Ship motion attitude analysis and motion state monitoring system device using sensor

Abstract

The invention discloses a ship motion attitude analysis and motion state monitoring device and method, and belongs to the technical field of ship motion state monitoring. The device is combined with sensor data reading and processing, and can accurately obtain real-time motion states, including information of inclination, position coordinates and the like, of complex actions of the ship. The device provides important support for ship motion safety and design evaluation.

Description

TECHNICAL FIELD

[0001] The application relates to a ship motion posture analysis and motion state monitoring device and method using sensors and belongs to the technical field of ship motion state monitoring. BACKGROUND

[0002] During berthing and operation of a ship, the ship body will produce complex three-dimensional motion, including roll, pitch and heave, due to the influence of wind, waves, water flow, load change and other factors. These motion characteristics not only affect the stability of the ship, but also directly relate to the operation accuracy and safety of the ship-shore connecting device. At present, although some systems have attempted to use sensors such as acceleration sensors, tension and pressure sensors, and gyroscopes to perceive the state of the ship, due to the lack of unified data analysis models and algorithm support, the data collected by these sensors often cannot form effective monitoring results, resulting in unstable posture recognition, inaccurate docking judgment and other problems.

[0003] In addition, when processing load distribution information, the traditional method is usually difficult to accurately calculate the position of the center of pressure, causing the posture adjustment of the ship-shore connecting device to be not timely or the error to be large in a dynamic environment, thereby affecting the overall operation efficiency and safety. At the same time, the existing system platform has a lagging response in updating state information and a heavy communication burden, and it is difficult to realize efficient and real-time data processing and feedback, especially in the case of severe changes in ship motion or complex environment. It can be seen that the existing technology still has technical bottlenecks such as low sensor fusion degree, insufficient posture judgment accuracy, and lagging data update mechanism, and there is an urgent need for a comprehensive monitoring and control device that can realize accurate identification of ship motion state, real-time calculation of load center and dynamic posture optimization adjustment. SUMMARY

[0004] To solve the problems in the prior art, the application proposes a ship motion posture analysis and state monitoring system that fuses multiple types of sensors and cooperates with corresponding algorithms, which can obtain the acceleration, load distribution and air environment parameters of the ship in real time, realize accurate monitoring and dynamic adjustment of the ship motion state through the center of pressure calculation algorithm and the posture recognition model, provide a basis for intelligent adjustment of the ship-shore docking device, and significantly improve the safety and automation level of berthing operation.

[0005] In order to monitor the real-time motion parameters of the ship, the data is automatically processed by software to accurately obtain the real-time motion state of the complex action of the ship, provide calculation basis for optimizing the precise posture self-adjustment function of the ship-shore connecting device, and monitor the real-time posture information of the moving ship. Therefore, the application proposes a ship motion posture analysis and motion state monitoring using sensors.

[0006] The technical scheme adopted by the present application is a ship motion posture analysis and motion state monitoring device using sensors, which comprises a wireless communication networking device, an acceleration sensor, a tension and pressure sensor, a gas sensor, and a temperature and humidity sensor.

[0007] The wireless communication networking device is used for system communication and signal transceiving.

[0008] The acceleration sensor is composed of three parts, which are arranged in the XYZ directions of the ship respectively, and is used for collecting normal acceleration data in the horizontal, vertical and longitudinal directions; the motion parameters of the ship are determined by the acceleration values.

[0009] The tension and pressure sensor is composed of four parts, which are arranged on the four vertices of the ship load deck, and is used for calculating the total load on the deck and the information of the load center point by the obtained tension and pressure data.

[0010] The gas sensor and the temperature and humidity sensor are arranged in the docking cabin of the ship, and are used for monitoring the data in the current air to determine whether a fire occurs.

[0011] Further, the gas sensor comprises an oxygen sensor and a carbon monoxide sensor.

