CN108873036A - A kind of ship status monitoring device based on Beidou navigation - Google Patents
A kind of ship status monitoring device based on Beidou navigation Download PDFInfo
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- CN108873036A CN108873036A CN201810450035.3A CN201810450035A CN108873036A CN 108873036 A CN108873036 A CN 108873036A CN 201810450035 A CN201810450035 A CN 201810450035A CN 108873036 A CN108873036 A CN 108873036A
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- ship
- unit
- control platform
- electrically connected
- monitoring unit
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of ship status monitoring device based on Beidou navigation,Including device housings and the rotating base for being mounted on device housings bottom end,The device housings outer wall is provided with anti-interference protective cover,The device housings are internally provided with monitoring system,The monitoring system includes ship power monitoring unit,Positioning unit,External environment monitoring unit and internal environment monitoring unit,The ship power monitoring unit,Positioning unit,External environment monitoring unit,Internal environment monitoring unit carries out signal transmission by being electrically connected with middle control platform,And unit is communicated middle control platform output end with outside by wireless communication,And monitoring system is powered jointly by ship power supply and backup power source,The inside and outside situation of complete detection ship by way of monitoring in real time and sensor monitoring combines,While location navigation,Danger is found in time convenient for staff,It is provided safeguard for the navigation of ship.
Description
Technical field
The present invention relates to technical field of ships, specially a kind of ship status monitoring device based on Beidou navigation.
Background technique
Ship, the general name of various ships.Ship is to navigate by water or berth to carry out the vehicles of transport or operation in waters,
There is different technical performances, equipment and structural shape by different requirements.
Ship is a kind of man made transportation tools mainly run in geographical water, in addition, inercant ships are commonly referred to as ship, it is military
Ship is known as warship, and small boat is known as ship or boat, is collectively referred to as naval vessel or ships and light boats.It is internal mainly include accommodation space, support construction and
Discharge structure has the propulsion system using the external or included energy.External form is usually to be conducive to overcome the cleanliness of fluid resistance
Envelope, material are constantly updated with scientific and technological progress, are in early days the nature materials such as wood, bamboo, fiber crops, and modern age is mostly steel and aluminium, glass
Glass fiber, acrylic and various composite materials.
Chinese Beidou satellite navigation system is the Global Satellite Navigation System that China voluntarily develops.It is to be positioned after US Global
The satellite navigation system of third maturation after system (GPS), Russian Glonass satellite navigation system (GLONASS), north
Bucket satellite navigation system space segment is made of 5 satellites and 30 non-geo satellites, China's plan 2012
Left and right, Beidou system will cover the Asian-Pacific area, and the year two thousand twenty or so is covering the whole world, can be by north when ship's navigation
Bucket system is navigated.
But during ship's navigation, since the state of ship itself may be due to being easy by internal and external environment
It influences, it is therefore desirable to the internal and external environment of ship is monitored in time, but existing monitoring device is taken the photograph by single
Image space formula is monitored, and can not find the power operating condition of potential internal problem, especially ship in time, it is easy to generate
Safety problem.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of ship status monitoring dress based on Beidou navigation
It sets, the inside and outside situation of complete detection ship by way of monitoring in real time and sensor monitoring combines, while location navigation,
Danger is found in time convenient for staff, is provided safeguard for the navigation of ship, can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of ship status monitoring device based on Beidou navigation including device housings and is mounted on device housings bottom end
Rotating base, the device housings outer wall are provided with anti-interference protective cover, and the device housings are internally provided with monitoring system；
The monitoring system includes ship power monitoring unit, positioning unit, external environment monitoring unit and internal environment
Monitoring unit, the ship power monitoring unit, positioning unit, external environment monitoring unit, internal environment monitoring unit are logical
It crosses to be electrically connected with middle control platform and carries out signal transmission, and unit is led to middle control platform output end with outside by wireless communication
Letter, and monitoring system is powered jointly by ship power supply and backup power source.
Further, the ship power monitoring unit include several be used for detect Ship Power Equipment PLC it is electrical
The live camera assembly of detection device and several groups captured in real-time, the scene camera assembly directly will by data transmission unit
Data are transferred to middle control platform, and PLC electrical detection facility is directly electrically connected with Ship Power Equipment and carries out real-time monitoring,
PLC electrical detection facility, which is connect by host computer with middle control platform, realizes signal transmission.
Further, the positioning unit includes the Beidou signal receiving module and differential processing module being electrically connected, institute
It states differential processing module and microprocessor is electrically connected with by Extended Kalman filter module, the output end of microprocessor is in
Bracket signal input terminal is controlled to be electrically connected.
