Intelligent inspection system for ship

Abstract

The invention discloses an intelligent ship inspection system, which is characterized in that a plurality of anti-intrusion sensing devices arranged on a ship side are used for triggering an alarm when being illegally intruded, a warning signal is sent to a control terminal or an inspection robot arranged in the middle of a ship body, and the inspection robot is controlled or automatically inspects a ship side passage, namely the outer side of the ship side according to program setting. The anti-intrusion sensing devices are numbered firstly, and the inspection robot moves by detecting the number of the equidistant reflective lines, so that the inspection robot can accurately move to the position where the sensing device is located according to the number of the anti-intrusion sensing device which sends out the warning signal to perform complete inspection work; according to the invention, the virtual rail technology of public transportation is creatively integrated into the alarm system of the ship, the alarm of illegal climbing into the ship from a ship side and the like is realized, the judgment of the intrusion position is accurate, the inspection response is rapid, and the system is worthy of popularization and application on large ships.

Description

Technical Field

[0001] The present invention relates to the field of marine equipment, and in particular to an intelligent ship inspection system. Background Art

[0002] In recent years, there have been frequent incidents of ships being stolen after docking because they are unattended. This theft of ships is becoming more and more rampant and difficult to detect in time and require the police to stop it, causing irreparable losses to people who make a living by boating.

[0003] Existing ship anti-theft devices generally prevent the theft of items on board, rather than preventing the ship itself from being stolen. Therefore, how to effectively prevent the occurrence of theft on board is a major problem that people need to solve urgently.

[0004] To this end, application number: CN201721645880.3 proposes a ship anti-theft device based on a pressure sensing module. The device installs the pressure sensing module in a floor mat and sends a warning signal to the outside based on the pressure sensed by the floor mat. However, the device is located on the ground and is not suitable for intrusion into the ship by climbing over the side of the ship. It is also impossible to patrol the outside of the ship's side, such as the anchor hole. Manual inspection is time-consuming and laborious. Summary of the invention

[0005] In order to prevent personnel from illegally intruding into a ship through the side of the ship, the present invention proposes an intelligent ship inspection system, the structure of which includes: a plurality of anti-intrusion sensing devices closely mounted on the side of the ship, the anti-intrusion sensing devices having built-in pressure sensors, batteries, and signal transmitting units; a virtual track inspection system: including a virtual track arranged in the inner aisle of the ship's side, an inspection robot that can travel on the virtual track, and a cabin for placing and storing the inspection robot on the track; a control terminal: including a console and a mobile terminal, for receiving warning signals transmitted by the anti-intrusion sensing device, receiving image information transmitted by the inspection robot, setting initial parameters of the inspection robot, controlling the shooting angle and movement of the inspection robot, and controlling the cabin to retract and release the inspection robot; the virtual track includes a plurality of white reflective lines evenly distributed on a continuous line in the aisle; the inspection robot includes: a power module, a rotary The robot comprises a steering module, a virtual track tracking module, a signal transceiver module, a camera module, a control module and a power supply module, wherein the power module drives the front and rear wheels to rotate, the virtual track tracking module comprises: photoelectric sensor lenses arranged on both sides of the front wheel and the rear wheel, which collect the shape and quantity of the reflective lines and transmit them to the control module, the camera module comprises: a reversible connecting mechanism and a camera fixed at the end of the reversible connecting mechanism, the control module comprises: a storage unit for storing the parameters set by the control terminal, a data processing unit for analyzing the signals transmitted by the virtual track tracking module, a control unit for controlling the power module, the steering module, the reversible connecting mechanism and the camera, the power supply module comprises a battery for supplying power to various electrical appliances of the inspection robot; a telescopic rod and a bracket driven by the telescopic rod and capable of being retracted in the cabin are arranged at the lower part of the cabin, and a plurality of lifting mechanisms are arranged on the bracket.

[0006] Preferably, the inspection robot includes a chassis and a main body on the chassis, the power module, the steering module, and the virtual track tracking module are arranged on the chassis, and the signal transceiver module, the camera module, the control module, and the power supply module are arranged on the main body.

