Ship lock safety protection monitoring system and method

Abstract

The invention discloses a ship lock safety protection monitoring system and method, and the system comprises data detection devices which are respectively installed at an upper lock head and a lower lock head of a ship lock, and are used for automatically sensing and collecting the information of a lockage ship in a set detection region in real time; the data processing device is used for receiving the lockage ship information acquired by the data detection device in real time, and judging whether a ship exists in a detection area before and during gate closing through calculation according to gate closing conditions; if yes, stopping outputting the gate closing action signal; the gate is prevented from being closed by mistake when a ship enters and exits a lock chamber of the ship lock, or the accidents of gate collision and ship clamping caused by ship rushing in the gate closing process are avoided; and the data acquisition device is respectively connected with the data detection device and the data processing device and is used for transmitting and preprocessing the obtained information of the lockage ships near the gate. The invention further discloses a ship lock safety protection monitoring method. The labor intensity of workers is relieved, and misjudgment and misoperation caused by human factors are avoided.

Description

Technical Field

[0001] The present invention relates to a ship lock automation monitoring technology, in particular to a ship lock safety protection monitoring system and method based on millimeter wave radar for preventing ship clamping at a lock gate and alarm linkage during a ship passing through a lock process control. Background Art

[0002] The ship-caught accident in the lock gate is a serious potential accident hazard that always exists during the operation of the lock. If a ship breaks through the lock gate when it is closed, or if the gate is closed by mistake when the ship enters or leaves the lock, it may cause a serious ship-caught accident in the gate.

[0003] In the prior art, video images near the gates are generally retrieved manually, and it is manually determined whether the gates are allowed to be closed. This method has many restrictions, such as video image retrieval errors, careless observation, misjudgment, and misoperation during the unified centralized control operation of multi-line and multi-level locks. Especially at night, it may cause scratches or collisions with nearby ships when closing the gates, seriously threatening the safety of lock buildings and ship operations. The technology of ship identification through video image analysis still has many uncertainties in the identification algorithm, and cannot overcome environmental influences such as light changes, foggy weather, and large floating objects on the water surface, making it difficult to actually put it into the interlocking control of the opening and closing protection of the lock gates. At present, the anti-gate ship clamping devices using video technology cannot meet the requirements of interlocking control and safety assurance in all weather and all application scenarios. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a ship lock safety protection monitoring system and method in view of the above-mentioned defects of the prior art.

[0005] In order to achieve the above object, the present invention provides a ship lock safety protection monitoring system, which includes:

[0006] Data detection devices are installed at the upper and lower gates of the ship lock, respectively, to automatically sense and collect real-time information on ships passing through the lock within the set detection area;

[0007] a data processing device, which receives the ship information collected by the data detection device in real time, and determines whether there is a ship in the detection area before and during the closing of the gate by calculation in combination with the conditions for closing the gate; if so, stops outputting the gate closing action signal; so as to avoid the gate being closed by mistake when the ship enters or leaves the lock chamber, or the gate collision and ship jamming accidents caused by the ship breaking through the lock during the gate closing process; and

[0008] The data acquisition device is connected to the data detection device and the data processing device respectively, and is used for transmitting and preprocessing the acquired information of ships passing through the lock near the lock.

[0009] In the above-mentioned ship lock safety protection monitoring system, the data acquisition device and the data processing device are both arranged in the ship lock control cabinet.

[0010] The above-mentioned ship lock safety protection monitoring system, wherein the data detection device includes a millimeter wave radar sensor, which is installed opposite to each other at set positions on both sides of the ship lock gate corresponding to the detection area, and is turned on when the gate is in a non-closed state; the millimeter wave radar sensor detects the detection area in a cross manner, and monitors the entry and exit of ships near the gate in real time online.