Further, the external environment monitoring unit includes external sensor group, Underwater Detection instrument, tachometer, compass
Instrument, the external sensor group, Underwater Detection instrument, tachometer, compass pass through integrated data communication bus and are electrically connected with
Integrated treatment module, the integrated treatment module are electrically connected by CAN communication bus and middle control platform input terminal.
Further, the external sensor group includes for detecting the Temperature Humidity Sensor of temperature and humidity, for measuring speed
The velocity sensor of degree, the baroceptor for measuring ship ambient air pressure, the wind speed wind direction sensor for measuring wind-force.
Further, the internal environment monitoring unit includes deck monitor component, objective storehouse monitor component, freight house monitoring group
Part, driver's cabin monitor component and transmission parts monitor component.
Further, the middle control platform output end is electrically connected with alarm group, and the alarm group is separately positioned on
First engineman, second engineman, wheel cabin, central station of floating dock, dining room etc., alarm group is using audio alert, sound-light alarm, screen display report
Alert combination is alarmed.
Further, the middle control Platform communication port is connected with memory module, and the memory module includes that computer is deposited
Storage, mobile storage and cloud storage, and middle control platform input terminal is electrically connected by calling module and memory module and carries out data tune
With.
Further, the wireless communication unit carries out signal transmission, and the number by data transmit-receive module and outside
According to transceiver module signal transmitting terminal by data encryption module carry out data encryption, and wireless communication unit by Ethernet with
Middle control platform is electrically connected.
Further, the anti-interference protective cover inner wall is provided with shielding metal mesh, and anti-interference protective cover surface is arranged
There is ceramic insulation film.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention carries out comprehensive monitoring to ship by monitoring system, monitors power device, the inside and outside ring of ship respectively
Border and location information are found the problem and potential dangerous, in order to understand everywhere of ship during navigation in reality in time
While now positioning, is provided safeguard for the safety of ship, reduce the generation of dangerous situation.
Detailed description of the invention
Fig. 1 is monitoring system workflow schematic diagram of the invention；
Fig. 2 is device housings structural schematic diagram of the invention.
Figure label：
1- device housings；2- rotating base；The anti-interference protective cover of 3-；4- monitoring system；5- ship power monitoring unit；6-
Positioning unit；7- external environment monitoring unit；8- internal environment monitoring unit；Platform is controlled in 9-；10- wireless communication unit；11-
Ship power supply；12- backup power source；13- alarm group；14- memory module；15- calling module；16- data transmit-receive module；17-
Data encryption module；
301- shields metal mesh；302- ceramic insulation film；
501-PLC electrical detection facility；The scene 502- camera assembly；503- data transmission unit；
601- Beidou signal receiving module；602- differential processing module；603- Extended Kalman filter module；The micro- place 604-
Manage device；
701- external sensor group；702- Underwater Detection instrument；703- tachometer；704- compass；705- integrated data is logical
Believe bus；706- integrated treatment module；707-CAN communication bus；
The deck 801- monitor component；802- visitor storehouse monitor component；803- freight house monitor component；804- driver's cabin monitoring group
Part；805- transmission parts monitor component.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of ship status monitoring device based on Beidou navigation, including set
Standby shell 1 and the rotating base 2 for being mounted on 1 bottom end of device housings, 1 outer wall of device housings are provided with anti-interference protective cover 3,
The device housings 1 are internally provided with monitoring system 4, the ship which passes through 4 pairs of monitoring system navigation inside device housings 1
Oceangoing ship is monitored in real time, the mode that real time monitoring and sensor monitoring combine, and facilitates personnel and external monitor in ship
The overall condition that member understands ship in real time provides for ship and timely helps while for marine navigation, reduces the latent of ship
In danger, so that the navigation process more safety and stability of ship.
The monitoring system 4 includes ship power monitoring unit 5, positioning unit 6, external environment monitoring unit 7 and inside
Environmental monitoring unit 8, the ship power monitoring unit 5, positioning unit 6, external environment monitoring unit 7, internal environment monitoring
Unit 8 carries out signal transmission by being electrically connected with middle control platform 9, by ship power monitoring unit 5 to the power of ship
Device working condition real-time monitoring, it is ensured that the safety of Ship Power Equipment avoids that emergency case occurs；And positioning unit 6 passes through
Receive Beidou navigation signal to be positioned in real time, provides information for the navigation of ship, prevent the case where yawing or losing；
External environment monitoring unit 7 and internal environment monitoring unit 8 carry out real-time monitoring to ship internal and external environment factor respectively simultaneously, just
The concrete condition of ship is become more apparent upon in staff, discovery in time is potential dangerous and is discharged, when improving ship's navigation
Stability.
