Marine ship monitoring experiment device

Abstract

The utility model discloses a marine ship monitoring experimental device, which comprises a simulated ocean communication unit used for fusing ocean simulation data and modulating and sending the fused ocean simulation data; the signal processing detection unit is used for carrying out demodulation and image processing on the modulated ocean simulation data; the marine environment detection unit is used for simulating a marine environment and collecting marine simulation data; and a computer; the marine environment detection unit is provided with an LORA sensor node, the LORA gateway end of the simulation marine communication unit is provided with an SMA head antenna, the simulation marine communication unit is connected with the signal processing detection unit through an SMA line, the network port end of the signal processing detection unit is connected with the computer, and all the units are powered by power lines; according to the utility model, the inertial navigation module is combined with the original box body structure, so that the real-time condition of the ship returned by the sensor can be comprehensively observed on a data observation page in real time, and the working principle of the system can be understood through the overall operation process of the system.

Description

Technical Field

[0001] The utility model belongs to the technical field, and particularly relates to a monitoring experiment device for offshore ships. Background Art

[0002] With the rapid development of laser ranging, positioning, navigation and control technologies, they are quite mature in current ground traffic monitoring. However, in the face of complex and changeable marine environments, higher requirements are put forward for the research and development of related technologies applied at sea. Marine exploration technologies conduct comprehensive data collection through various sensors of light, electricity, sound, and electromagnetics, providing the most basic guarantee for obtaining marine information and building a digital ocean. Under the background of the marine economy, more and more universities pay attention to the research in the direction of marine monitoring, which puts forward higher requirements for the teaching practice links in universities. In recent years, with the further improvement of the requirements for practical abilities in teaching in universities, higher requirements are also put forward for experimental instruments in experimental teaching.

[0003] Patent Publication No. CN 113706974B discloses a teaching experiment system for marine exploration technologies, belonging to the field of marine exploration systems. It simplifies the circuit layout by transmitting signals in a wireless connection manner for an ocean data acquisition experiment box, a data fusion and transmission experiment box, and a data processing experiment box. It has the characteristics of small volume and relatively simple structure. However, this solution only simply uses a laser ranging module to monitor ship obstacle avoidance and cannot enable students to conduct deeper experiments on ship trajectories, states, etc. in practical teaching. Summary of the Invention

[0004] The purpose of the utility model is to design a monitoring experiment device for offshore ships, which can conduct experiments on ship trajectories and states.

[0005] In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0006] A monitoring experiment device for offshore ships, characterized by comprising:

[0007] An analog marine communication unit, used for fusing analog marine data and modulating and transmitting the fused analog marine data;

[0008] A signal processing and detection unit, used for demodulating and image processing of the modulated analog marine data;

[0009] A marine environment detection unit, used for simulating the marine environment and collecting analog marine data; and a computer;

[0010] The marine environment detection unit is equipped with LORA sensor nodes. An SMA head antenna is installed at the LORA gateway end of the simulated marine communication unit. The simulated marine communication unit and the signal processing detection unit are connected by an SMA cable. The network port end of the signal processing detection unit is connected to a computer. Each of the above units is powered by a power cord;

[0011] The marine environment detection unit consists of a box body and a box cover. Several LORA sensor nodes are installed on the box cover. One of the LORA sensor nodes is composed of a single-chip microcomputer, an inertial navigation sensor, an antenna, and a LORA module.

[0012] Furthermore, after the marine environment detection unit collects data, it transmits the node data to the LORA gateway of the simulated marine communication unit through wireless transmission to achieve data upload. The simulated marine communication unit emits the node data in water through one or more transmission methods such as light waves, electromagnetic waves, or sound waves, and then it is analyzed and processed by the signal processing detection unit. Finally, various detected marine information is displayed graphically on the computer.

[0013] Furthermore, the inertial navigation sensor is installed on the box cover in an inserted manner. The inertial navigation sensor communicates with the single-chip microcomputer through a serial port, and the single-chip microcomputer is connected to the LORA module.

[0014] Furthermore, the inertial navigation sensor adopts the JY901 attitude angle sensor module.