[0011] The above-mentioned ship lock safety protection monitoring system, wherein two sets of the millimeter-wave radar sensors are respectively configured at the set positions of the upper gate and the lower gate of the ship lock, and the two sets of the millimeter-wave radar sensors are respectively arranged outside the gate and inside the gate for real-time monitoring, and the installation distance between the two sets of the millimeter-wave radar sensors is not less than 50 meters to achieve complementary coverage of the radar blind area.

[0012] In the above-mentioned ship lock safety protection monitoring system, each single-pole ship lock in the multi-level ship lock is equipped with 4 sets of the above-mentioned millimeter-wave radar sensors.

[0013] The above-mentioned ship lock safety protection monitoring system, wherein the data acquisition device also has a protocol gateway conversion function, adopts ProfiBus DP, SSI, RS485 and / or industrial Ethernet, communicates with the data detection device in an industrial field bus manner, and collects and pre-processes the ship navigation trajectory data near the gate obtained by the data detection device.

[0014] The above-mentioned ship lock safety protection monitoring system, wherein the data processing device includes a ship lock control host computer and a ship lock control PLC, and the ship lock control PLC communicates with the ship lock control host computer and the data acquisition device respectively using Modbus TCP, Profinet and / or OPC communication protocols. After the ship lock control PLC receives the ship's navigation trajectory in real time, it determines whether there is a ship in the gate area by the navigation direction and speed, and predicts whether there is a ship approaching the dangerous area of ​​the gate during the time period of closing the gate, and pushes prompt information to the ship lock control host computer; when the conditions are met, the linkage protection mechanism is triggered to prohibit closing the gate.

[0015] In the above-mentioned ship lock safety protection monitoring system, the ship lock control host computer uses graphic simulation to display the size, position and running speed information of the ship in the detection area, and displays the alarm linkage information in real time.

[0016] In the above-mentioned ship lock safety protection monitoring system, the data processing device has the self-tuning and self-diagnosis functions of the data acquisition device, and forces exit control on the diagnosed unhealthy data to avoid erroneously sending a signal prohibiting gate closing.

[0017] In order to better achieve the above-mentioned purpose, the present invention also provides a ship lock safety protection monitoring method, which includes the following steps:

[0018] S100, respectively install millimeter-wave radar sensors at set positions on both sides of the ship lock gate corresponding to the set detection area, automatically sense and collect information about ships passing through the detection area in real time; and start working when the gate is in a non-closed state; the millimeter-wave radar sensor detects the detection area in a cross manner, and monitors the entry and exit of ships near the gate online in real time;

[0019] S200, using ProfiBus DP, SSI, RS485 and / or industrial Ethernet to communicate with the millimeter-wave radar sensor in an industrial field bus manner, and collecting and preprocessing the navigation trajectory data of the ship near the gate obtained by the millimeter-wave radar sensor; and

[0020] S300, receiving the ship information passing through the lock collected by the millimeter-wave radar sensor in real time, and combining the conditions for closing the gate, determining through calculation whether there is a ship in the detection area before and during the closing of the gate; if so, triggering the linkage protection mechanism to prohibit closing the gate, so as to avoid the accidental closing of the gate when the ship enters and leaves the lock chamber, or the gate collision and ship jamming accidents caused by the ship breaking through the lock during the closing process.

[0021] The technical effects of the present invention are:

[0022] The present invention can obtain the position and speed data of ships near the gate in real time, and accurately determine whether there are ships near the gate; it has a fast and sensitive response, and the data collection cycle is 1 second; the data collection is non-contact detection, easy to install, operates around the clock, and is not easy to damage; it also has the function of detecting the speed of ships entering and leaving the gate, and determining whether there are ships exceeding the speed limit. It can monitor continuously for 24 hours around the clock, greatly reducing the labor intensity of manual labor and avoiding misjudgment and misoperation caused by human factors. The field bus is used to collect the running trajectory data of ships near each gate, which greatly reduces the use of cables and the amount of construction work, and is suitable for all newly built and operational ship locks.

[0023] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the monitoring system configuration according to an embodiment of the present invention;

[0025] Figure 2 A working principle diagram of a monitoring system according to an embodiment of the present invention;

[0026] Figure 3 This is a monitoring process diagram of an embodiment of the present invention.

