assembly 8 is in a folded state. When the buoy assembly 3 is adjusted in position, the folding floating assembly 8 is in an expanded state, and the buoy flip frame 13 rotates so that the positioning buoy 6 engages with the sub-buoy moving assembly 1 9, and the mother buoy moving assembly 2 10 moves on the folding floating assembly 8 in the expanded state. The positioning buoy 6 and the collecting buoy 7 are connected by a connecting rope 41. At the same time, the sub-buoy moving assembly 1 9 also moves on the folding floating assembly 8 in the expanded state, so that the positioning buoy 6 is located at the center of the folding floating assembly 8 in the expanded state, and the collecting buoy 7 is located at the edge of the folding floating assembly 8 in the expanded state. Figure 5 As shown, the collecting buoy 7 rotates along the edge, and the angle between the line connecting the collecting buoy 7 and the positioning buoy 6 and the horizontal line is γ. When the collecting buoy 7 determines that its position is suitable as a new navigation point, the connecting cable 41 is retracted, so that the sub-buoy moving component 19 moves close to the mother buoy moving component 210, and finally the positioning buoy 6 is located above the collecting buoy 7 again. At this time, the newly corrected coordinate position is used as the new coordinate of the new navigation route 25, so that the navigation route 14 is changed to the navigation route 25.

[0057] In addition, if Figure 2 As shown, the coordinate position of the buoy assembly 3 is (x i ,y i ), the center of the buoy assembly 3 is Oi , the radius is L, the certain angle is β i , then the coordinate position of the buoy assembly 3 is determined by the navigation route 4 (x i ,y i ) is changed to the coordinate position of navigation route 2 5 (X i , Y i ), where X i =x i +L*cosβ i , Y i =y i +L*sinβ i , i is a natural number greater than 1. Example 2

[0058] like Figure 3-16 As shown, it also includes a ship monitoring system based on Beidou positioning, which includes a plurality of buoy components 3, and the buoy components 3 form a navigation route 1 4 or a navigation route 2 5. By changing the position of the buoy component 3, the navigation route 1 4 is changed to the navigation route 2 5. The buoy component 3 includes a folding floating component 8, a mother buoy moving component 2 10 and a sub-buoy moving component 1 9. The mother buoy moving component 2 10 and the sub-buoy moving component 1 9 can be movably arranged on the folding floating component 8, and the folding floating component 8 is fixed by a seabed positioning component 12. A buoy flip frame 13 is rotatably arranged at the upper end of the mother buoy moving component 2 10, and a positioning buoy 6 and a collection buoy 7 are arranged in the buoy flip frame 13. The positioning buoy 6 is provided with a Beidou positioning system. The system is used for positioning the buoy assembly 3. The periphery of the collection buoy 7 is provided with camera sensors, meteorological data sensors, etc. The camera sensor is used to obtain information such as whether there are obstacles 2 on the surface of the ocean 11. The meteorological data sensor can obtain meteorological data such as wind speed, temperature and humidity, rainfall or wave height of the ocean 11. When the collection buoy 7 monitors that there are obstacles 2 near the navigation route 14 of the ship 1 on the ocean 11 and the original position of a buoy assembly 3 is no longer suitable for the navigation of the ship 1, the original position of the buoy assembly 3 is used as the center of the circle and a certain distance is used as the radius, so that the original buoy assembly 3 is rotated by a certain angle so that it is located at the new adjusted navigation position, and the adjusted buoy assembly 3 replans the navigation route 25 of the ship 1.

[0059] Furthermore, if Figure 4As shown, the folding floating assembly 8 includes an intermediate floating plate 49, a floating outer ring 15 and a plurality of folding connecting rods 14, the two ends of the plurality of folding connecting rods 14 are respectively connected to the intermediate floating plate 49 and the floating outer ring 15, the seabed positioning assembly 12 includes an intermediate chain 1 42 fixedly arranged at the lower end of the intermediate floating plate 49 and a plurality of peripheral chains 2 43 fixedly arranged at the floating outer ring 15, when the folding floating assembly 8 is in the unfolded state, the intermediate floating plate 49, the floating outer ring 15 and the plurality of folding connecting rods 14 can all be located near the surface of the ocean 11, and when the folding floating assembly 8 is in the folded state, the intermediate floating plate 49 is located near the surface of the ocean 11, and the floating outer ring 15 and the plurality of folding connecting rods 14 are tightened by the peripheral chain 2 43 and are located in the ocean 11.

