CN109949615B - Ship low-speed early warning detection system and method - Google Patents
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Abstract
A low-speed early warning detection system and method of the shipping, this system includes high-accuracy low-speed radar module, data acquisition processing module, speed early warning module, deployment communication module; the high-precision low-speed radar module is connected with the data acquisition and processing module, returns the original speed value to the data acquisition and processing module, receives the angle instruction of the data acquisition and processing module, starts the electric holder and adjusts the angle of the high-precision low-speed radar module. The data acquisition processing module is respectively connected with the navigational speed early warning module and the scheduling communication module, and the scheduling communication module is connected with the scheduling center. The invention adopts the high-precision low-speed radar to measure the low-speed information of the ship in real time, and solves the problem of low-speed detection of the whole channel in the navigation buildings such as ship lifts and the like. According to the invention, the misdetection value C of the sailor is judged and corrected through a linear fitting algorithm, so that the accuracy of the detection system is improved.
Description
Technical Field
The invention relates to the technical field of early warning and detection of ships entering and exiting a ship lift, in particular to a low-speed early warning and detection system and method for ships.
Background
With the rapid development of national economy, inland river shipping develops rapidly, and the development and construction of hydropower stations greatly improve inland river shipping conditions, so that the shipping market grows rapidly. Due to the regulations of hydropower station navigation buildings such as ship lifts and the like, strict requirements are imposed on the ship speed of ships entering and exiting the navigation buildings such as the ship lifts and the like, but in the prior art, data jumping and misdetection phenomena are easy to occur due to factors such as ship bearing chambers, personnel walking on the ships and the like when the ship speed is actually detected, and therefore the measured data are inaccurate. Therefore, a system capable of effectively and accurately detecting the low navigational speed of the ship is designed, and the system is used as one effective means for controlling the navigational speed of the ship entering and exiting the compartment.
Disclosure of Invention
In order to solve the technical problems, the invention provides a low-speed early warning and detecting system and method for a ship. According to the invention, the misdetection value C of the sailor is judged and corrected through a linear fitting algorithm, so that the accuracy of the detection system is improved.
The technical scheme adopted by the invention is as follows:
a low-navigational-speed early warning detection system for a ship comprises a high-precision low-navigational-speed radar module, a data acquisition and processing module, a navigational-speed early warning module and a scheduling communication module;
the high-precision low-speed radar module is connected with the data acquisition and processing module, returns the original speed value to the data acquisition and processing module, receives the angle instruction of the data acquisition and processing module, starts the electric holder and adjusts the measurement angle of the high-precision low-speed radar module.
The data acquisition processing module is respectively connected with the navigational speed early warning module and the scheduling communication module, and the scheduling communication module is connected to the scheduling center.
The navigation speed early warning module is used for receiving the speed value corrected by the data acquisition and processing module, judging the overspeed of the ship and displaying the overspeed in real time so as to remind a ship driver of the real-time navigation speed of the ship;
the dispatching communication module is used for receiving the set angle value and the navigation instruction of the dispatching center and transmitting the set angle value and the navigation instruction to the data acquisition and processing module so that the data acquisition and processing module can enable and suspend the whole detection system.
The system also comprises a first double-sided display screen and a second double-sided display screen which are arranged at the upstream and downstream positions of the ship receiving chamber of the ship lift, and the first double-sided display screen and the second double-sided display screen are both connected with the data acquisition and processing module.
A low-speed early warning detection method for a ship,
the dispatching center gives a measurement angle through a detection device arranged on the ship lift, transmits a measurement angle value G to the dispatching communication module, transmits the measurement angle value G to the data acquisition processing module through the dispatching communication module, converts the measurement angle value G into a control instruction through the data acquisition processing module, and controls the cradle head to adjust the measurement angle;
the dispatching communication module automatically receives a real-time dispatching instruction of a dispatching center, when the dispatching instruction of a ship entering and exiting the ship lift is received, the dispatching communication module informs the data acquisition and processing module, the data acquisition and processing module sends an enabling signal to enable the high-precision low-speed radar module, meanwhile, the data acquisition and processing module starts to acquire measured speed information in real time, corrects a speed value S of the ship on the course of the ship in real time by combining a recorded angle value G, and carries out a series of misdetection algorithm judgment on each group of real-time speed values S; if the measured value is the error value, correcting the error measured value C of the sailing of the crew by a linear fitting algorithm; when a dispatching instruction that the ship enters and exits the ship lift is completed is received, the data acquisition and processing module is informed, and the data acquisition and processing module controls the system to enter a waiting suspension state;
the navigation speed early warning module receives the speed value S calculated by the data acquisition processing module in real time, judges whether the current speed value S is greater than the speed value L limited by the dispatching center or not, and displays the current speed value S on a double-sided display screen to inform a ship driver of the current ship navigation speed if the current speed value S is less than the speed value L limited by the dispatching center; and if the current speed value S is larger than or equal to the speed value L limited by the dispatching center, displaying the current speed value S on the double-sided display screen in real time, and simultaneously displaying overspeed characters on the double-sided display screen to remind a ship driver that the current ship is overspeed and needs to be decelerated for sailing.