[0027] Among them, the reference numerals

[0028] 1 Upper gate

[0029] 2 Lower gate

[0030] 3 Lock Chamber

[0031] 4 Detection Area

[0032] 5The first millimeter-wave radar sensor

[0033] 62nd millimeter wave radar sensor

[0034] 7Data Collection Gateway

[0035] 8. Lock control PLC

[0036] 9. Lock control host computer DETAILED DESCRIPTION

[0037] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0038] See also Figure 1 and Figure 2 , Figure 1 FIG. 1 is a schematic diagram of a monitoring system configuration according to an embodiment of the present invention. Figure 2 The working principle diagram of the monitoring system of one embodiment of the present invention. The ship lock safety protection monitoring system of the present invention comprises: a data detection device, which is respectively installed at the upper and lower gate heads of the ship lock, and is used to automatically sense and collect in real time the information of ships passing through the lock in the set detection area 4; a data processing device, which receives the ship passing through the lock collected by the data detection device in real time, and combines the conditions for closing the gate to determine whether there is a ship in the detection area 4 before and during the closing of the gate through calculation; if so, stop outputting the gate closing action signal; to avoid the gate from being closed by mistake when the ship enters and exits the lock chamber 3 of the ship lock, or the gate collision and ship clamping accidents caused by ships breaking through the gate during the gate closing process; and a data acquisition device, which is respectively connected to the data detection device and the data processing device, and is used to transmit and pre-process the obtained ship passing through the gate near the gate.

[0039] The data detection device adopts a millimeter wave radar sensor, which is fixed at about 50 meters inside and outside the ship lock gate and installed opposite to each other. When the gate is in a non-closed state, it starts to work, detects the area near the gate in a cross manner, and monitors the entry and exit of ships near the gate in real time online. The data acquisition device communicates with the data detection device using industrial field bus methods such as ProfiBus DP, SSI, RS485, and industrial Ethernet to collect and pre-process the navigation trajectory data of ships near the gate. The device also has a protocol gateway conversion function. The data processing device is a ship lock control host computer 9 and a ship lock control PLC8, which communicates with the data acquisition device using Ethernet-based communication protocols such as Modbus TCP, Profinet, and OPC. After receiving the collected ship navigation trajectory in real time, it determines whether there is a ship in the gate area through the navigation direction, speed, etc., and can predict whether there is a ship approaching the dangerous area of ​​the gate during the process time period of the gate to be closed, and then pushes prompt information to the ship lock monitoring host computer, and triggers the linkage protection mechanism when the conditions are met to prohibit the closing of the gate. The data processing device has the functions of self-tuning and self-diagnosis of the data acquisition device, and can force exit control of the diagnosed unhealthy data to avoid erroneous sending of a signal prohibiting gate closing.

[0040] Among them, the data acquisition device and the data processing device can be arranged in the ship lock control cabinet. The data detection device of this embodiment includes a first millimeter wave radar sensor 5 and a second millimeter wave radar sensor 6, which are respectively installed at the set positions on both sides of the ship lock gate corresponding to the detection area 4, and are turned on when the gate is not closed; the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6 detect the detection area 4 in a cross manner, and monitor the entry and exit of ships near the gate online in real time. Compared with other sensors, the millimeter wave radar sensor has obvious advantages in all-weather anti-interference, strong adaptability to the environment, and has the characteristics of all-weather, long-range measurement, and accurate speed measurement. It can work normally in various scenes of various bad weather (haze days, snowy days, light rain, night, etc.), and is not affected by weather conditions and night. At the same time, the millimeter wave radar can detect objects at a long distance (more than 200 meters), and has good suppression of water clutter and floating objects on the water surface, which meets the environmental conditions in the ship lock application scenario.