The ship power monitoring unit 5 includes the PLC electrical detection facility that several are used to detect Ship Power Equipment
501 and several groups captured in real-time live camera assembly 502, the scene camera assembly 502 is straight by data transmission unit 503
It connects and transfers data to middle control platform 9, and PLC electrical detection facility 501 is directly electrically connected and carries out in fact with Ship Power Equipment
When monitor, PLC electrical detection facility 501 by host computer connect with middle control platform 9 realization signal transmit, electrically examined by PLC
Measurement equipment 501 carries out real-time monitoring to the power device of ship, and PLC electrical detection facility 501 passes through and Ship Power Equipment electricity
Property connection, be responsible for monitoring power device operating status and be responsible for corresponding protection act, due to PLC can directly with control scene
Signal, contact even analog quantity are directly matched, and are reduced M signal transformation and conditioning, are reduced design link, improve
Reliability, while PLC has communication function, it is convenient to it realizes a distributed control system, a computer can be used
Monitor whole PLC, realize centralized control and monitor, the operating parameter of power device tested especially by sensor, into
When row specifically monitors, test data is divided into 2 classes, switching value and analog quantity, and by taking diesel engine as an example, major parameter has cooling water
Temperature, cooling water pressure, lubricating oil pressure, the exhaust gas temperature of oil temperature and each cylinder and diesel engine speed etc., when lubricating oil pressure, cold
But water pressure is too low, or when coolant water temperature, oil temperature, exhaust gas temperature are excessively high shows that dangerous i.e. every kind of parameter is generally divided
It is 2 grades, 1 grade of alarm, 2 grades of parkings, to realize power device automatic protection, during data after monitoring are transferred to by host computer
Control platform 9.
On the other hand, on-site test is carried out to Ship Power Equipment by live camera assembly 502, to Ship Power Equipment
The warehouse at place carries out field monitoring, is preventing from facilitating monitoring personnel to find ship power in time there are while artificial damage
Environment external cause existing for device warehouse, it is ensured that the safety of power device.
The positioning unit 6 includes the Beidou signal receiving module 601 and differential processing module 602 being electrically connected, described
Differential processing module 602 is electrically connected with microprocessor 604, the microprocessor 604 by Extended Kalman filter module 603
Output end and middle 9 signal input part of control platform are electrically connected, and when ship's navigation, are carried out by positioning unit 6 to ship
Positioning, and Beidou navigation is cooperated to carry out real-time navigation, ship is received the signal of transmitting by Beidou signal receiving module 601, connect
The signal of receipts carries out difference processing by differential processing module 602, so that it is determined that location information, which is adopted
With the difference block of a support BD2B1 frequency point using the production of authority Microtronic A/S, model D303, module design has two
Group UART serial ports, baud rate scope are 4800~115200bps, which receives the data of RTCM3.0 protocol format, and difference is fixed
Position precision under static state under motion state be respectively 1m and 3m, while position after position signal by extension karr
Graceful filter module 603 eliminates interference effect, since ship is easy the influence that is interfered in navigation, there is biggish system sometimes
It unites noise and measurement noise, causing the positioning accuracy of Beidou, there are larger differences, therefore pass through Extended Kalman filter module
603 eliminate interference, improve the accuracy of positioning result, the positioning signal by filtering processing is transferred to microprocessor 604, and micro-
Processor 604 using S3C2440 microcontroller is used there is 16KB instruction cache and 16KB data high-speed to cache,
Its dominant frequency is up to 400MHz at 1.3V, and data-handling capacity is very strong.
The external environment monitoring unit 7 includes external sensor group 701, Underwater Detection instrument 702, tachometer 703, compass
Instrument 704, the external sensor group 701, Underwater Detection instrument 702, tachometer 703, compass 704 pass through integrated data communication
Bus 705 is electrically connected with integrated treatment module 706, and the integrated treatment module 706 passes through CAN communication bus 707 and middle control
9 input terminal of platform is electrically connected, and Underwater Detection instrument 702, tachometer 703, compass 704 detect the depth of water, shipping kilometre, tool respectively
The longitude and latitude of body is detected by external environment of the external environment monitoring unit 7 to ship, to understand ship's navigation in time
Present in practical problem, it is dangerous convenient for discovery in time.