The dispatching communication module receives the speed value S calculated by the data acquisition processing module in real time and uploads the speed value S to the dispatching center, and if the current speed value S is greater than or equal to the speed value L limited by the dispatching center, the dispatching center is reminded, and the ship driver is reminded of driving at a reduced speed.
The invention discloses a low-navigational-speed early warning detection system and a low-navigational-speed early warning detection method for a ship, which have the following technical effects:
1: possess wide range speed measurement system: through the combination of the electric cradle head and the high-precision speed measuring radar, the problem of limited fixed mounting and measuring range is solved, and the applicability of the system is improved.
2: the high-precision low-speed radar is adopted to measure the low-speed information of the ship in real time, and the problem of low-speed detection of the whole channel in navigation buildings such as ship lifts is solved.
3: according to the invention, the misdetection value C of the sailor is judged and corrected through a linear fitting algorithm, so that the accuracy of the detection system is improved.
Drawings
Fig. 1 is an installation schematic diagram of a low-speed detection early warning system of a ship.
Fig. 2 is a schematic structural diagram of a low-speed detection and early-warning system for a ship.
Fig. 3 is a flowchart of a low-speed detection and early-warning system for a ship.
Fig. 4 is a data processing flow chart of a ship low-speed detection early warning system.
Wherein: the method comprises the following steps of 1-a high-precision low-speed radar module, 2-a data acquisition and processing module, 3-a navigational speed early warning module, 4-a scheduling communication module, 5-a scheduling center, 6-a ship to be tested, 7-a ship lift ship receiving chamber, 8-a first double-sided display screen and 8' -a second double-sided display screen.
Detailed Description
A low-navigational-speed early warning detection system for a ship comprises a high-precision low-navigational-speed radar module 1, a data acquisition and processing module 2, a navigational-speed early warning module 3 and a scheduling communication module 4.
The high-precision low-speed radar module 1 is connected with the data acquisition and processing module 2, the high-precision low-speed radar module 1 returns an original speed value to the data acquisition and processing module 2, receives an angle instruction of the data acquisition and processing module 2, starts the electric cradle head and adjusts the angle of the high-precision low-speed radar module 1;
the data acquisition processing module 2 is respectively connected with the navigational speed early warning module 3 and the scheduling communication module 4, and the scheduling communication module 4 is connected with the scheduling center 5;
the speed early warning module 3 is used for receiving the speed value corrected by the data acquisition and processing module 2, judging the overspeed of the ship and displaying the overspeed in real time so as to remind a ship driver of the real-time speed of the ship;
the dispatching communication module 4 is used for receiving the set angle value and the navigation instruction of the dispatching center 5 and transmitting the set angle value and the navigation instruction to the data acquisition processing module 2 so that the data acquisition processing module 2 can enable and suspend the whole detection system.
The system also comprises a first double-sided display screen 8 and a second double-sided display screen 8' which are arranged at the upper and lower positions of the ship receiving chamber 7 of the ship lift and are both connected with the data acquisition and processing module 2.
And the data acquisition processing module 2 is connected with the holder control module.
The high-precision low-speed radar module 1 is arranged on an electric holder, adopts an integrated radar machine, takes speed and distance measurement based on continuous waves as a basic principle, transmits ultrasonic waves to a channel at a certain angle, obtains frequency information of the echo after amplifying, filtering, shaping, judging a threshold value and calculating frequency of an echo signal, and calculates the speed and the distance of a ship according to the Doppler effect of the ultrasonic waves. The Integrated radar speed and distance measuring device adopts a large number of MMIC (Monolithic Microwave Integrated Circuit) Integrated chips, and adopts a low-power chip to realize the miniaturization and low power consumption of the system; meanwhile, the radar antenna adopts a microstrip planar antenna, so that the size of the radar is greatly reduced.