[0060] Furthermore, the middle chain 1 42 is located at the lower end of the middle floating plate 49, and the outer chain 2 43 is located at the lower end of the connection point between the folding link 14 and the floating outer ring 15. Figure 4-5 As shown, if there are four folding links 14 , there are also four outer peripheral chains 43 , which are respectively located at the lower ends of the four points where the folding links 14 are connected to the floating outer ring 15 .

[0061] Preferably, the floating outer ring 15 and the plurality of folding links 14 can be arranged with air bags inside so that when unfolded, gas is blown into the air bags so that they can be located near the surface of the ocean 11, and when folded, the gas in the air bags is released so that they are located in the ocean 11. The floating outer ring 15 and the plurality of folding links 14 also include an inflation pump and an air release valve arranged in the air bags. The inflation pump is arranged at the lower end of the middle float plate 49, and the air release valve can release the gas in the air bags. Correspondingly, the chain of the peripheral chain 2 43 can also be wound up or released accordingly to adapt to the state of the floating outer ring 15 and the plurality of folding links 14, such as by a hoisting mechanism, such as by setting a waterproof motor to drive a reel to achieve winding and releasing. The specific hoisting mechanism is common knowledge in the art and is not the focus of this application, so it will not be repeated here.

[0062] Furthermore, a moving wheel group 20 is provided below the sub-buoy moving component 9, and a moving wheel group 24 is provided below the mother buoy moving component 10. The moving wheel group 20 is used to realize the movement of the sub-buoy moving component 9 on the folding floating component 8, and the moving wheel group 24 is used to realize the movement of the mother buoy moving component 10 on the folding floating component 8.

[0063] Furthermore, a first guide rail 39 is provided on the upper section of the intermediate floating plate 49, a second guide rail 40 is provided on the folding link 14, and a third guide rail 50 is provided on the floating outer ring 15. The first guide rail 39 and the second guide rail 40 are connected, and the second guide rail 40 and the third guide rail 50 are connected. The mother buoy moving component 10 can move to the third guide rail 50 through the first guide rail 39 and the second guide rail 40, and the sub-buoy moving component 19 can move to the center of the intermediate floating plate 49 through the first guide rail 39, and can also move to the third guide rail 50 through the first guide rail 39 and the second guide rail 40.

[0064] In addition, the plurality of folding links 14 may also be composed of a plurality of floating plate structures passing through a hinge axis, such as a hinge axis located at the bottom, and the folding links 14 are formed by hinges of a plurality of buoys that can be bent downward. When the folding floating assembly 8 needs to be unfolded, the seabed positioning assembly 12 located at the end is relaxed, and the folding links 14 can be unfolded into a straight line. In addition, in order to enable the folding links 14 to cooperate with the movement of the sub-buoy moving assembly 1 9 and the mother buoy moving assembly 2 10, the lower ends of the sub-buoy moving assembly 1 9 and the mother buoy moving assembly 2 10 can also be provided with a The limiting structure can be inserted into the first guide rail 39, the second guide rail 40 and the third guide rail 50. For example, the first guide rail 39, the second guide rail 40 and the third guide rail 50 can be made into a dovetail groove structure, and a slider is set at the lower end of the sub-buoy moving component 19 and the mother buoy moving component 2 10 to be inserted into the dovetail groove, so that the buoyancy of the sub-buoy moving component 19 and the mother buoy moving component 2 10 can also be used to tighten the folding connecting rod 14 and the floating outer ring 15, which can better ensure the smooth movement of the sub-buoy moving component 19 and the mother buoy moving component 2 10.

[0065] Furthermore, if Figure 6-8 As shown, the sub-buoy moving component 9 includes a moving base plate 16 and a supporting column 17 located thereon, and a ball receiving groove 18 capable of engaging with the positioning buoy 6 is arranged at the upper end of the supporting column 17. The mother buoy moving component 10 includes a moving base plate 21 and a first supporting arc plate 22 and a second supporting arc plate 23 arranged thereon, the end of the first supporting arc plate 22 is provided with a rotating shaft hole 47, and the end of the second supporting arc plate 23 is provided with a rotating shaft hole 28. The buoy flip frame 13 includes a hemispherical frame 27 and a first rotating shaft 28 and a second rotating shaft 29 arranged at both ends of the hemispherical frame 27, the first rotating shaft 28 is inserted into the rotating shaft hole 147, and the second rotating shaft 29 is inserted into the rotating shaft hole 248.

