System and device for sensing surrounding environment in ship navigation

Abstract

The invention discloses a surrounding environment sensing system and equipment in ship sailing, and relates to the technical field of ship environment sensing, the system comprises a ship body, a damping structure, a clamping structure and an inserting structure, the ship body is provided with a cab, the top end of the cab is fixedly connected with a fence, and the fence is provided with a plurality of millimeter wave radars; the top end of the cab is fixedly connected with a mounting rack, the top end of the mounting rack is provided with a mast, and the top end of the mast is provided with an AIS antenna; the impact of vibration on the high-definition panoramic camera is effectively reduced through the arrangement of the damping structure, when a ship is impacted by sea waves or an engine vibrates, the vibration is transmitted to the mounting base, the sliding plate is driven by the vertical rod to slide up and down in the fixed sleeve, and the first spring plays a preliminary buffering role; the sliding block slides along the round rod under the action of the second spring, and vibration is further dispersed and buffered through elastic deformation of the second spring, so that the movable plate can stably bear the connecting box above and the high-definition panoramic camera.

Description

Technical Field

[0001] The present invention relates to the technical field of ship environment perception, and in particular to a system and equipment for perceiving the surrounding environment of a ship during navigation. Background Art

[0002] A ship is a vehicle, equipment, or structure capable of navigating or operating on the surface of water or other bodies of water. It serves a variety of purposes, including transporting personnel and cargo, as well as conducting activities such as fishing, exploration, scientific research, and military operations. Against the backdrop of the rapid development of the global maritime transport industry, the safety and efficiency of ship navigation have become a focus of industry attention. With the increasing congestion of maritime traffic, the density of ships within waterways has increased significantly. At the same time, the complex and ever-changing marine environment, such as heavy fog, heavy rain, undercurrents, and complex underwater terrain, poses numerous challenges to ship navigation.

[0003] Traditional ship environment perception equipment has significant shortcomings. On the one hand, a single type of perception device has limited functionality. For example, ordinary cameras have a blurred field of view in bad weather, making it difficult to accurately capture surrounding ships and obstacles. On the other hand, ships are constantly affected by factors such as wave impact and engine vibration during navigation. The mounting structure of traditional ship environment perception cameras has poor shock absorption performance, which can easily cause the equipment to loosen, increase data collection errors, and even damage the equipment, affecting its reliability and service life. Therefore, those skilled in the art have provided a system and equipment for sensing the surrounding environment during navigation to address the problems raised in the above background technology. Summary of the Invention

[0004] The purpose of the present invention is to provide a system and equipment for sensing the surrounding environment of a ship during navigation, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a system and equipment for sensing the surrounding environment of a ship during navigation, comprising a ship body, a shock-absorbing structure, a clamping structure and a plug-in structure, characterized in that a cab is provided on the ship body, a fence is fixedly connected to the top of the cab, and a plurality of millimeter-wave radars are provided on the fence, a mounting frame is fixedly connected to the top of the cab, a mast is provided at the top of the mounting frame, and an AIS antenna is provided at the top of the mast, a fairing is provided at the bottom of the ship body, and a multi-beam side-scan sonar is provided inside the fairing, a mounting base is fixedly connected to the top of the mounting frame, a shock-absorbing structure is provided inside the mounting base, and a connection box is plugged into the top of the mounting base, a clamping structure is provided at the lower part of the connection box, and a plug-in structure is provided at the upper part of the connection box.

[0006] As a further solution of the present invention: the shock-absorbing structure includes a fixed sleeve, a slide, a vertical rod, a first spring, a round rod, a slider, a second spring, a first movable block, a first linkage rod, a second movable block and a movable plate, a protruding block and a clamping groove, the bottom end of the mounting base is fixedly connected to two fixed sleeves, the inside of the fixed sleeve is slidably connected to the slide, the top of the slide is fixedly connected to the vertical rod, and the top of the vertical rod passes through the fixed sleeve and is fixedly connected to the movable plate, and a first spring is arranged on the vertical rod and between the fixed sleeve and the movable plate.