[0007] Preferably, an L-shaped groove is provided on one side of the main body, and the flippable connecting mechanism includes an L-shaped rod, the lower end of the L-shaped rod is hinged to the lower end of the L-shaped groove and received in the L-shaped groove, the hinge column of the L-shaped rod and the main body is driven to rotate by a motor provided in the main body to complete the flipping action, a straight rod is fixed to the upper end of the L-shaped rod, a camera is mounted on the straight rod, and a protective cover is installed outside the camera.

[0008] Preferably, the angle between the straight rod and the upper section of the L-shaped rod is 90°, and the flip angle of the L-shaped rod is 90°. When the L-shaped rod is flipped to 90°, the lower section of the L-shaped rod abuts against the bottom of the L-shaped groove to achieve positioning.

[0009] Preferably, each anti-intrusion sensing device has a corresponding, independent number, and the number of reflective lines corresponding to each anti-intrusion sensing device is the same. After responding to pressure, the anti-intrusion sensing device triggers the signal transmitting unit and simultaneously transmits the number information to the control terminal or the control module of the inspection robot.

[0010] Preferably, the bracket is U-shaped, and the lifting mechanism includes a top block driven by a pneumatic cylinder or a hydraulic cylinder and arranged on two arms of the bracket. When the telescopic rod is fully retracted, the inspection robot is stored in the cabin, and when it is fully extended, the photoelectric sensor lens of the inspection robot is directly above the reflective line.

[0011] Preferably, after the flippable connecting mechanism flips 90°, a camera fixed at its end is extended out of the ship's side.

[0012] In addition, a ship inspection method based on the above-mentioned ship intelligent inspection system is proposed, comprising the following steps: S1. Install multiple anti-intrusion sensing devices on the ship's side in succession, set the cabin as the origin, set one side of the cabin as the positive coordinate, and the other side as the negative coordinate, which is equivalent to constructing a one-dimensional coordinate system with the middle section of the virtual track as the origin; S2. Assign the coordinates in step S1 as numbers to each anti-intrusion sensing device; S3. Input the number of reflective lines corresponding to each anti-intrusion sensor device; S4. After the control module receives an alarm signal triggered by a certain anti-intrusion sensing device, it sends an inspection request to the control terminal, and the inspection robot enters the working state from the standby state; S5. After the control terminal confirms the inspection request, the control cabin releases the bracket and lowers the lifting mechanism, and then retracts the bracket to complete the placement of the inspection robot on the virtual track; S6. The inspection robot calculates the driving direction and distance according to the number transmitted by the anti-intrusion sensor device that issued the alarm and the number of reflective lines corresponding to each anti-intrusion sensor device, wherein the positive or negative number determines the driving direction, and the product of the number value and the number of reflective lines determines the driving distance, which is realized by counting the reflective lines by the virtual track tracking module; S7. After the inspection robot reaches the alarm location, the camera and the reversible connection mechanism inspect the alarm location and its surroundings according to manual control or preset movement sequence; S8. After the inspection is completed, the inspection robot returns to the cabin, i.e. the origin, and sends a homing request to the control terminal. After confirmation by the control terminal, the control cabin releases the bracket and raises the lifting mechanism, and then retracts the bracket to complete the retraction of the inspection robot into the cabin, and the inspection robot enters the standby state.

[0013] The intelligent ship inspection system utilizes multiple anti-intrusion sensing devices installed on the ship's side to trigger an alarm when there is illegal intrusion, and sends a warning signal to the control terminal or the inspection robot installed in the middle of the hull. The inspection robot is controlled or programmed to automatically inspect the ship's side aisle, i.e., the outside of the ship's side. Since the anti-intrusion sensing devices are numbered in advance, and the inspection robot moves by detecting the number of equidistant reflective lines, it can accurately move to the location of the sensing device that sends out the warning signal according to the number of the anti-intrusion sensing device to perform a complete inspection. The present invention creatively integrates the virtual track technology of public transportation into the ship's alarm system, realizes the alarm for illegal climbing into the ship from the ship's side, etc., and accurately judges the intrusion location and has a rapid inspection response, which is worthy of promotion and use on large ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a stereogram of the present invention.

[0016] Figure 2 for Figure 1 Front view of .