[0066] Furthermore, at the upper end of the movable bottom plate 21, a driving wheel set 25 (such as Fig. 9 As shown in the figure, the hemispherical frame 27 includes a ring plate 33, a bottom plate 31 and a plurality of supporting arc rods 32, the two ends of the plurality of supporting arc rods 32 are respectively connected to the ring plate 33 and the bottom plate 31, a continuous slide groove 2 30 is provided on the ring plate 33, the supporting arc rods 32 and the bottom plate 31, the driving wheel group 1 25 can be engaged in the slide groove 2 30, and the rotation of the buoy flip frame 13 is realized by the rotation of the driving wheel group 1 25.

[0067] Preferably, the rotation of the buoy flip frame 13 can also be achieved by setting up the following structure: a driving device is set to drive the first rotating shaft 28 and / or the second rotating shaft 29 to rotate relative to the first supporting arc plate 1 22 and the second supporting arc plate 2 23, such as a rotating motor set on the first supporting arc plate 1 22 and / or the second supporting arc plate 2 23, and the first rotating shaft 28 and / or the second rotating shaft 29 are driven by the rotating motor to rotate. The specific driving device is common knowledge in the field and will not be repeated here.

[0068] Furthermore, if Fig. 9 and 16 As shown, in order to facilitate the free switching of the moving wheel group 24 between the second guide track 40 and the third guide track 50, the moving wheel group 24 includes a rotating frame 1 34 and a rotating driving wheel 1 35, and the rotating driving wheel 1 35 is rotatably arranged at the lower end of the moving wheel group 24, and the rotating frame 1 34 includes an active rotating shaft 1 36 and a left bracket plate 1 37 and a right bracket plate 2 38, and the active rotating shaft 1 36 is rotatably arranged in the moving bottom plate 21, and the left bracket plate 1 37 and the right bracket plate 2 38 are fixedly arranged at the lower end of the active rotating shaft 1 36, and the rotating driving wheel 1 35 is rotatably arranged between the left bracket plate 1 37 and the right bracket plate 2 38. Preferably, the structure of the moving wheel group 1 20 is the same as that of the moving wheel group 24, so that the sub-buoy moving component 1 9 can also be freely switched between the second guide track 40 and the third guide track 50, and the specific structure is not repeated here.

[0069] In addition, the positioning buoy 6 and the collecting buoy 7 are connected by a connecting cable 41, one end of the connecting cable 41 is fixed to the positioning buoy 6, and the other end passes through the collecting buoy 7. A hoisting mechanism (not shown in the figure) capable of retracting and releasing the connecting cable 41 is provided in the collecting buoy 7, and the length of the connecting cable 41 can be controlled by retracting and releasing the hoisting mechanism.

[0070] In addition, a magnetic component 1 (such as an electromagnet or a permanent magnet) is provided in the ball receiving groove 18, and a magnetic component 2 is provided on the positioning buoy 6. For example, a magnetic component such as an iron block can be provided, and the connection is achieved by the magnetic attraction method. Of course, the connection can also be achieved by providing a mechanical snap-on structure. In addition, in order to ensure that the positioning buoy 6 can rotate freely without being entangled in the connecting cable 41, the upper end of the support column 17 can rotate relative to the middle part of the support column 17. For example, the ball receiving groove 18 can be provided on a rotating seat, and the rotating seat can rotate freely relative to the support column 17 through a rotating axis. In this way, with the positioning buoy 6 as the center and the length of the folding connecting rod 14 as the radius, the rotational movement of the collection buoy 7 on the floating outer ring 15 can also be freely achieved.

[0071] Preferably, a moving wheel groove 44 is further opened on the lower side of the moving base plate 16, and the moving wheel group 20 is arranged in the moving wheel groove 44; a moving wheel groove 45 is further opened at the lower end of the moving base plate 21, and the moving wheel group 24 is arranged in the moving wheel groove 45; a moving wheel groove 46 is opened at the upper end of the moving base plate 21, and the driving wheel group 25 is arranged in the moving wheel groove 46.