[0007] As a further solution of the present invention: a round rod is fixedly connected between the two fixed sleeves, two sliders are slidably connected to the round rod, a second spring is provided on the round rod and between the fixed sleeve and the slider, a first movable block is fixedly connected to the top of the slider, the first movable block is rotatably connected to the first linkage rod, and two second movable blocks are fixedly connected to the bottom end of the movable plate, and the second movable block is connected to the other end of the first linkage rod.

[0008] As a further solution of the present invention: the clamping structure includes a threaded rod, a second guide rod, a second threaded sleeve, a third movable block, a second linkage rod, a fourth movable block, a vertical plate, a slide groove and a clamping block, the bottom end of the connecting box is rotatably connected to the threaded rod, the bottom end of the connecting box is fixedly connected to the second guide rod, the threaded rod is threadedly connected to the second threaded sleeve, both ends of the second threaded sleeve are fixedly connected to the third movable block, the third movable block is rotatably connected to the second linkage rod, two slide grooves are provided at the bottom end of the connecting box, and the vertical plate is slidably connected inside the slide groove, and the fourth movable block is fixedly connected to the top of the vertical plate, and the fourth movable block is connected to the other end of the second linkage rod.

[0009] As a further solution of the present invention: the two vertical plates are fixedly connected to a clamping block at one end away from each other, and the top of the movable plate is fixedly connected to two protruding blocks, and the two protruding blocks are provided with a clamping groove adapted to the clamping block at one end close to each other.

[0010] As a further solution of the present invention: the plug-in structure includes forward and reverse screw rods, a first threaded sleeve, a plug-in block, a first guide rod and a through groove, the forward and reverse screw rods are rotatably connected inside the connecting box, and both ends of the forward and reverse screw rods pass through the connecting box and are fixedly connected to a turntable, the first guide rod is fixedly connected inside the connecting box, and two first threaded sleeves are threadedly connected to the forward and reverse screw rods, and the two first threaded sleeves are fixedly connected to the plug-in block at one end close to each other, and a through groove is provided at the top of the connecting box.

[0011] As a further solution of the present invention: a connecting block is inserted into the through groove, and two plug-in slots compatible with the plug-in block are provided on the outer wall of the connecting block, and a lens adjustment platform is fixedly connected to the top of the connecting block, and a high-definition panoramic camera is arranged on the lens adjustment platform.

[0012] As a further solution of the present invention: the top end of the threaded rod is fixedly connected to a second bevel gear, and the forward and reverse screw rods are fixedly connected to a first bevel gear, and the first bevel gear is meshed with the second bevel gear.

[0013] The present invention also proposes a system for sensing the surrounding environment of a ship during navigation, which is used to implement the above-mentioned device for sensing the surrounding environment of a ship during navigation, including a data fusion module, an intelligent decision-making module, a human-computer interaction interface, and a data storage and tracing module.

[0014] As a further solution of the present invention: the data fusion module is used to receive environmental data collected by high-definition panoramic cameras, millimeter-wave radars, and multi-beam side-scan sonars, and performs spatiotemporal calibration and feature fusion on visual images, radar point clouds, and sonar terrain data through a multi-source information fusion algorithm to generate an environmental situation map around the ship; the intelligent decision-making module is used to automatically identify potential collision risks based on the fused environmental situation map, combined with the ship's AIS information and GPS positioning data, through a collision avoidance algorithm, and output navigation recommendations; the human-computer interaction interface is used to be deployed on a display and control terminal in the cab to display the environmental situation map, equipment working status, and risk warning information in real time; the data storage and traceability module is used to store the environmental perception data, decision instructions, and ship status of each voyage according to timestamps.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This device uses a snap-fit structure to quickly connect the connection box and the mounting base. By rotating the threaded rod and utilizing the cooperation of the second threaded sleeve, the third movable block, and the second linkage rod, the snap-fit block on the vertical plate is quickly inserted into the snap-fit groove of the movable plate, thereby achieving a firm connection between the connection box and the movable plate. This effectively prevents the equipment from loosening or falling off under the vibration environment of the ship, ensuring the reliable operation of the sensing equipment. The operation is simple and does not require additional complex tools. The installation and removal process can be completed in a short time, greatly improving the equipment installation efficiency and reducing the difficulty of maintenance.