The data acquisition processing module 2 adopts an ARM series-based high-performance processor to perform data acquisition, processing and remote transmission. The device can convert the measurement angle value G into a control instruction, and control the holder to adjust the measurement angle; the measured speed information can be collected in real time, the speed value S of the ship on the course of the ship can be corrected in real time by combining the angle value G, and a series of misdetection algorithm judgment is carried out on each group of real-time speed values S; and correcting the mismeasured value of the sailing of the crew by a linear fitting algorithm.
The navigational speed early warning module 3 receives the ship speed value S in real time, and achieves early warning on whether the ship speed value S exceeds the limit through a series of software processing algorithms such as error data elimination, data threshold judgment, data curve fitting and drawing.
The dispatching communication module 4 adopts industrial communication equipment which supports a plurality of transmission protocols such as a TCP/IP protocol, a Modbus protocol and the like and supports a plurality of transmission modes such as RS232/RS422/RS485 and the like, so that data interaction among the modules is realized.
The dispatching center 5 adopts a high-performance industrial control system and has various dispatching and controlling functions.
The first and second double-sided display screens are large liquid crystal color display screens and are respectively arranged at the upstream and downstream positions of the ship receiving chamber of the ship lift.
The cradle head is a supporting device for installing and fixing the radar, the cradle head control module is an installation platform consisting of two alternating current motors or direct current motors, can move horizontally and vertically, and can receive signals from an external controller through two actuating motors to accurately operate and position, so that the data measurement accuracy of the high-accuracy low-speed radar module is improved.
A low navigational speed early warning detection method for a ship comprises the following specific working procedures:
step A, adjusting an angle to cover a required measurement range:
the dispatching center 5 gives a measuring angle according to a detection device arranged on the ship lift, transmits the measuring angle value G to the dispatching communication module 4, the dispatching communication module 4 transmits the measuring angle value G to the cradle head control module, and the cradle head control module converts the measuring angle value G into a control command and controls the cradle head to adjust the measuring angle.
B, acquiring and processing navigational speed information:
the dispatching communication module 4 automatically receives a real-time dispatching instruction of the dispatching center 5, when the dispatching instruction of the ship entering and exiting the ship lift is received, the cloud deck control module is informed, the cloud deck control module sends an enabling signal to enable the high-precision low-speed radar module 1, meanwhile, the data acquisition and processing module 2 starts to acquire measured speed information in real time, the speed value S of the ship on the course of the ship is corrected in real time by combining the angle value G recorded in the step A, a series of misdetection algorithm judgment is carried out on each group of real-time speed values S, and if the misdetection value is a misdetection value, the misdetection value C of the sailing of a crew is corrected through a linear fitting algorithm; when a dispatching instruction that the ship enters and exits the ship lift is received, the cradle head control module is informed, and the cradle head control module controls the system to enter a waiting suspension state.
C. Early warning display:
the navigation speed early warning module 3 receives the speed value S calculated by the data acquisition processing module 2 in real time, judges whether the current speed value S is greater than the speed value L limited by the dispatching center 5 or not, and displays the current speed value S on a double-sided display screen to inform a ship driver of the current ship navigation speed if the current speed value S is less than the speed value L limited by the dispatching center 5; and if the current speed value S is larger than or equal to the speed value L limited by the dispatching center 5, displaying the current speed value S on the double-sided display screen in real time, and simultaneously displaying overspeed characters on the double-sided display screen to remind a ship driver that the current ship needs to decelerate when speeding. The dispatching communication module 4 receives the speed value S calculated by the data acquisition processing module 2 in real time and uploads the speed value S to the dispatching center 5, if the current speed value S is larger than or equal to the speed value L limited by the dispatching center 5, the dispatching center 5 is reminded of reminding a ship driver of driving at a reduced speed.