[0072] In addition, in order to enable the movement of the sub-buoy moving component 19 relative to the mother buoy moving component 210 to adapt to the flipping action of the buoy flip frame 13, a slide bar 19 is also provided on one side of the moving base plate 16, and a slide groove 26 is provided on the lower side of the moving base plate 21, and the slide bar 19 can extend into the slide groove 26 for sliding. In addition, a rack structure 1 is also provided at the upper end of the slide bar 19, and the upper end of the driving wheel group 125 is meshed with the rack structure 2 provided in the slide groove 230, and the lower end of the driving wheel group 125 is meshed with the rack structure 1. In this way, when the positioning buoy 6 and the collection buoy 7 need to be separated, it is only necessary to drive the driving wheel group 25 to rotate counterclockwise by a certain angle, such as 90°, and at the same time drive the sub-buoy moving component 9 to approach the mother buoy moving component 21. 0, then the positioning buoy 6 is located in the ball receiving groove 18, the electromagnet is energized to generate magnetism, which attracts the positioning buoy 6 and positions it at the upper end of the support column 17, and then the moving wheel group 20 stops rotating, and the moving wheel group 24 rotates and leaves the sub-buoy moving component 9, so that the driving wheel group 25 rotates in the opposite direction, driving the buoy flip frame 13 to return to the normal state, just when the slide bar 19 disengages from the engagement of the driving wheel group 25, locking the driving wheel group 25 (such as can be achieved by setting a brake mechanism, the brake structure is common knowledge in the field, and will not be repeated here), continuing to drive the rotation of the moving wheel group 24, and then driving the moving wheel group 20 to move to the center of the middle floating plate 49, and in addition, making the moving wheel group 24 move to the junction of the second guide track 40 and the third guide track 50, The moving wheel group 24 rotates 90°, and then the collection buoy 7 rotates around the floating outer ring 15 with the positioning buoy 6 as the center and the distance R from the center of the middle floating plate 49 to the center of the third guide track 50 as the radius (such as Figure 5 ), as shown Figure 2As shown, after the collection buoy 7 moves to a suitable position, the moving wheel group 24 stops moving, the moving wheel group 120 moves, and the connecting cable 41 retracts. After the sub-buoy moving component 19 reaches the junction of the second guide track 40 and the third guide track 50, the moving wheel group 20 rotates 90° and continues to move. When the slide bar 19 of the sub-buoy moving component 19 is inserted into the slide groove 26 and touches the driving wheel group 25, the driving wheel group 25 is unlocked, and the sub-buoy moving component 9 continues to move, driving the buoy flip frame 13 to rotate. After the top of 7 contacts the positioning buoy 6 again, the driving of the moving wheel group 20 is stopped, and at the same time, the electromagnet is de-energized, and then the moving wheel group 20 is driven to move in the opposite direction for a certain distance until the buoy flip frame 13 is returned to the normal position. At this time, the position of the buoy assembly 3 is also adjusted, and then, except for the floating outer ring 15 at the position where the buoy assembly 3 is located on the surface of the ocean 11, the seabed positioning assemblies 12 at other places are in a retracted state, so that the buoy assembly 3 can smoothly complete the position adjustment while not affecting the navigation of the ship 1 due to other folding floating assemblies 8 floating near the surface of the ocean 11.

[0073] Finally, after the ship 1 completes a voyage, all the buoy components 3 are initialized, so that the sub-buoy moving component 1 9 and the mother buoy moving component 2 10 are both located at the middle floating plate 49 of the folding floating component 8, and the folding floating component 8 is in a folded state. In addition, the buoy component 3 that is not in motion and sunk in the ocean 11 is also in an initial state, waiting for the planning of the next navigation route of the ship 1 to form the ship's navigation trajectory.