[0017] 2. This device completes the quick connection operation between the connection box and the high-definition panoramic camera through the setting of the plug-in structure, and drives the first threaded sleeve and the plug-in block to move by rotating the forward and reverse screw rods. When the plug-in block is inserted into the plug-in slot of the connection block, the lens adjustment pan-tilt head and the connection box are firmly connected, ensuring that the high-definition panoramic camera remains stable during the navigation of the ship. When disassembling, the turntable is rotated in the reverse direction, and the plug-in block is pulled out from the plug-in slot, and the lens adjustment pan-tilt head can be removed, which is convenient for repairing or replacing the camera. The second bevel gear at the top of the threaded rod is meshed with the first bevel gear on the forward and reverse screw rods. When the threaded rod is rotated, the forward and reverse screw rods will rotate synchronously through the transmission of the bevel gears, so that when the connection box and the movable plate are connected or separated, the connection box and the lens adjustment pan-tilt head can also be connected or disassembled synchronously, which greatly improves the efficiency of equipment installation and disassembly, and reduces the operation steps and time cost.

[0018] 3. This device effectively reduces the impact of vibration on the high-definition panoramic camera by setting a shock-absorbing structure. When the ship is hit by waves or the engine vibrates, the vibration is transmitted to the mounting base. At this time, the slide plate in the fixed sleeve can slide up and down in the fixed sleeve driven by the vertical rod. The first spring plays a preliminary buffering role and absorbs part of the vibration energy. At the same time, on the round rod between the two fixed sleeves, the slider can slide along the round rod under the action of the second spring. The slider is connected to the movable plate through the first movable block and the first linkage rod. When the ship vibrates, the sliding of the slider and the elastic deformation of the second spring further disperse and buffer the vibration, so that the movable plate can stably carry the connection box and the high-definition panoramic camera above, effectively reducing the impact of vibration on the high-definition panoramic camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a three-dimensional diagram of a device for sensing the surrounding environment while a ship is sailing.

[0020] Figure 2 The figure is a structural diagram of a surrounding environment perception system during ship navigation.

[0021] Figure 3 This is a front view of a device for sensing the surrounding environment while a ship is sailing.

[0022] Figure 4 This is a stereoscopic diagram of the connection between the installation base and the high-definition panoramic camera in a device for sensing the surrounding environment during navigation.

[0023] Figure 5 This is a schematic diagram of the connection structure between the mounting base and the high-definition panoramic camera in a device for sensing the surrounding environment during navigation.

[0024] Figure 6 This is a schematic diagram of the connection structure of another state between the installation base and the high-definition panoramic camera in a device for sensing the surrounding environment during navigation.

[0025] Figure 7 This is a structural diagram of an installation base for a device that senses the surrounding environment during navigation.

[0026] Figure 8 This is a structural diagram of a connection box in a device for sensing the surrounding environment during ship navigation.

[0027] Figure 9 This is a structural diagram of a high-definition panoramic camera in a device for sensing the surrounding environment during navigation.