[0041] The ship lock gate is a ship lock working gate, which has various forms such as a miter gate, a triangular gate, a horizontal sliding gate, a sinking gate, and a dumping gate. In this embodiment, in order to avoid the radar blind zone, two sets of the millimeter wave radar sensors, namely the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6, are respectively configured at the setting positions of the upper gate gate 1 and the lower gate gate 2 of the ship lock. The first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6 are respectively arranged outside the gate and inside the gate for real-time monitoring, that is, the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6 are respectively arranged inside and outside the upper gate gate 1 and the lower gate gate 2, and the installation distance between the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6 is not less than 50 meters, so as to achieve complementary coverage of the radar blind zone. Among them, each single-pole ship lock in the multi-stage ship lock is configured with 4 sets of the millimeter wave radar sensors, that is, each single-pole ship lock is configured with 4 sets of millimeter wave radar sensors, and the multi-stage ship lock is analogous.

[0042] In this embodiment, the data acquisition device is a data acquisition gateway 7, which also has a protocol gateway conversion function. It uses ProfiBus DP, SSI, RS485 and / or industrial Ethernet to communicate with the data detection device in an industrial field bus manner to collect and pre-process the ship navigation trajectory data near the gate obtained by the data detection device.

[0043] The data processing device has the self-tuning and self-diagnosis functions for the data acquisition device, and forces the diagnosis of unhealthy data to exit the control to avoid the mistaken issuance of a signal prohibiting the closing of the gate. The data processing device includes a lock control host computer 9 and a lock control PLC8. The lock control PLC8 communicates with the lock control host computer 9 and the data acquisition device respectively using Modbus TCP, Profinet and / or OPC communication protocols. After receiving the navigation trajectory of the ship in real time, the lock control PLC8 determines whether there is a ship in the gate area by the navigation direction and speed, and predicts whether there is a ship approaching the dangerous area of ​​the gate during the time period of closing the gate, and pushes prompt information to the lock control host computer 9; when the conditions are met, the linkage protection mechanism is triggered to prohibit the closing of the gate. In order to ensure the reliability and real-time performance of the control interlock, the Ethernet / RS485 signal output by the alarm device radar is directly connected to the lock control PLC8. The lock control host computer 9 uses graphic simulation to display the size, position and running speed information of the ship in the detection area 4, and displays the alarm linkage information in real time.

[0044] See also Figure 3 , Figure 3 The monitoring process diagram of an embodiment of the present invention is shown in FIG. The ship lock safety protection monitoring method of the present invention comprises the following steps:

[0045] Step S100, respectively install millimeter-wave radar sensors at set positions on both sides of the ship lock gate, corresponding to the set detection area 4, to automatically sense and collect information about ships passing through the detection area 4 in real time; and start working when the gate is in a non-closed state; the millimeter-wave radar sensor detects the detection area 4 in a cross manner, and monitors the entry and exit of ships near the gate in real time online;

[0046] Step S200, using ProfiBus DP, SSI, RS485 and / or industrial Ethernet to communicate with the millimeter-wave radar sensor in an industrial field bus manner, and collecting and preprocessing the navigation trajectory data of the ship near the gate obtained by the millimeter-wave radar sensor; and

[0047] Step S300, receiving the ship passing through the lock collected by the millimeter-wave radar sensor in real time, and combining the conditions for closing the gate, judging through calculation whether there is a ship in the detection area 4 before and during the closing of the gate; if not, closing the gate normally; if so, triggering the linkage protection mechanism to prohibit closing the gate, so as to avoid the accidental closing of the gate when the ship enters and exits the lock chamber 3 of the lock, or the gate collision and ship jamming accidents caused by ships breaking through the lock during the closing process.