[0015] Furthermore, other LORA sensor nodes adopt one of a temperature sensor, a water depth and water pressure sensor, a salinity sensor, a wind sensor, a rainfall sensor, a PH sensor, an image sensor, a laser ranging sensor, a GPS, and a lidar sensor.

[0016] Furthermore, the simulated marine communication unit includes a LORA gateway, an STM32F407D single-chip microcomputer, a network port, a touch screen, an FPGA, a digital-to-analog conversion circuit, an optical modulation circuit, a driving circuit, microwave transmission, a laser, and ultrasonic waves.

[0017] Furthermore, the signal processing detection unit includes a network port, an STM32F407D single-chip microcomputer, a touch screen, a DSP image processing module, an FPGA, analog signal conditioning and AD, first digital signal conditioning, second digital signal conditioning, microwave reception, a laser detector, and an underwater acoustic converter

[0018] The following beneficial effects can be obtained through the above technical solutions:

[0019] Based on the improvement of the existing teaching equipment, an inertial navigation module is set on the original box structure in the utility model, which can conduct experiments on the ship's track and state, and comprehensively and real-time observe the real-time situation of the ship returned by the sensor on the data observation page, and can understand the working principle of the system through the overall operation process of the system. For the distribution of different functions of each part of the experimental box, a variety of experiments are designed, covering sensor reading, communication simulation, and digital image processing, allowing students to independently complete the implementation of each part of the function by hand.

[0020] The inertial navigation sensor adopts the JY901 attitude angle sensor module, which integrates high-precision gyroscopes, accelerometers, and geomagnetic sensors, and uses a high-performance microprocessor and advanced dynamic solution and Kalman dynamic filtering algorithms, which can quickly solve the current real-time motion attitude of the module, with extremely high stability, and its performance is even better than some professional inclinometers.

[0021] The module internally comes with a voltage stabilization circuit, with a working voltage of 3.3V to 5V, and the pin levels are compatible with 3.3V / 5V embedded systems, making the connection convenient. Description of the Drawings

[0022] Figure 1 It is the topology diagram of the experimental device.

[0023] Figure 2 It is the schematic diagram of the marine environment detection unit. Detailed Implementation Modes

[0024] The following further describes the utility model in conjunction with the drawings:

[0025] Example: As Figure 1-2 shown, a marine ship monitoring experimental device includes:

[0026] The simulated marine communication unit 8 is used to fuse marine simulation data and modulate and send the fused marine simulation data; in this embodiment, the simulated marine communication unit specifically uses an experimental box, in which a LORA gateway, an STM32F407D single-chip microcomputer, a network port, a touch screen, an FPGA, a digital-to-analog conversion circuit, an optical modulation circuit, a drive circuit, a microwave transmitter, a laser, and an ultrasonic wave are built in;

[0027] The signal processing and detection unit 7 is used to demodulate and perform image processing on the modulated marine simulation data; in this embodiment, the signal processing and detection unit also adopts the experimental box structure, and its built-in network port, STM32F407D single-chip microcomputer, touch screen, DSP image processing module, FPGA, analog signal conditioning and AD, first digital signal conditioning, second digital signal conditioning, microwave receiving, laser detector, and underwater acoustic converter;

[0028] The marine environment detection unit is used to simulate the marine environment and collect marine simulation data. The marine environment detection unit consists of a box body and a box cover. Several LORA sensor nodes are installed on the box cover. The LORA sensor node is composed of a single-chip microcomputer 5, an inertial navigation sensor 6, an antenna 4, and a LORA module 3. The marine environment detection unit consists of a box body and a box cover 1. Several LORA sensor nodes 2 are installed on the box cover. The LORA sensor node is composed of a single-chip microcomputer, an inertial navigation sensor, an antenna, and a LORA module. The inertial navigation sensor is installed on the box cover in an inserted manner. The inertial navigation sensor communicates with the single-chip microcomputer through a serial port. The single-chip microcomputer is connected to the LORA module. The inertial navigation sensor can adopt the JY901 attitude angle sensor module, which integrates high-precision gyroscopes, accelerometers, and geomagnetic sensors. It uses a high-performance microprocessor and advanced dynamic resolution and Kalman dynamic filtering algorithms, can quickly solve the current real-time motion attitude of the module, has extremely high stability, and its performance is even better than some professional inclinometers. The module has a built-in voltage stabilization circuit inside, with a working voltage of 3.3V to 5V, and the pin level is compatible with 3.3V / 5V embedded systems, making it convenient to connect.