[0028] In the figure: 1. Ship body; 2. Cab; 3. Fence; 4. Millimeter-wave radar; 5. Mounting frame; 6. Mast; 7. AIS antenna; 8. Dome; 9. Multi-beam side-scan sonar; 10. Mounting base; 11. Fixing sleeve; 12. Slide plate; 13. Vertical rod; 14. First spring; 15. Round rod; 16. Slider; 17. Second spring; 18. First movable block; 19. First linkage rod; 20. Second movable block; 21. Movable plate; 22. Protruding block; 23. Snap-in groove; 24. Connecting rod Connecting box; 25. Forward and reverse screw rods; 26. Turntable; 27. First threaded sleeve; 28. Plug-in block; 29. First guide rod; 30. First bevel gear; 31. Through slot; 32. Threaded rod; 33. Second bevel gear; 34. Second guide rod; 35. Second threaded sleeve; 36. Third movable block; 37. Second linkage rod; 38. Fourth movable block; 39. Vertical plate; 40. Slide slot; 41. Snap-in block; 42. Lens adjustment platform; 43. Connecting block; 44. Plug-in slot; 45. High-definition panoramic camera. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] Example 1: Reference Figure 1-9This embodiment provides a device for sensing the surrounding environment during ship navigation, including a ship body 1, a shock-absorbing structure, a clamping structure, and a plug-in structure. The device is characterized in that a cab 2 is provided on the ship body 1, a fence 3 is fixedly connected to the top of the cab 2, and several millimeter-wave radars 4 are provided on the fence 3, a mounting frame 5 is fixedly connected to the top of the cab 2, a mast 6 is provided on the top of the mounting frame 5, and an AIS antenna 7 is provided on the top of the mast 6, a fairing 8 is provided at the bottom of the ship body 1, and a multi-beam side-scan sonar 9 is provided inside the fairing 8, a mounting base 10 is fixedly connected to the top of the mounting frame 5, a shock-absorbing structure is provided inside the mounting base 10, and a connection box 24 is plugged into the top of the mounting base 10, a clamping structure is provided at the bottom of the connection box 24, and a plug-in structure is provided at the top of the connection box 24.

[0031] When this embodiment is in use, the device achieves comprehensive perception of the ship's surrounding environment through the coordinated work of multiple sensors. The millimeter-wave radar 4 on the fence 3 can detect obstacles, ships and other targets within a certain range around the ship in real time in severe weather and nighttime environments, and obtain the target's distance, speed and direction information by using the principle of electromagnetic wave reflection. The AIS antenna 7 at the top of the mast 6 can receive automatic identification system signals from other ships, obtain key data such as the ship's identity, heading, speed, etc., and realize information exchange between ships. The multi-beam side-scan sonar 9 inside the fairing 8 is used to detect underwater terrain and obstacles below and on both sides of the ship, and generates high-precision underwater three-dimensional images by transmitting and receiving sound waves. The high-definition panoramic camera 45 on the lens adjustment platform 42 can provide intuitive visual images, which is particularly suitable for close-range environment observation. By rotating the lens adjustment platform 42, all-round viewing angle coverage can be achieved. Multiple sensors work together to make up for the shortcomings of a single sensor and provide comprehensive and accurate environmental information for ship navigation.

[0032] Example 2: Reference Figure 1-9 This embodiment is based on the previous embodiment, and is different from the previous embodiment in that the shock absorbing structure includes a fixed sleeve 11, a slide 12, a vertical rod 13, a first spring 14, a round rod 15, a slider 16, a second spring 17, a first movable block 18, a first linkage rod 19, a second movable block 20 and a movable plate 21, a protruding block 22 and a clamping groove 23. The bottom end of the mounting base 10 is fixedly connected to two fixed sleeves 11, and the slide 12 is slidably connected to the inside of the fixed sleeve 11. The top of the slide 12 is fixedly connected to the vertical rod 13, and the top of the vertical rod 13 passes through the fixed sleeve 11 and is fixedly connected to the movable plate 21. A first spring 14 is provided on the vertical rod 13 and is located between the fixed sleeve 11 and the movable plate 21.

[0033] A round rod 15 is fixedly connected between the two fixed sleeves 11, and two sliders 16 are slidably connected to the round rod 15. A second spring 17 is provided on the round rod 15 and between the fixed sleeve 11 and the slider 16. The top of the slider 16 is fixedly connected to a first movable block 18, and the first movable block 18 is rotatably connected to a first linkage rod 19. The bottom end of the movable plate 21 is fixedly connected to two second movable blocks 20, and the second movable block 20 is connected to the other end of the first linkage rod 19.