[0017] Figure 3 It is a schematic diagram of inspecting the outside of the ship after the reversible connecting mechanism is flipped 90 degrees.

[0018] In the figure: 1. Anti-intrusion sensing device; 2. Inspection robot; 3. Reflective lines; 4. Telescopic rod; 5. Bracket; 6. Cabin; 7. Camera module; 71. L-shaped rod; 72. Straight rod; 73. Camera; 74. Protective cover. DETAILED DESCRIPTION

[0019] The various devices selected in this application (components whose specific structures are not described) are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0020] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0022] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0023] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0024] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. Example 1

[0025] like Figure 1-Figure 3As shown, the ship intelligent inspection system of the present invention comprises: a plurality of anti-intrusion sensing devices 1 closely mounted on the ship's side, the anti-intrusion sensing devices 1 having built-in pressure sensors, batteries, and signal transmitting units; a virtual track inspection system comprising a virtual track arranged in the inner aisle of the ship's side, an inspection robot 2 that can travel on the virtual track, and a cabin 6 for placing and storing the inspection robot 2 on the track; a control terminal comprising a console and a mobile terminal for receiving warning signals transmitted by the anti-intrusion sensing device 1, receiving image information transmitted by the inspection robot 2, setting initial parameters of the inspection robot 2, controlling the shooting angle and movement of the inspection robot 2, and controlling the cabin 6 to retract and release the inspection robot 2; the virtual track comprises a plurality of white reflective lines 3 evenly distributed on a continuous line in the aisle; the inspection robot 2 comprises: a power module, a steering module, a virtual track Tracking module, signal transceiver module, camera module 7, control module, power supply module, wherein the power module drives the front and rear wheels to rotate, the virtual track tracking module includes: photoelectric sensor lenses 8 arranged on both sides of the front and rear wheels, which collect the shape and number of reflective lines 3 and transmit them to the control module, the camera module 7 includes: a reversible connection mechanism and a camera 73 fixed at the end of the reversible connection mechanism, the control module includes: a storage unit for storing the parameters set by the control terminal, a data processing unit for analyzing the signal transmitted by the virtual track tracking module, a control unit for controlling the power module, the steering module, the reversible connection mechanism, and the camera 73, the power supply module includes a battery for supplying power to various electrical appliances of the inspection robot 2; the lower part of the cabin 6 is provided with a telescopic rod 4 and a bracket 5 driven by the telescopic rod 4 and capable of being retracted in the cabin 6, and a plurality of lifting mechanisms are provided on the bracket 5.

[0026] More specifically, the inspection robot 2 includes a chassis and a main body on the chassis, the power module, steering module, and virtual track tracking module are arranged on the chassis, and the signal transceiver module, camera module 7, control module, and power supply module are arranged on the main body.

[0027] More specifically, an L-shaped groove is provided on one side of the main body, and the flippable connecting mechanism includes an L-shaped rod 71, the lower end of the L-shaped rod 71 is hinged to the lower end of the L-shaped groove and received in the L-shaped groove, and the hinge column of the L-shaped rod 71 and the main body is driven to rotate by a motor provided in the main body to complete the flipping action, and a straight rod 72 is fixed to the upper end of the L-shaped rod 71, and a camera 73 is installed on the straight rod 72, and a protective cover 74 is installed outside the camera 73.

[0028] More specifically, the angle between the straight rod 72 and the upper section of the L-shaped rod 71 is 90°, and the flip angle of the L-shaped rod 71 is 90°. When the L-shaped rod 71 flips to 90°, the lower section of the L-shaped rod 71 abuts against the bottom of the L-shaped groove to achieve limiting.

[0029] More specifically, each anti-intrusion sensing device 1 has a corresponding, independent number, and the number of reflective lines 3 corresponding to each anti-intrusion sensing device 1 is the same. After responding to pressure, the anti-intrusion sensing device 1 triggers the signal transmitting unit and simultaneously transmits the number information to the control terminal or the control module of the inspection robot 2.

[0030] More specifically, the bracket 5 is U-shaped, and the lifting mechanism includes a top block driven by a pneumatic cylinder or a hydraulic cylinder and arranged on the two arms of the bracket 5. When the telescopic rod 4 is fully retracted, the inspection robot 2 is stored in the cabin 6. When it is fully extended, the photoelectric sensor lens 8 of the inspection robot 2 is directly above the reflective line 3.