[0048] When working, the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6 installed inside and outside the gate 1 of the ship lock output the detected information such as the size and speed of the moving object through the data interface such as the industrial bus and Ethernet. The data acquisition gateway 7 installed in the control cabinet of the ship lock converts the output signal of the millimeter wave radar into a protocol that can be received by the PLC such as the industrial Ethernet. The ship lock control PLC 8 is installed in the control cabinet of the ship lock. According to the detection data of the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6, logical operations are performed in combination with the conditions for closing the gate to determine whether there is a ship in the detection area 4 before and during the closing of the gate. If there is a ship, the output of the closing gate action signal is stopped. The ship lock control host computer 9 uses graphical simulation to display the information such as the size, position, and running speed of the ship detected by the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6, and displays the alarm linkage information in real time.

[0049] The detection range of the first millimeter wave radar sensor 5 and the second millimeter wave radar sensor 6 is not less than 200m, and they can detect the distance and angle information of extremely slow moving targets with high precision. Through the built-in algorithm program of the lock control PLC8, false targets such as floating objects on the water surface can be effectively filtered out. It has the ability to optimize the algorithm, supports the simultaneous detection and tracking of up to 32 targets, and synchronous output of 10 targets.

[0050] like Figure 1As shown in the figure, it is a schematic diagram of setting the ship lock safety protection monitoring system for the upper gate 1 of the ship lock, and the lower gate 2 can adopt the same setting. The ship identification detection area 4 is 200 meters inside and outside the upper gate 1. The millimeter wave radar detection signal is transmitted to the ship lock control PLC8 through the industrial Ethernet or industrial bus. The ship lock control PLC8 has a built-in millimeter wave radar signal operation processing program, which can effectively judge the size and moving speed of the moving target within the detection range, and effectively filter out false targets such as floating objects and surface clutter on the water surface according to the size and moving speed of the target. When the upper gate 1 is in a non-closed state, the ship lock control PLC8 turns on the detection protection function. When it is judged that there is a target that meets the detection feature size and speed in the detection area 4, the gate closing operation is prohibited. If the gate is in the process of closing operation, the gate operation is immediately stopped and an alarm is issued. It can effectively avoid the accidental closing of the gate when the ship enters and exits the lock chamber 3, and the gate collision and ship clamping accidents caused by ships breaking into the lock during the gate closing process.

[0051] The present invention can realize the monitoring and alarm linkage of ship lock gate prevention, and adopts millimeter wave radar sensor to realize the detection of moving ships within 200 meters near the gate. Since the millimeter wave radar sensor usually has a dead zone, one millimeter wave radar sensor is set on the inner and outer sides of the gate to perform cross detection on the gate area. The detection principle is that the millimeter wave radar sensor can automatically identify the moving ships in the detection area 4, and give the target number, target distance, target speed, target angle and other data in real time. The data information is connected to the ship lock control PLC8. By analyzing and processing these data, the logical conditions of whether there is a ship in the gate area and whether the gate can be closed are obtained. As a necessary condition for safety protection of closing the gate, the safety of ships passing through the lock can be ensured.

[0052] The present invention can obtain the position and speed data of ships near the gate in real time, and accurately determine whether there are ships near the gate; it has a fast and sensitive response, and the data collection cycle is 1 second; the data collection device is non-contact detection, easy to install, operates around the clock, and is not easy to damage; it also has the function of detecting the speed of ships entering and leaving the gate, and determining whether there are ships exceeding the speed limit. It can monitor continuously for 24 hours around the clock, greatly reducing the labor intensity of manual labor and avoiding misjudgment and misoperation caused by human factors. The field bus is used to collect the running trajectory data of ships near each gate, which greatly reduces the use of cables and the amount of construction work, and is suitable for all newly built and operational ship locks.

[0053] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A ship lock safety protection monitoring system, characterized in that: include: Data detection devices are installed at the upper and lower lock heads of the ship lock, respectively, to automatically sense and collect real-time information on ships passing through the lock within the set detection area; The data processing device receives the ship information collected by the data detection device in real time, and determines whether there is a ship in the detection area before and during the closing of the gate by calculation in combination with the gate closing conditions; if so, stops outputting the gate closing action signal; so as to avoid the gate being closed by mistake when the ship enters or leaves the lock chamber, or the gate collision and ship jamming accidents caused by the ship breaking through the lock during the gate closing process; as well as The data acquisition device is connected to the data detection device and the data processing device respectively, and is used for transmitting and preprocessing the acquired information of ships passing through the lock near the lock.