[0034] When this embodiment is in use, when the ship is impacted by waves or the engine vibrates, the vibration is transmitted to the mounting base 10. At this time, the slide plate 12 in the fixed sleeve 11 can slide up and down in the fixed sleeve 11 driven by the vertical rod 13. The first spring 14 plays a preliminary buffering role and absorbs part of the vibration energy. At the same time, on the round rod 15 between the two fixed sleeves 11, the slider 16 can slide along the round rod 15 under the action of the second spring 17. The slider 16 is connected to the movable plate 21 through the first movable block 18 and the first linkage rod 19. When the ship vibrates, the sliding of the slider 16 and the elastic deformation of the second spring 17 further disperse and buffer the vibration, so that the movable plate 21 can stably carry the upper connection box 24 and the high-definition panoramic camera 45, effectively reducing the impact of vibration on the high-definition panoramic camera 45, and ensuring the accuracy and stability of the measurement data of the high-definition panoramic camera 45.

[0035] Example 3: Reference Figure 1-9 This embodiment is based on the previous embodiment, and differs from the previous embodiment in that the clamping structure includes a threaded rod 32, a second guide rod 34, a second threaded sleeve 35, a third movable block 36, a second linkage rod 37, a fourth movable block 38, a vertical plate 39, a slide 40 and a clamping block 41. The bottom end of the connecting box 24 is rotatably connected to the threaded rod 32, and the bottom end of the connecting box 24 is fixedly connected to the second guide rod 34. The second threaded sleeve 35 is threadedly connected to the threaded rod 32, and both ends of the second threaded sleeve 35 are fixedly connected to the third movable block 36. The second linkage rod 37 is rotatably connected to the third movable block 36. Two slides 40 are provided at the bottom end of the connecting box 24, and the vertical plate 39 is slidably connected inside the slide 40, and the top of the vertical plate 39 is fixedly connected to the fourth movable block 38, and the fourth movable block 38 is connected to the other end of the second linkage rod 37.

[0036] The two vertical plates 39 are fixedly connected to a clamping block 41 at their ends away from each other, and the top of the movable plate 21 is fixedly connected to two protruding blocks 22 , and the two protruding blocks 22 are provided with a clamping groove 23 adapted to the clamping block 41 at their ends close to each other.

[0037] When the present embodiment is in use, the connection box 24 and the movable plate 21 are firmly connected by the clamping structure. During installation, the threaded rod 32 is rotated. Since the threaded rod 32 is threadedly connected to the second threaded sleeve 35, and the second guide rod 34 guides the second threaded sleeve 35, the second threaded sleeve 35 will move linearly along the threaded rod 32. The third movable blocks 36 at both ends of the second threaded sleeve 35 drive the vertical plate 39 to slide in the slide groove 40 through the second linkage rod 37, so that the clamping blocks 41 on the vertical plate 39 are inserted into the clamping groove 23 of the protruding block 22 on the movable plate 21. Through this clamping method, the connection box 24 is firmly fixed to the movable plate 21. During disassembly, the threaded rod 32 is rotated in the opposite direction, and the clamping blocks 41 are withdrawn from the clamping groove 23, so that the connection box 24 and the movable plate 21 can be easily separated, which is convenient for maintenance and replacement of the equipment.

[0038] Example 4: Reference Figure 1-9 This embodiment is based on the previous embodiment, and differs from the previous embodiment in that the plug-in structure includes a forward and reverse screw rod 25, a first threaded sleeve 27, a plug-in block 28, a first guide rod 29 and a through slot 31. The forward and reverse screw rod 25 is rotatably connected inside the connecting box 24, and both ends of the forward and reverse screw rod 25 pass through the connecting box 24 and are fixedly connected to a turntable 26. The first guide rod 29 is fixedly connected inside the connecting box 24, and two first threaded sleeves 27 are threadedly connected to the forward and reverse screw rod 25, and the two first threaded sleeves 27 are fixedly connected to the plug-in block 28 at one end close to each other, and a through slot 31 is provided at the top of the connecting box 24.