[0031] More specifically, after the flippable connecting mechanism flips 90 degrees, the camera 73 fixed at the end thereof is extended out of the ship's side. Example 2

[0032] The ship inspection method based on the above-mentioned ship intelligent inspection system includes the following steps: S1. Install multiple anti-intrusion sensing devices on the ship's side in succession, set the cabin as the origin, set one side of the cabin as the positive coordinate, and the other side as the negative coordinate, which is equivalent to constructing a one-dimensional coordinate system with the middle section of the virtual track as the origin; S2. Assign the coordinates in step S1 as numbers to each anti-intrusion sensing device; S3. Input the number of reflective lines corresponding to each anti-intrusion sensor device; S4. After the control module receives an alarm signal triggered by a certain anti-intrusion sensing device, it sends an inspection request to the control terminal, and the inspection robot enters the working state from the standby state; S5. After the control terminal confirms the inspection request, the control cabin releases the bracket and lowers the lifting mechanism, and then retracts the bracket to complete the placement of the inspection robot on the virtual track; S6. The inspection robot calculates the driving direction and distance according to the number transmitted by the anti-intrusion sensor device that issued the alarm and the number of reflective lines corresponding to each anti-intrusion sensor device, wherein the positive or negative number determines the driving direction, and the product of the number value and the number of reflective lines determines the driving distance, which is realized by counting the reflective lines by the virtual track tracking module; S7. After the inspection robot reaches the alarm location, the camera and the reversible connection mechanism inspect the alarm location and its surroundings according to manual control or preset movement sequence; S8. After the inspection is completed, the inspection robot returns to the cabin, i.e. the origin, and sends a homing request to the control terminal. After confirmation by the control terminal, the control cabin releases the bracket and raises the lifting mechanism, and then retracts the bracket to complete the retraction of the inspection robot into the cabin, and the inspection robot enters the standby state.

[0033] The intelligent ship inspection system utilizes multiple anti-intrusion sensing devices installed on the ship's side to trigger an alarm when there is illegal intrusion, and sends a warning signal to the control terminal or the inspection robot installed in the middle of the hull. The inspection robot is controlled or programmed to automatically inspect the ship's side aisle, i.e., the outside of the ship's side. Since the anti-intrusion sensing devices are numbered in advance, and the inspection robot moves by detecting the number of equidistant reflective lines, it can accurately move to the location of the sensing device that sends out the warning signal according to the number of the anti-intrusion sensing device to perform a complete inspection. The present invention creatively integrates the virtual track technology of public transportation into the ship's alarm system, realizes the alarm for illegal climbing into the ship from the ship's side, etc., and accurately judges the intrusion location and has a rapid inspection response, which is worthy of promotion and use on large ships.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A ship intelligent inspection system, characterized in that: include: Multiple anti-intrusion sensing devices installed closely on the side of the ship, with built-in pressure sensors, batteries, and signal transmission units in the anti-intrusion sensing devices; virtual track inspection system: including a virtual track installed in the inner aisle of the ship's side, an inspection robot that can travel on the virtual track, and a cabin for placing and storing the inspection robot on the track; control terminal: including a console and a mobile terminal, used to receive warning signals transmitted by the anti-intrusion sensing device, receive image information transmitted by the inspection robot, set the initial parameters of the inspection robot, control the shooting angle and movement of the inspection robot, and control the cabin to retract and release the inspection robot; The virtual track includes a plurality of white reflective lines evenly distributed on a continuous line in the aisle; the inspection robot includes: a power module, a steering module, a virtual track tracking module, a signal transceiver module, a camera module, a control module, and a power supply module, wherein the power module drives the front and rear wheels to rotate, the virtual track tracking module includes: photoelectric sensor lenses arranged on both sides of the front wheel and the rear wheel, which collect the shape and quantity of the reflective lines and transmit them to the control module, the camera module includes: a reversible connection mechanism and a camera fixed at the end of the reversible connection mechanism, the control module includes: a storage unit for storing parameters set by the control terminal, a data processing unit for analyzing the signal transmitted by the virtual track tracking module, a control unit for controlling the power module, the steering module, the reversible connection mechanism, and the camera, and the power supply module includes a battery for supplying power to various electrical appliances of the inspection robot; a telescopic rod and a bracket driven by the telescopic rod and capable of being retracted in the cabin are provided at the lower part of the cabin, and a plurality of lifting mechanisms are provided on the bracket.