[0012] A working method of a ship motion posture analysis and motion state monitoring device using sensors, comprising the following steps:

[0013] S1, the acceleration sensor collects real-time acceleration values in the XYZ three degrees of freedom of the ship, and analyzes the data to determine the real-time motion state and posture of the ship;

[0014] S2, the total weight of the trestle and the pedestrian on the deck is calculated by the data of the tension and pressure sensors arranged at the four vertices of the load deck.

[0015] S3, the position of the trestle in contact with the deck is calculated by the pressure center calculation algorithm; specifically:

[0016] The real-time tension and pressure values of the tension and pressure sensors A, B, C and D arranged at the four vertices of the deck are obtained, which are respectively denoted as The position coordinates of the four sensors are: 、 、 、 ;

[0017] The weighted average formula is used to calculate the center of force, i.e. the approximate position of the contact point of the trestle and the deck:

[0018]

[0019] The calculated The contact position of the trestle and the deck is used to further determine the load distribution and dynamic attitude adjustment.

[0020] S4, obtaining real-time motion state and real-time attitude information of the ship complex action, specifically:

[0021] Through three-axis data acquisition of the acceleration sensor, acceleration values in three directions are obtained respectively: lateral , longitudinal , and vertical Three-axis acceleration data are used to estimate the pitch angle and roll angle.

[0022] The calculation formula of the roll angle is:

[0023]

[0024] The calculation formula of the pitch angle is:

[0025]

[0026] According to the acceleration change trend, the current state of the ship is determined to be static, fluctuation, yaw or sway.

[0027] Further, in the step S4, the Kalman filter algorithm is introduced, and the gyroscope data is fused to output more smooth and accurate attitude angle.

[0028] A ship motion attitude analysis and motion state monitoring device using sensors, wireless communication networking equipment, acceleration sensors, tension and pressure sensors, oxygen sensors, carbon monoxide sensors, and temperature and humidity sensors. The acceleration sensor is used to collect real-time acceleration values in three degrees of freedom XYZ of the ship, and the real-time motion state and attitude of the ship are analyzed and determined. The tension and pressure sensors are placed at the four corners of the load deck. By sensing the pressure difference of the four pressure sensors arranged at different positions, we can calculate the total weight of the trestle and the pedestrian on the deck. With the help of the pressure center calculation algorithm, we can accurately calculate the contact position of the trestle and the deck. This process uses sensor data and calculation algorithm to provide an effective means to monitor and evaluate the load distribution of the trestle and the pedestrian in real time, providing important information for structural safety and design evaluation. The wireless communication networking equipment is used as the basis for building the monitoring system, and the system communication and signal transmission are realized.

[0029] The overall device structure, acceleration sensor, tension and pressure sensor, and gyroscope are installed on the ship, and the oxygen and carbon monoxide gas sensors and temperature and humidity sensors are installed in the docking cabin. Each device is connected through wireless and wired communication networking equipment.

[0030] By the technical scheme, the ship motion state monitoring system is built, the sensor technology is combined, the real-time motion state and real-time attitude information of the complex action of the ship are accurately obtained, and calculation basis is provided for optimizing the precise attitude self-adjusting function of the docking device.

[0031] The device comprises a wireless communication networking device, an acceleration sensor, a tension and pressure sensor, a gyroscope, an oxygen sensor, a carbon monoxide sensor, and a temperature and humidity sensor. Compared with other ship motion state monitoring devices, the device has the following differences: compared with the traditional sensor identification, the system device develops a pressure center calculation algorithm for data processing and development, and the total weight of the trestle and the pedestrian on the deck in this area can be calculated through the pressure difference sensed by the four pressure sensors arranged at different positions. With the help of the pressure center calculation algorithm, the position where the trestle contacts the deck can be accurately calculated. This process uses sensor data and calculation algorithms to provide an effective means to monitor and evaluate the load distribution of the trestle and the pedestrian in real time, providing important information for structural safety and design evaluation. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a ship motion attitude analysis and motion state monitoring system.