Claims

1. A ship trajectory monitoring method based on Beidou positioning, characterized in that: The following steps are involved: S1, obtaining a map of the route of the ship to be sailed, and selecting a corresponding buoy component (3) to form the sailing route of the ship (1); A navigation route map is obtained according to the destination of the ship, expected weather conditions, sea conditions and a nautical chart, a plurality of buoy assemblies (3) are preset on the ocean (11), the plurality of buoy assemblies (3) are arranged in a plurality of rows and columns on the ocean (11), a Beidou positioning system is arranged on all the buoy assemblies (3), and a buoy assembly (3) on the navigation path is selected as a navigation point according to the navigation route map, and the buoy assemblies (3) on the navigation point constitute a navigation route one (4) of the ship (1); S2, the buoy component (3) as a navigation point monitors the marine situation in real time. When the route adjustment is required, the buoy component (3) replans the ship's navigation track; The buoy assembly (3) comprises a folding floating assembly (8), a mother buoy moving assembly (2) (10) and a sub-buoy moving assembly (1) (9); the mother buoy moving assembly (2) (10) and the sub-buoy moving assembly (1) (9) are both movably arranged on the folding floating assembly (8); the folding floating assembly (8) is fixed by a seabed positioning assembly (12); a buoy flip frame (13) is rotatably arranged at the upper end of the mother buoy moving assembly (10); a positioning buoy (6) and a sampling buoy are arranged in the buoy flip frame (13); A collection buoy (7), wherein a Beidou positioning system is arranged inside the positioning buoy (6) for locating the buoy assembly (3); an environmental sampling sensor is arranged on the periphery of the collection buoy (7); when the position of the buoy assembly (3) is no longer suitable for the navigation of the ship (1), the buoy assembly (3) is rotated to a certain angle and located at an adjusted navigation position with the position of the buoy assembly (3) as the center and a certain distance as the radius, and the adjusted buoy assembly (3) is used to replan the navigation route 2 (5) of the ship (1); S3. The vessel (1) sails according to navigation route 1 (4) or navigation route 2 (5); A Beidou navigation and positioning system is also installed on the ship (1), and the ship (1) travels according to the navigation route one (4) or the navigation route two (5) through the Beidou navigation and positioning system.

2. The method for monitoring ship trajectory based on Beidou positioning according to claim 1, characterized in that: The timing for the buoy assembly (3) to replan the ship's navigation trajectory is before the ship (1) reaches the buoy assembly (3) that needs to be adjusted. All buoy assemblies (3) located on navigation route one (4) constantly obtain meteorological data or sea surface condition data on the surface of the ocean (11). When it is determined that there is a risk of collision or capsizing when the ship (1) passes by, the position of the buoy assembly (3) with the above-mentioned risk is adjusted to form the new navigation route two (5), so that the ship (1) can sail on navigation route two (5) away from the risk.

3. The method for monitoring ship trajectory based on Beidou positioning according to claim 1, characterized in that: When the buoy assembly (3) is not adjusted in position, the positioning buoy (6) is stacked on the collecting buoy (7), and the folding floating assembly (8) is in a folded state. When the buoy assembly (3) is adjusted in position, the folding floating assembly (8) is in an unfolded state, and the buoy flip frame (13) rotates so that the positioning buoy (6) is engaged with the sub-buoy moving assembly (9), and the mother buoy moving assembly (10) moves on the folding floating assembly (8) in the unfolded state. The positioning buoy (6) and the collecting buoy (7) are connected by a connecting rope (41), and the sub-buoy moving assembly (9) also moves on the folding floating assembly (8) in the unfolded state, so that the positioning buoy (6) is located at the center of the folding floating assembly (8) in the unfolded state, and the collecting buoy (7) is located at the edge of the folding floating assembly (8) in the unfolded state.

4. The method for monitoring ship trajectory based on Beidou positioning according to claim 1, characterized in that: The coordinate position of the buoy assembly (3) is recorded as (x i ,y i ), the center of the buoy assembly (3) is denoted as O i , the radius is L, the certain angle is β i , then the coordinate position of the buoy assembly (3) is determined by the (x i ,y i ) is changed to the coordinate position of navigation route 2 (5) (X i , Y i ), where X i =x i +L*cosβ i , Y i =y i +L*sinβ i , i is a natural number greater than or equal to 1.