[0029] The marine environment detection unit is equipped with LORA sensor nodes. The LORA gateway end of the simulated marine communication unit installs an SMA head antenna. The simulated marine communication unit is connected to the signal processing detection unit through an SMA cable. The network port end of the signal processing detection unit is connected to a computer. Each of the above units is powered by a power cord.

[0030] After the marine environment detection unit collects data, it transmits the node data to the LORA gateway of the simulated marine communication unit through wireless transmission to achieve data upload. The simulated marine communication unit emits the node data in water through one or more transmission methods such as light waves, electromagnetic waves, or sound waves, and then it is analyzed and processed by the signal processing detection unit. Finally, a variety of detected marine information is displayed graphically on the computer.

[0031] For other LORA sensor nodes, according to the needs of experimental teaching, they can be selected from temperature sensors, water depth and water pressure sensors, salinity sensors, wind sensors, rain sensors, PH sensors, image sensors, laser ranging sensors, GPS, and lidar sensors to cope with the detection of multiple environments. Specifically, experimental liquid is poured into the box body, and the contacts of the above sensors extend into the experimental liquid to measure and analyze temperature, salinity, concentration, etc.

[0032] The simulated marine communication unit test box, the signal processing detection unit test box, and the marine environment detection unit test box based on the LoRa network all establish signal connections with a variety of LORA nodes through the configured internal network system.

[0033] First, connect the LORA gateway of the simulated marine communication unit test box to the small black SMA antenna. Use a long SMA cable to connect the simulated marine communication unit test box and the signal processing and detection unit test box. Ensure that the water tank cover of the marine environment detection unit based on the LoRa network, the simulated marine communication unit test box, and the signal processing and detection unit test box are connected to the power supply. Then use an Ethernet cable to connect the signal processing and detection unit test box to the network port of computer 9.

[0034] To improve the real-time monitoring of ships, while the marine environment detection unit based on the LoRa network is responsible for simulating the marine environment, it is equipped with an inertial navigation sensor and a LORA module to form a LORA node. After collecting data, the data is transmitted to the LORA gateway through wireless transmission to achieve data upload. The ARM on the module where the LORA gateway is located then transmits the node data in the water through various transmission methods such as light waves, electromagnetic waves, and sound waves. After being analyzed and processed by the signal processing and detection signal experimental platform, it is sent to the background, and finally, various marine information detected is displayed graphically on the computer.

[0035] More specifically: The inertial navigation sensor is connected to the single-chip microcomputer, and the single-chip microcomputer is connected to the LORA module. To improve the stability and accuracy of data transmission, the inertial navigation sensor of the data acquisition unit works independently and uses an independent LORA module. The inertial navigation sensor communicates with the single-chip microcomputer through the serial port, so the corresponding serial port needs to be initialized first, and then the data returned by the LORA module is parsed. Since there is a lot of data returned by the LORA module, it can be stored in different structures through a state machine. In addition, the Euler angles are not directly obtained through the inertial navigation sensor and need to be obtained through relevant numerical calculations.

[0036] Insert the inertial navigation sensor on the corresponding module. After the coefficients are stable, move the inertial navigation sensor and deflect it by a certain angle. The real-time situation returned by the sensor will be displayed on the data observation page of the computer. According to the settings, acceleration, angular velocity, angle, magnetic field, quaternion, and Euler angles will be displayed on the observation page, and the changes in the returned values can be observed. Then try to move the inertial navigation sensor at different speeds or angles and check the changes in the data displayed on the data observation page of the computer.

[0037] In the teaching experiment, students mainly program the embedded chips of the test box. Different tools are selected for secondary development by parsing the acceleration, angular velocity, angle, and quaternion data frames returned by the inertial navigation sensor.