2. The ship lock safety protection monitoring system according to claim 1, characterized in that: The data acquisition device and the data processing device are both arranged in the ship lock control cabinet.

3. The ship lock safety protection monitoring system according to claim 1, characterized in that: The data detection device includes a millimeter-wave radar sensor, which is installed opposite to each other at set positions on both sides of the inner and outer sides of the ship lock gate corresponding to the detection area, and is turned on when the gate is in an open state; the millimeter-wave radar sensor detects the detection area in a cross manner, and monitors the entry and exit of ships near the gate online in real time.

4. The ship lock safety protection monitoring system according to claim 3, characterized in that: Two sets of the millimeter-wave radar sensors are configured at the set positions of the upper gate and the lower gate of the ship lock. The two sets of the millimeter-wave radar sensors are respectively arranged outside the gate and inside the gate for real-time monitoring. The installation distance between the two sets of the millimeter-wave radar sensors is not less than 50 meters to achieve complementary coverage of the radar blind area.

5. The ship lock safety protection monitoring system according to claim 4, characterized in that: Each single-pole ship lock in the multi-stage ship lock is equipped with 4 sets of the millimeter-wave radar sensors.

6. The ship lock safety protection monitoring system according to claim 1, characterized in that: The data acquisition device also has a protocol gateway conversion function, uses ProfiBus DP, SSI, RS485 and / or industrial Ethernet, communicates with the data detection device in an industrial field bus manner, and collects and preprocesses the ship navigation trajectory data near the gate obtained by the data detection device.

7. The ship lock safety protection monitoring system according to claim 1, characterized in that: The data processing device includes a lock control host computer and a lock control PLC. The lock control PLC communicates with the lock control host computer and the data acquisition device respectively using Modbus TCP, Profinet and / or OPC communication protocols. After receiving the ship's navigation trajectory in real time, the lock control PLC determines whether there is a ship in the gate area by the navigation direction and speed, and predicts whether there is a ship approaching the dangerous area of ​​the gate during the gate closing period, and pushes prompt information to the lock control host computer; when the conditions are met, the linkage protection mechanism is triggered to prohibit the closing of the gate.

8. The ship lock safety protection monitoring system according to claim 7, characterized in that: The lock control host computer uses graphic simulation to display the size, position and running speed information of the ship in the detection area, and displays the alarm linkage information in real time.

9. The ship lock safety protection monitoring system according to claim 7, characterized in that: The data processing device has the functions of self-tuning and self-diagnosis of the data acquisition device, and forces exit control on the diagnosed unhealthy data to avoid erroneously sending a signal prohibiting gate closing.

10. A method for monitoring ship lock safety protection, characterized in that: The steps include: S100, respectively install millimeter-wave radar sensors at set positions on both sides of the ship lock gate corresponding to the set detection area, automatically sense and collect information about ships passing through the detection area in real time; and start working when the gate is in a non-closed state; the millimeter-wave radar sensor detects the detection area in a cross manner, and monitors the entry and exit of ships near the gate online in real time; S200, using ProfiBus DP, SSI, RS485 and / or industrial Ethernet to communicate with the millimeter-wave radar sensor in an industrial field bus manner, and collecting and preprocessing the navigation trajectory data of the ship near the gate obtained by the millimeter-wave radar sensor; and S300, receiving the ship information passing through the lock collected by the millimeter-wave radar sensor in real time, and combining the conditions for closing the gate, determining through calculation whether there is a ship in the detection area before and during the closing of the gate; if so, triggering the linkage protection mechanism to prohibit closing the gate, so as to avoid the accidental closing of the gate when the ship enters and leaves the lock chamber, or the gate collision and ship jamming accidents caused by the ship breaking through the lock during the closing process.

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