[0033] Figure 2 It is a system flowchart.

[0034] Figure 3 It is a pressure center calculation algorithm schematic diagram. DETAILED DESCRIPTION

[0035] In order to better understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0036] The present application will be further described below in combination with the drawings.

[0037] Figure 1 Figure 2 A ship motion attitude analysis and motion state monitoring system using sensors is shown.

[0038] The overall device structure, acceleration sensor, tension and pressure sensor, gyroscope are installed on the ship, and each device is connected through wireless and wired communication networking equipment. The acceleration sensor is used to collect the real-time acceleration values of the ship in XYZ three degrees of freedom, and the real-time motion state and attitude of the ship are analyzed. The tension and pressure sensor is placed at the four vertices of the load deck, and the total weight and pressure center area of the load are calculated according to the calculation algorithm. The wireless communication networking equipment is used as the basis for building the monitoring system, and the system communication and signal transmission are realized. The oxygen sensor, carbon monoxide sensor and temperature and humidity sensor are installed in the docking cabin of the ship, and the current air monitoring gas content is sent to the host computer in real time through the serial port protocol to speculate the fire situation. When an emergency occurs, abnormal data is identified and an alarm is sent.

[0039] The device realizes real-time monitoring and evaluation of the motion state and environmental safety of the ship through the cooperation of multiple sensors. The acceleration sensor is arranged on the ship structure to collect real-time acceleration data in X, Y and Z three degrees of freedom. Through dynamic analysis of these data, the system can accurately determine the motion state and attitude characteristics of the ship during navigation or berthing, providing data support for three-dimensional attitude calculation and state recognition of the ship body, especially suitable for dynamic response analysis of complex motion such as ship rolling and tilting. The tension and pressure sensor is installed at the four vertices of the ship load deck, and the total load on the current deck and the position of the pressure center can be calculated by real-time collection of the tension and pressure changes of each point combined with the preset load distribution algorithm. The calculation of the pressure center not only reflects the stability of the ship in the vertical direction, but also provides a key basis for subsequent adaptive adjustment of the docking device, improving the accuracy and safety of ship-shore connection.

[0040] The wireless communication networking equipment is the communication core of the whole monitoring system, and undertakes the signal transmission task between each unit in the system. This module supports multi-channel concurrent communication and remote data transmission, ensuring that the collected sensor data can be transmitted to the host computer system stably and in real time, realizing the coordinated control and information sharing between each functional module. The air quality monitoring part is set in the docking cabin of the ship, mainly composed of oxygen sensor, carbon monoxide sensor and temperature and humidity sensor. These sensors communicate with the host computer through standard serial port protocol and transmit the monitored oxygen concentration, carbon monoxide concentration and environmental temperature and humidity parameters in real time. When the system detects abnormal gas concentration or temperature and humidity indicators, it can identify the abnormality through the software analysis module, quickly judge whether there is a fire or other sudden safety risk, and automatically trigger the early warning mechanism to send an alarm signal to the operator in time to ensure the safety and stability of the cabin environment.

[0041] A working method of a ship motion attitude analysis and motion state monitoring device using sensors, comprising the following steps:

[0042] S1, the acceleration sensor collects real-time acceleration values on the XYZ three degrees of freedom of the ship, analyzes the data to determine the real-time motion state and attitude of the ship;

[0043] S2, the total weight of the trestle and pedestrians on the deck is calculated through the data of the tensile and compressive force sensors arranged at the four vertices of the load deck;

[0044] S3, the position of the contact between the trestle and the deck is calculated by the center of pressure calculation algorithm; specifically:

[0045] The real-time tensile and compressive force values of the tensile and compressive force sensors A, B, C, and D arranged at the four vertices of the deck are obtained, respectively denoted as , the coordinates of the four sensors are: , , , ;

[0046] The center of force, i.e. the approximate position of the contact point between the trestle and the deck, is calculated using the weighted average formula:

[0047]