5. A ship monitoring system based on Beidou positioning, characterized in that: The ship monitoring system comprises a plurality of buoy assemblies (3), wherein the plurality of buoy assemblies (3) form a navigation route one (4) or a navigation route two (5), and by changing the position of the buoy assemblies (3), the navigation route one (4) is changed to the navigation route two (5), and the buoy assemblies (3) comprise a folding floating assembly (8), a mother buoy moving assembly two (10) and a sub-buoy moving assembly one (9), and the mother buoy moving assembly two (10) and the sub-buoy moving assembly one (9) are both movably arranged on the folding floating assembly (8), The foldable floating assembly (8) is fixed by a seabed positioning assembly (12). A buoy flip frame (13) is rotatably arranged at the upper end of the mother buoy moving assembly (10). A positioning buoy (6) and a collection buoy (7) are arranged in the buoy flip frame (13). The positioning buoy (6) is provided with a Beidou positioning system for positioning the buoy assembly (3). The outer periphery of the collection buoy (7) is provided with an environmental sampling sensor. When the position of the buoy assembly (3) is no longer suitable for the navigation of the ship (1), the collection buoy (7) is rotated with the position of the buoy assembly (3) as the center. , with a certain distance as a radius, so that the buoy assembly (3) rotates a certain angle and is located at an adjusted navigation position, and the adjusted buoy assembly (3) replans a second navigation route (5) of the ship (1); the folding floating assembly (8) comprises an intermediate floating plate (49), a floating outer ring (15) and a plurality of folding connecting rods (14), the two ends of the plurality of folding connecting rods (14) are respectively connected to the intermediate floating plate (49) and the floating outer ring (15), and the seabed positioning assembly (12) comprises a middle floating plate (49) fixedly arranged at the lower end of the intermediate floating plate (49). The intermediate chain (42) and the plurality of peripheral chains (43) fixedly arranged at the floating outer ring (15) are such that when the folding floating assembly (8) is in an unfolded state, the intermediate floating plate (49), the floating outer ring (15) and the plurality of folding connecting rods (14) can all be located near the surface of the ocean (11); when the folding floating assembly (8) is in a folded state, the intermediate floating plate (49) is located near the surface of the ocean (11), and the floating outer ring (15) and the plurality of folding connecting rods (14) are tightened by the peripheral chain (43) and are located in the ocean (11).

6. The ship monitoring system based on Beidou positioning according to claim 5, characterized in that: A moving wheel group 1 (20) is provided below the sub-buoy moving component 1 (9), and a moving wheel group 2 (24) is provided below the mother buoy moving component 2 (10). The moving wheel group 1 (20) is used to realize the movement of the sub-buoy moving component 1 (9) on the folding floating component (8), and the moving wheel group 2 (24) is used to realize the movement of the mother buoy moving component 2 (10) on the folding floating component (8).

7. The ship monitoring system based on Beidou positioning according to claim 5, characterized in that: A first guide rail (39) is provided on the upper section of the intermediate floating plate (49), a second guide rail (40) is provided on the folding connecting rod (14), and a third guide rail (50) is provided on the floating outer ring (15). The first guide rail (39) is connected to the second guide rail (40), and the second guide rail (40) is connected to the third guide rail (50). The mother buoy moving component 2 (10) can move to the third guide rail (50) through the first guide rail (39) and the second guide rail (40), and the sub-buoy moving component 1 (9) can move to the center of the intermediate floating plate (49) through the first guide rail (39), and can also move to the third guide rail (50) through the first guide rail (39) and the second guide rail (40).

8. The ship monitoring system based on Beidou positioning according to claim 5, characterized in that: The sub-buoy moving component (9) comprises a moving bottom plate (16) and a supporting column (17) located thereon, and a ball receiving groove (18) capable of engaging with the positioning buoy (6) is arranged at the upper end of the supporting column (17). The mother buoy moving component (10) comprises a moving bottom plate (21) and a first supporting arc plate (22) and a second supporting arc plate (23) arranged thereon, the end of the first supporting arc plate (22) is provided with a rotating shaft hole (47), and the end of the second supporting arc plate (23) is provided with a rotating shaft hole (48). The buoy flip frame (13) comprises a hemispherical frame (27) and a first rotating shaft (28) and a second rotating shaft (29) arranged at both ends of the hemispherical frame (27), the first rotating shaft (28) is inserted into the rotating shaft hole (47), and the second rotating shaft (29) is inserted into the rotating shaft hole (48).

9. The ship monitoring system based on Beidou positioning according to claim 8, characterized in that: A driving wheel group 1 (25) is arranged at the upper end of the movable bottom plate 2 (21), at the end of the first supporting arc plate 1 (22) and the end of the second supporting arc plate 2 (23); the hemispherical frame (27) comprises an annular plate (33), a bottom plate 1 (31) and a plurality of supporting arc rods (32); the two ends of the plurality of supporting arc rods (32) are respectively connected to the annular plate (33) and the bottom plate 1 (31); a continuous sliding groove 2 (30) is provided on the annular plate (33), the supporting arc rods (32) and the bottom plate 1 (31); the driving wheel group 1 (25) can be engaged in the sliding groove 2 (30); and the rotation of the buoy flip frame (13) is realized by the rotation of the driving wheel group 1 (25).

Images