[0039] A connecting block 43 is inserted into the through slot 31 , and two plug-in slots 44 that are compatible with the plug-in block 28 are provided on the outer wall of the connecting block 43 , and a lens adjustment platform 42 is fixedly connected to the top of the connecting block 43 , and a high-definition panoramic camera 45 is provided on the lens adjustment platform 42 .

[0040] The top end of the threaded rod 32 is fixedly connected to a second bevel gear 33 , and the forward and reverse screw rods 25 are fixedly connected to a first bevel gear 30 , and the first bevel gear 30 is meshed with the second bevel gear 33 .

[0041] When the present embodiment is in use, the connection box 24 and the lens adjustment platform 42 are connected through a plug-in structure. The turntables 26 at both ends of the forward and reverse screw rods 25 are rotated. Since the threads at both ends of the forward and reverse screw rods 25 are opposite, the two first threaded sleeves 27 will move toward or away from each other on the forward and reverse screw rods 25. Under the guidance of the first guide rod 29, the first threaded sleeve 27 drives the plug-in block 28 to move along the through groove 31. When the connection block 43 is inserted into the through groove 31, the turntable 26 is rotated to insert the plug-in block 28 into the plug-in slot 44 of the connection block 43, thereby realizing a stable connection between the lens adjustment platform 42 and the connection box 24, ensuring that the high-definition panoramic camera 45 is in a stable state during the navigation process of the ship. When disassembling, the turntable 26 is rotated in the opposite direction, and the plug-in block 28 is pulled out from the plug-in slot 44, and the lens adjustment platform 42 can be removed, which is convenient for repairing or replacing the camera. The second bevel gear 33 at the top of the threaded rod 32 is meshed and connected with the first bevel gear 30 on the forward and reverse screw rods 25. When the threaded rod 32 is rotated, the forward and reverse screw rods 25 will rotate synchronously through the transmission of the bevel gears, so that when the connection box 24 is connected or separated from the movable plate 21, the connection box 24 and the lens adjustment platform 42 can also be connected or removed synchronously, which greatly improves the efficiency of equipment installation and disassembly and reduces the operation steps and time cost.

[0042] Example 5: Reference Figure 1-9 This embodiment also provides a system for sensing the surrounding environment of a ship during navigation, including the device for sensing the surrounding environment of a ship during navigation as described in Examples 1-4. The system also includes a data fusion module, an intelligent decision-making module, a human-computer interaction interface, and a data storage and tracing module.

[0043] The data fusion module is used to receive environmental data collected by high-definition panoramic cameras, millimeter-wave radars, and multi-beam side-scan sonars, and perform spatiotemporal calibration and feature fusion on visual images, radar point clouds, and sonar terrain data through a multi-source information fusion algorithm to generate a 360-degree environmental situation map around the ship;

[0044] The intelligent decision-making module is used to automatically identify potential collision risks through a collision avoidance algorithm based on the fused environmental situation map, combined with the ship's AIS information and GPS positioning data, and output navigation recommendations;

[0045] The human-machine interaction interface is used to display the environment situation map, equipment working status, and risk warning information in real time on the display and control terminal deployed in the cab 2;

[0046] The data storage and tracing module is used to store the environmental perception data, decision instructions, and ship status of each voyage according to timestamps.