[0048] The calculated is the contact position between the trestle and the deck, which is used for further judgment of load distribution and dynamic attitude adjustment;

[0049] S4, obtain the real-time motion state and real-time attitude information of the complex motion of the ship; specifically:

[0050] Through three-axis data acquisition of the acceleration sensor, the acceleration values in three directions are obtained respectively: lateral , longitudinal , and vertical Three-axis acceleration data are used to estimate the pitch angle and roll angle:

[0051] The calculation formula of the roll angle is:

[0052]

[0053] The calculation formula of the pitch angle is:

[0054]

[0055] According to the acceleration trend, the current state of the ship is determined, such as static, fluctuation, yaw, and sway. The Kalman filter algorithm is introduced to fuse with the gyroscope data, and the more smooth and accurate attitude angle is output.

[0056] The device can be used for various ship movements, monitors real-time movement parameters of the ship according to actual ship state, and realizes accurate capture of complex actions of the ship in the movement state. Through the above technical scheme, the ship movement state monitoring system is built, the sensor technology is used, the data transmission is used to read parameters, the real-time movement state of the complex actions of the ship and the real-time attitude information of the ship are accurately obtained, and calculation basis is provided for optimization of the precise attitude self-adjusting function of the docking device.

[0057] The above describes the preferred embodiments of the application in detail. The technical solutions obtained by logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the application should be within the protection scope determined by the claims.

Claims

1. A device for analyzing ship motion posture and monitoring motion status using sensors, characterized in that: The device includes wireless communication networking equipment, acceleration sensor, tension and pressure sensor, gas sensor, temperature and humidity sensor; The wireless communication networking equipment is used for system communication and signal transmission and reception; There are three acceleration sensors, which are arranged in the XYZ directions of the ship respectively, and are used to collect and transmit normal acceleration data in the horizontal, longitudinal and vertical directions; the motion parameters of the ship are determined by the acceleration values; The four tension and pressure sensors are respectively located at four vertices on the ship's load deck, and the total load on the deck and the load center point information are calculated by the obtained tension and pressure data; Gas sensors and temperature and humidity sensors are located in the ship's docking cabin, monitoring the current air data to determine whether a fire has occurred.

2. The device for analyzing ship motion posture and monitoring motion status using sensors according to claim 1, characterized in that: The gas sensors include an oxygen sensor and a carbon monoxide sensor.

3. The working method of the device for analyzing ship motion posture and monitoring motion status using sensors according to claim 1, characterized in that: The following steps are involved: S1. The acceleration sensor collects the real-time acceleration values ​​of the ship's XYZ three degrees of freedom and analyzes the data to determine the ship's real-time motion state and posture; S2. Calculate the total weight of the trestle and pedestrians on the deck using data from tension and compression sensors located at the four vertices of the load deck; S3. Calculate the contact position between the pier and the deck using the pressure center calculation algorithm; specifically: Get the real-time tensile and pressure values ​​of the tensile and pressure sensors A, B, C, and D arranged at the four vertices of the deck, and record them as , the position coordinates of the four sensors are: 、 、 、 ; Using the weighted average formula, calculate the center of force, which is the approximate location of the contact point between the trestle and the deck: ； ； Calculated This is the contact position between the trestle and the deck, which is used to further determine the load distribution and dynamic posture adjustment; S4. Obtaining the real-time motion status and attitude information of the ship's complex movements; specifically: Through the three-axis data acquisition of the acceleration sensor, the acceleration values ​​in three directions are obtained: horizontal , vertical , vertical Three-week acceleration data to estimate pitch angle and roll angle: The formula for calculating the roll angle is: ； The formula for calculating the pitch angle is: ； The current state of the ship can be determined based on the acceleration change trend: stationary, heaving, yaw or shaking.

4. The method of claim 3, wherein: In step S4, a Kalman filter algorithm is introduced to fuse the data with the gyroscope data to output a smoother and more accurate attitude angle.

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