The environmental factor around ship is tested by external sensor group 701, the external sensor group 701 is wrapped
Include the Temperature Humidity Sensor for detecting temperature and humidity, for the velocity sensor of measuring speed, for measuring ship ambient air pressure
Baroceptor, the wind speed wind direction sensor for measuring wind-force, by Temperature Humidity Sensor detect ship about and within
Temperature and humidity in storehouse, baroceptor detect air pressure around ship and internal, while wind speed wind direction sensor real-time monitoring wind
Speed and direction, velocity sensor detection transmission, so that the external environment of ship can be timely detected, and temperature and humidity sensing
Device, wind speed wind direction sensor, baroceptor and velocity sensor are separately mounted to the different location of ship, so that testing result
It is more accurate.
The internal environment monitoring unit 8 includes deck monitor component 801, objective storehouse monitor component 802, freight house monitor component
803, driver's cabin monitor component 804 and transmission parts monitor component 805 utilize deck monitor component 801, objective storehouse monitor component
802, freight house monitor component 803, driver's cabin monitor component 804 and transmission parts monitor component 805 to underway ship deck,
Objective storehouse, freight house, driver's cabin, transmission parts inner case monitored in real time, in order to understand ship everywhere it is specific
Situation, it is ensured that the information of ship everywhere can be found in time, find existing security risk in time.
Unit 10 is communicated middle 9 output end of control platform with outside by wireless communication, the wireless communication unit
10 by data transmit-receive module 16 and external progress signal transmission, and the signal transmitting terminal of the data transmit-receive module 16 passes through number
Data encryption is carried out according to encrypting module 17, and wireless communication unit 10 is electrically connected by Ethernet and middle control platform 9, in middle control
After platform 9 receives data-signal and the positioning signal of monitoring, unit 10 is shared by wireless communication, is being sent to ship
It is sent in time external while oceangoing ship internal staff so that sail information can be by real-time monitoring, and the side for passing through monitoring camera-shooting
The video data that formula obtains does not transmit outward since data volume is big, and wireless communication unit 10 is realized by data transmit-receive module 16
The transmitting and reception of data-signal are encrypted by data encryption module 17 when emitting signal, prevent information
Leakage.
Middle 9 communication port of control platform is connected with memory module 14, and the memory module 14 includes computer storage, moves
Dynamic storage and cloud storage, and middle 9 input terminal of control platform is electrically connected by calling module 15 and memory module 14 and carries out data tune
With, and for the data of monitoring record, data information memory is got up by memory module 14, in order to call again, including
Video data and information data, and storage mode is mainly by computer storage, mobile storage and three kinds of modes of cloud storage come real
It is existing, it can satisfy different memory requirements.
And monitoring system 4 is powered jointly by ship power supply 11 and backup power source 12, by dual power supply power supply mode, really
It is sufficient to protect whole system power supply, when 11 electricity shortage of ship power supply, is powered jointly by backup power source 12.
Middle 9 output end of control platform is electrically connected with alarm group 13, and the alarm group 13 is separately positioned on big pipe
Wheel, second engineman, wheel cabin, central station of floating dock, dining room etc., alarm group 13 is using audio alert, sound-light alarm, screen display alarm
Combination alarm, when monitoring dangerous situation, middle control platform 9 controls alarm group 13 and starts to report
It is alert, be arranged in first engineman, second engineman, wheel cabin, central station of floating dock, dining room alarm group 13 start to alarm, to remind on ship
Staff find danger in time, and alarm group 13 using audio alert, sound-light alarm, screen display alarm combination side
Formula is alarmed, and the effect of warning note is improved.
As shown in Fig. 2, 3 inner wall of anti-interference protective cover is provided with shielding metal mesh 301, and 3 table of anti-interference protective cover
Face is provided with ceramic insulation film 302, and when in use, the interference effect of extraneous electromagnetic signals is completely cut off using shielding metal mesh 301,
The accuracy of signal is improved, ceramic insulation film 302 plays good heat-blocking action, so that equipment runs more stable safety.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of ship status monitoring device based on Beidou navigation, it is characterised in that：It is set including device housings (1) and being mounted on
The rotating base (2) of standby shell (1) bottom end, device housings (1) outer wall are provided with anti-interference protective cover (3), the equipment
Shell (1) is internally provided with monitoring system (4)；
The monitoring system (4) include ship power monitoring unit (5), positioning unit (6), external environment monitoring unit (7) and
Internal environment monitoring unit (8), the ship power monitoring unit (5), positioning unit (6), external environment monitoring unit (7),
Internal environment monitoring unit (8) carries out signal transmission by being electrically connected with middle control platform (9), and middle control platform (9) exports
Unit (10) is communicated with outside by wireless communication at end, and monitoring system (4) passes through ship power supply (11) and backup power source
(12) common power supply.
2. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：The ship
Oceangoing ship dynamic monitoring unit (5) includes the PLC electrical detection facility (501) and several groups that several are used to detect Ship Power Equipment
The live camera assembly (502) of captured in real-time, the scene camera assembly (502) directly will by data transmission unit (503)
Data are transferred to middle control platform (9), and PLC electrical detection facility (501) is directly electrically connected and carries out in fact with Ship Power Equipment
When monitor, PLC electrical detection facility (501) by host computer connect with middle control platform (9) realization signal transmit.
3. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：It is described fixed
Bit location (6) includes the Beidou signal receiving module (601) and differential processing module (602) being electrically connected, the difference processing
Module (602) is electrically connected with microprocessor (604) by Extended Kalman filter module (603), the microprocessor (604)
Output end and middle control platform (9) signal input part are electrically connected.
4. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：It is described outer
Portion's environmental monitoring unit (7) includes external sensor group (701), Underwater Detection instrument (702), tachometer (703), compass
(704), the external sensor group (701), Underwater Detection instrument (702), tachometer (703), compass (704) pass through synthesis
Data communication bus (705) is electrically connected with integrated treatment module (706), and the integrated treatment module (706) passes through CAN communication
Bus (707) and middle control platform (9) input terminal are electrically connected.
5. a kind of ship status monitoring device based on Beidou navigation according to claim 4, it is characterised in that：It is described outer
Portion's sensor group (701) include for detect the Temperature Humidity Sensor of temperature and humidity, for measuring speed velocity sensor, be used for
Measure baroceptor, the wind speed wind direction sensor for measuring wind-force of ship ambient air pressure.
6. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：In described
Portion's environmental monitoring unit (8) includes deck monitor component (801), objective storehouse monitor component (802), freight house monitor component (803), drives
Sail room monitor component (804) and transmission parts monitor component (805).
7. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：In described
Control platform (9) output end is electrically connected with alarm group (13), and the alarm group (13) is separately positioned on first engineman, two pipes
Wheel, wheel cabin, central station of floating dock, dining room etc., the group that alarm group (13) is alarmed using audio alert, sound-light alarm, screen display
Conjunction mode is alarmed.
8. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：In described
Control platform (9) communication port is connected with memory module (14), the memory module (14) include computer storage, mobile storage and
Cloud storage, and middle control platform (9) input terminal is electrically connected by calling module (15) and memory module (14) and carries out data call.
9. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：The nothing
Line communication unit (10) by data transmit-receive module (16) and it is external carry out signal transmission, and the data transmit-receive module (16)
Signal transmitting terminal carries out data encryption by data encryption module (17), and wireless communication unit (10) passes through Ethernet and middle control
Platform (9) is electrically connected.
10. a kind of ship status monitoring device based on Beidou navigation according to claim 1, it is characterised in that：It is described
Anti-interference protective cover (3) inner wall is provided with shielding metal mesh (301), and anti-interference protective cover (3) surface is provided with ceramic insulation
Film (302).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450035.3A CN108873036A (en) | 2018-05-11 | 2018-05-11 | A kind of ship status monitoring device based on Beidou navigation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450035.3A CN108873036A (en) | 2018-05-11 | 2018-05-11 | A kind of ship status monitoring device based on Beidou navigation |
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| Publication Number | Publication Date |
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| CN108873036A true CN108873036A (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810450035.3A Withdrawn CN108873036A (en) | 2018-05-11 | 2018-05-11 | A kind of ship status monitoring device based on Beidou navigation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110045669A (en) * | 2019-04-24 | 2019-07-23 | 大连交通大学 | A kind of monitoring of ship navigation state and alarm system |
| CN111911693A (en) * | 2020-07-15 | 2020-11-10 | 中国核动力研究设计院 | Intelligent valve system suitable for strong ionization radiation environment and control method |
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| CN206451365U (en) * | 2017-01-12 | 2017-08-29 | 中国水产科学研究院南海水产研究所 | A kind of ship's fix monitoring system based on the Big Dipper |
| CN206639376U (en) * | 2017-02-17 | 2017-11-14 | 华南理工大学 | A kind of unmanned boat group automatic monitoring system |
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| CN101059910A (en) * | 2007-05-24 | 2007-10-24 | 大连海事大学 | A near-shore ships mobile video monitor system |
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Application publication date: 20181123 |