As shown in fig. 3 and 4, a low-speed detection and early-warning system for a ship has the following working processes:
1. firstly, except for a dispatching communication module 4, other modules of the whole system are in a suspension waiting state, and once the dispatching communication module 4 receives an instruction transmitted by a dispatching center 5, the whole system immediately enters an instruction judgment link;
2. three instructions are judged in total: angle value, ship entering and exiting cabin command and action completion command;
2.1, if the angle adjusting instruction issued by the dispatching center 5 is judged to be received, transmitting the angle value G to the pan-tilt control module, storing and converting the angle value G into a control instruction by the pan-tilt control module, and controlling the electric pan-tilt to rotate to a specified position;
2.2, if a command of entering and exiting the cabin of the ship sent by the dispatching center 5 is judged to be received, the cradle head control module sends an enabling signal to inform the high-precision low-speed radar module 1 to start working, meanwhile, the data acquisition and processing module 2 starts to acquire an original data value returned by the low-speed radar, an actual speed component S in the current ship course is calculated according to the stored angle value G, threshold judgment is carried out through the first N groups (N is a data sample in a fitting algorithm), whether the judgment condition of the error measurement value C is met or not is judged, and if the judgment condition is not met, the data is directly transmitted to the early warning display module and the dispatching center 5; if the data are in accordance with the preset data, entering an algorithm fitting task, fitting an approximate value through an algorithm, eliminating a measured value, and transmitting the data to an early warning display module and a dispatching center 5. And after one-time misdetection value judgment is finished, judging whether the system enters a suspension waiting state or not.
And 2.3, if judging that a ship in-out compartment finishing instruction sent by the dispatching center 5 is received, the cradle head control module lifts the system to a suspension mode.
The fitting algorithm system provides a selective least square linear regression prediction algorithm, and the specific establishment process and operation flow of the selective least square linear regression prediction algorithm are as follows:
establishing a selection type least square linear regression model:
wherein,
is a least square straight line fitting function, a and b are arbitrary real numbers, and x is a data value to be fitted.
The sum of squared residuals, Q, is:
wherein the Q representation corresponds to n measured data values xiThe magnitude fi and the function value fitted by the least square method
Is calculated as the sum of the errors of (i.e., the total residual). The best fit curve is usually selected based on the smallest Q value.
The minimum value is calculated for the residual sum Q, and the partial derivatives for the parameters a and b are as follows:
the above two equations are combined, and the calculation is as follows:
is provided with
The size of the predicted sequence is n, and the formula is solved by a and b to obtain:
from this, the values of the parameters a and b of the least squares linear regression equation are obtained.
Calculation according to a selected least squares linear regression model
Let Δ h be the maximum deviation allowed by the measured data from the predicted data.
If it is not
If the difference between the measured value and the absolute value of the least square theoretical fitting value is larger than the limited error, the data point is abnormal data generated by the movement of the crew and should be replaced by a predicted value; if it is not
The data point is shown to be in accordance with the ship speed variation trend, the data is added into the prediction sequence, and then the next data is predicted.
Claims (1)
1. A low navigational speed early warning detection method for a ship is characterized by comprising the following steps:
the dispatching center (5) gives a measurement angle through a detection device arranged on the ship lift, transmits a measurement angle value G to the dispatching communication module (4), the dispatching communication module (4) transmits the measurement angle value G to the data acquisition processing module (2), and the data acquisition processing module (2) converts the measurement angle value G into a control instruction and controls the cradle head to adjust the measurement angle;
the dispatching communication module (4) automatically receives a real-time dispatching instruction of the dispatching center (5), when the dispatching instruction of the ship entering and exiting the ship lift is received, the data acquisition processing module (2) is informed, the data acquisition processing module (2) sends an enabling signal to enable the high-precision low-speed radar module (1), meanwhile, the data acquisition processing module (2) starts to acquire measured speed information in real time, the speed value S of the ship on the course of the ship is corrected in real time by combining the recorded angle value G, and a series of misdetection algorithm judgment is carried out on each group of real-time speed values S; if the measured value is the error value, correcting the error measured value C of the sailing of the crew by a linear fitting algorithm; when a dispatching instruction that the ship enters and exits the ship lift is completed is received, the data acquisition and processing module (2) is informed, and the data acquisition and processing module (2) controls the system to enter a waiting suspension state;
the navigation speed early warning module (3) receives the speed value S calculated by the data acquisition processing module (2) in real time, judges whether the current speed value S is greater than the speed value L limited by the dispatching center, and displays the current speed value S on a double-sided display screen to inform a ship driver of the current ship navigation speed if the current speed value S is less than the speed value L limited by the dispatching center (5); if the current speed value S is larger than or equal to the speed value L limited by the dispatching center (5), displaying the current speed value S on the double-sided display screen in real time, and simultaneously displaying overspeed characters on the double-sided display screen to remind a ship driver that the current ship needs to be decelerated and sailed at overspeed;
the dispatching communication module (4) receives the speed value S calculated by the data acquisition processing module (2) in real time and uploads the speed value S to the dispatching center (5), if the current speed value S is larger than or equal to the speed value L limited by the dispatching center (5), the dispatching center (5) is reminded, and the dispatching center (5) informs the ship driver of needing to decelerate.
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