[0047] When this embodiment is in use, the environmental data collected by the high-definition panoramic camera, millimeter-wave radar, and multi-beam side-scan sonar are received through the data fusion module, and the multi-source information fusion algorithm is used to perform spatiotemporal calibration of the visual image, radar point cloud, and sonar terrain data, unify the data collected by different sensors at different times and spaces into the same coordinate system, and fuse the characteristic information of each data to eliminate data redundancy and contradiction, and generate a 360-degree environmental situation map around the ship, providing a comprehensive and accurate data basis for subsequent decision-making. The intelligent decision-making module is based on the environmental situation map generated by the data fusion module, combined with the ship's AIS information and GPS positioning data, and performs a risk assessment of the environment around the ship through a collision avoidance algorithm. When a potential collision risk is detected, it automatically identifies dangerous targets, calculates the collision probability and risk level, and outputs navigation suggestions for specific operations including adjusting the course and speed, to assist the crew in making scientific and reasonable navigation. Decision-making, reducing the possibility of collision accidents, the human-computer interaction interface deployed in the cab 2 display and control terminal, real-time display of the environmental situation map generated by the data fusion module, presenting the environmental information around the ship in an intuitive graphical interface, and displaying the working status of each sensing device, such as whether the equipment is operating normally, whether the data collection is stable, etc. When the intelligent decision-making module detects a risk, it will promptly issue a risk warning message and remind the crew through sound and light alarms, pop-up prompts, etc., so that the crew can grasp the ship's navigation environment and equipment status in real time and make timely responses. The data storage and traceability module stores the environmental perception data of each voyage, the decision instructions output by the intelligent decision-making module, and the ship status data according to the timestamp. When an accident occurs on the ship or the navigation process needs to be reviewed, historical data can be retrieved for traceability analysis, providing strong data support for accident investigation, navigation experience summary and equipment optimization.

[0048] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0049] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A device for sensing the surrounding environment of a ship during navigation, comprising a ship body (1), a shock absorbing structure, a snap-on structure and a plug-in structure, characterized in that: The ship body (1) is provided with a cab (2), the top of the cab (2) is fixedly connected to a fence (3), and a plurality of millimeter wave radars (4) are provided on the fence (3), the top of the cab (2) is fixedly connected to a mounting frame (5), the top of the mounting frame (5) is provided with a mast (6), and the top of the mast (6) is provided with an AIS antenna (7), the bottom of the ship body (1) is provided with a fairing (8), and a multi-beam side-scan sonar (9) is provided inside the fairing (8), the top of the mounting frame (5) is fixedly connected to a mounting base (10), the inside of the mounting base (10) is provided with a shock-absorbing structure, and the top of the mounting base (10) is plugged with a connection box (24), the bottom of the connection box (24) is provided with a clamping structure, and the top of the connection box (24) is provided with a plug-in structure.

2. The device for sensing the surrounding environment of a ship during navigation according to claim 1, characterized in that: The shock-absorbing structure comprises a fixed sleeve (11), a slide plate (12), a vertical rod (13), a first spring (14), a round rod (15), a slider (16), a second spring (17), a first movable block (18), a first linkage rod (19), a second movable block (20), a movable plate (21), a protruding block (22) and a clamping groove (23); the bottom end of the mounting base (10) is fixedly connected to two fixed sleeves (11); the fixed sleeve (11) is slidably connected to the slide plate (12); the top end of the slide plate (12) is fixedly connected to the vertical rod (13); the top end of the vertical rod (13) passes through the fixed sleeve (11) and is fixedly connected to the movable plate (21); and the first spring (14) is provided on the vertical rod (13) and located between the fixed sleeve (11) and the movable plate (21).

3. The device for sensing the surrounding environment of a ship during navigation according to claim 2, characterized in that: A round rod (15) is fixedly connected between the two fixed sleeves (11), two sliders (16) are slidably connected to the round rod (15), a second spring (17) is provided on the round rod (15) and between the fixed sleeve (11) and the slider (16), a first movable block (18) is fixedly connected to the top of the slider (16), the first movable block (18) is rotatably connected to the first linkage rod (19), and two second movable blocks (20) are fixedly connected to the bottom end of the movable plate (21), and the second movable blocks (20) are connected to the other end of the first linkage rod (19).