[0038] In this embodiment, the inertial navigation sensor can adopt the JY901 attitude angle sensor module, which integrates high-precision gyroscopes, accelerometers, and geomagnetic sensors. It uses a high-performance microprocessor and advanced dynamic resolution and Kalman dynamic filtering algorithms, and can quickly solve the current real-time motion attitude of the module, with extremely high stability and performance even better than some professional inclinometers. The module is equipped with a built-in voltage stabilization circuit, with a working voltage of 3.3V to 5V, and the pin levels are compatible with 3.3V / 5V embedded systems, making the connection convenient.

[0039] It supports two digital interfaces: serial port and IIC, which is convenient for users to choose the best connection method. The serial port rate is adjustable from 2400bps to 921600bps, and the IIC interface supports a full-speed 400K rate. The highest data output rate is 200Hz. The input content can be arbitrarily selected, and the output rate can be adjusted from 0.1 to 200HZ. There are 4 reserved expansion ports, which can be respectively configured with functions such as analog input, digital input, digital output, and PWM output.

[0040] The above are all the preferred embodiments of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, the modifications of various equivalent forms of the present invention all fall within the protection scope of the appended claims of this application.

Claims

1. A marine ship monitoring experimental device, characterized in that: include: A simulated ocean communication unit, used for fusing ocean simulation data, and for modulating and transmitting the fused ocean simulation data; A signal processing detection unit, used for demodulating and image processing the modulated ocean simulation data; An ocean environment detection unit, used for simulating the ocean environment and collecting ocean simulation data; and a computer; The marine environment detection unit is equipped with a LORA sensor node, and an SMA head antenna is installed on the LORA gateway end of the simulated marine communication unit. The simulated marine communication unit is connected to the signal processing detection unit through an SMA line, and the network port end of the signal processing detection unit is connected to a computer. The simulated marine communication unit, the signal processing detection unit and the marine environment detection unit are powered by a power cord; The marine environment detection unit consists of a box body and a box cover, and a plurality of LORA sensor nodes are installed on the box cover, wherein one LORA sensor node consists of a single-chip microcomputer, an inertial navigation sensor, an antenna and a LORA module.

2. The marine vessel monitoring experimental device according to claim 1, characterized in that: After collecting data, the marine environment detection unit transmits the node data to the LORA gateway of the simulated marine communication unit through wireless transmission to realize data upload. The simulated marine communication unit transmits the node data in the water through one or more transmission methods such as light waves, electromagnetic waves or sound waves, and then the signal processing detection unit analyzes and processes it, and finally displays the various detected marine information in a graphical way on the computer.

3. The marine vessel monitoring experimental device according to claim 1, characterized in that: The inertial navigation sensor is installed on the box cover by insertion. The inertial navigation sensor communicates with the microcontroller through the serial port, and the microcontroller is connected to the LORA module.

4. A marine ship monitoring experimental device according to claim 1 or 3, characterized in that: The inertial navigation sensor uses the JY901 attitude angle sensor module.

5. The marine vessel monitoring experimental device according to claim 1, characterized in that: Other LORA sensor nodes use one of the temperature sensor, water depth and water pressure sensor, salinity sensor, wind sensor, rainfall sensor, PH sensor, image sensor, laser ranging sensor, GPS, and lidar sensor.

6. The marine vessel monitoring experimental device according to claim 1, characterized in that: The simulated marine communication unit includes a LORA gateway, an STM32F407D single-chip microcomputer, a network port, a touch screen, an FPGA, a digital-to-analog conversion circuit, an optical modulation circuit, a driving circuit, a microwave transmitter, a laser, and ultrasound.

7. The marine vessel monitoring experimental device according to claim 1, characterized in that: The signal processing and detection unit includes an Internet port, an STM32F407D single-chip microcomputer, a touch screen, a DSP image processing module, an FPGA, analog signal conditioning and AD, a first digital signal conditioning, a second digital signal conditioning, a microwave receiver, a laser detector and an underwater acoustic converter.

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