2. The intelligent ship inspection system according to claim 1, characterized in that: The inspection robot comprises a chassis and a main body on the chassis, the power module, the steering module, and the virtual track tracking module are arranged on the chassis, and the signal transceiver module, the camera module, the control module, and the power supply module are arranged on the main body.

3. The intelligent ship inspection system according to claim 2, characterized in that: An L-shaped groove is provided on one side of the main body, and the flippable connecting mechanism includes an L-shaped rod, the lower end of the L-shaped rod is hinged to the lower end of the L-shaped groove and received in the L-shaped groove, and the hinge column of the L-shaped rod and the main body is driven to rotate by a motor provided in the main body to complete the flipping action, and a straight rod is fixed to the upper end of the L-shaped rod, a camera is installed on the straight rod, and a protective cover is installed outside the camera.

4. The intelligent ship inspection system according to claim 3 is characterized in that: The included angle between the straight rod and the upper section of the L-shaped rod is 90°, and the flippable angle of the L-shaped rod is 90°. When the L-shaped rod flips to 90°, the lower section of the L-shaped rod abuts against the bottom of the L-shaped groove to achieve positioning.

5. The intelligent ship inspection system according to claim 4, characterized in that: Each anti-intrusion sensing device has a corresponding, independent number, and the number of reflective lines corresponding to each anti-intrusion sensing device is the same. After responding to pressure, the anti-intrusion sensing device triggers the signal transmitting unit and simultaneously transmits the number information to the control terminal or the control module of the inspection robot.

6. A ship inspection method based on the ship intelligent inspection system according to any one of claims 1 to 5, characterized in that: The steps include: S1. Install multiple anti-intrusion sensing devices on the ship's side in succession, set the cabin as the origin, set one side of the cabin as the positive coordinate, and the other side as the negative coordinate, which is equivalent to constructing a one-dimensional coordinate system with the middle section of the virtual track as the origin; S2. Assign the coordinates in step S1 as numbers to each anti-intrusion sensing device; S3. Input the number of reflective lines corresponding to each anti-intrusion sensor device; S4. After the control module receives an alarm signal triggered by a certain anti-intrusion sensing device, it sends an inspection request to the control terminal, and the inspection robot enters the working state from the standby state; S5. After the control terminal confirms the inspection request, the control cabin releases the bracket and lowers the lifting mechanism, and then retracts the bracket to complete the placement of the inspection robot on the virtual track; S6. The inspection robot calculates the driving direction and distance according to the number transmitted by the anti-intrusion sensor device that issued the alarm and the number of reflective lines corresponding to each anti-intrusion sensor device, wherein the positive or negative number determines the driving direction, and the product of the number value and the number of reflective lines determines the driving distance, which is realized by counting the reflective lines by the virtual track tracking module; S7. After the inspection robot reaches the alarm location, the camera and the reversible connection mechanism inspect the alarm location and its surroundings according to manual control or preset movement sequence; S8. After the inspection is completed, the inspection robot returns to the cabin, i.e. the origin, and sends a homing request to the control terminal. After confirmation by the control terminal, the control cabin releases the bracket and raises the lifting mechanism, and then retracts the bracket to complete the retraction of the inspection robot into the cabin, and the inspection robot enters the standby state.

7. The intelligent ship inspection system according to claim 5, characterized in that: The bracket is U-shaped, and the lifting mechanism includes a top block driven by a cylinder or a hydraulic cylinder and arranged on two arms of the bracket. When the telescopic rod is fully retracted, the inspection robot is stored in the cabin. When it is fully extended, the photoelectric sensor lens of the inspection robot is directly above the reflective line.

8. The intelligent ship inspection system according to claim 7, characterized in that: After the flippable connecting mechanism flips 90 degrees, the camera fixed at the end thereof is extended out of the ship's side.

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