4. The device for sensing the surrounding environment of a ship during navigation according to claim 1, characterized in that: The clamping structure comprises a threaded rod (32), a second guide rod (34), a second threaded sleeve (35), a third movable block (36), a second linkage rod (37), a fourth movable block (38), a vertical plate (39), a sliding groove (40) and a clamping block (41). The bottom end of the connection box (24) is rotatably connected to the threaded rod (32), the bottom end of the connection box (24) is fixedly connected to the second guide rod (34), the threaded rod (32) is threadedly connected to the second threaded sleeve (35), both ends of the second threaded sleeve (35) are fixedly connected to the third movable block (36), the third movable block (36) is rotatably connected to the second linkage rod (37), the bottom end of the connection box (24) is provided with two sliding grooves (40), the interior of the sliding groove (40) is slidably connected to the vertical plate (39), the top end of the vertical plate (39) is fixedly connected to the fourth movable block (38), and the fourth movable block (38) is connected to the other end of the second linkage rod (37).

5. The device for sensing the surrounding environment of a ship during navigation according to claim 4, characterized in that: The two vertical plates (39) are fixedly connected to a clamping block (41) at their ends away from each other, and the top of the movable plate (21) is fixedly connected to two protruding blocks (22), and the two protruding blocks (22) are provided with a clamping groove (23) adapted to the clamping block (41) at their ends close to each other.

6. The device for sensing the surrounding environment of a ship during navigation according to claim 1, characterized in that: The plug-in structure comprises a forward and reverse screw rod (25), a first threaded sleeve (27), a plug-in block (28), a first guide rod (29) and a through slot (31); the forward and reverse screw rod (25) is rotatably connected inside the connection box (24), and both ends of the forward and reverse screw rod (25) pass through the connection box (24) and are fixedly connected to a turntable (26); the first guide rod (29) is fixedly connected inside the connection box (24), and two first threaded sleeves (27) are threadedly connected to the forward and reverse screw rod (25), and the two first threaded sleeves (27) are fixedly connected to the plug-in block (28) at one end thereof, and a through slot (31) is provided at the top of the connection box (24).

7. The device for sensing the surrounding environment of a ship during navigation according to claim 6, characterized in that: A connecting block (43) is inserted into the through slot (31), and two plug-in slots (44) adapted to the plug-in block (28) are provided on the outer side wall of the connecting block (43). A lens adjustment platform (42) is fixedly connected to the top of the connecting block (43), and a high-definition panoramic camera (45) is provided on the lens adjustment platform (42).

8. The device for sensing the surrounding environment of a ship during navigation according to claim 4, characterized in that: The top end of the threaded rod (32) is fixedly connected to a second bevel gear (33), and the forward and reverse screw rods (25) are fixedly connected to a first bevel gear (30), and the first bevel gear (30) is meshedly connected to the second bevel gear (33).

9. A system for sensing the surrounding environment of a ship during navigation, used to implement the device for sensing the surrounding environment of a ship during navigation according to any one of claims 1 to 8, characterized in that: It includes data fusion module, intelligent decision-making module, human-computer interaction interface and data storage and traceability module; The data fusion module is used to receive environmental data collected by high-definition panoramic cameras, millimeter-wave radars, and multi-beam side-scan sonars, and perform spatiotemporal calibration and feature fusion on visual images, radar point clouds, and sonar terrain data through a multi-source information fusion algorithm to generate a 360-degree environmental situation map around the ship; The intelligent decision-making module is used to automatically identify potential collision risks through a collision avoidance algorithm based on the fused environmental situation map, combined with the ship's AIS information and GPS positioning data, and output navigation recommendations; The human-machine interaction interface is used for a display and control terminal deployed in the cab (2) to display an environmental situation map, equipment working status, and risk warning information in real time; The data storage and tracing module is used to store the environmental perception data, decision instructions, and ship status of each voyage according to timestamps.

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