CN203116727U - Ship attitude detection device - Google Patents
Ship attitude detection device Download PDFInfo
- Publication number
- CN203116727U CN203116727U CN 201320060201 CN201320060201U CN203116727U CN 203116727 U CN203116727 U CN 203116727U CN 201320060201 CN201320060201 CN 201320060201 CN 201320060201 U CN201320060201 U CN 201320060201U CN 203116727 U CN203116727 U CN 203116727U
- Authority
- CN
- China
- Prior art keywords
- ship
- attitude
- controller
- ships
- alarm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The utility model discloses a ship attitude detection device which comprises a controller arranged on a ship body, as well as a GPS (global positioning system) position indicator, a three-axis geomagnetic sensor, an MPU (microprocessor unit) 6050 processor, an atmospheric pressure altimeter and a display screen which are electrically connected with the controller, respectively, wherein the MPU 6050 processor comprises a three-axis gyroscope and a three-axis acceleration sensor; and the device further comprises an alarm which is electrically connected with the controller and comprises an alarm lamp and a buzzer. The ship attitude detection device has the characteristics that the measured data is more accurate and more comprehensive, the ship attitude can be displayed in real time, safety support is provided for ship navigation, goods loading and unloading, arrivals and the like, and moreover, an electronic compass can be used for displaying courses, so that the device can operate normally when inclined, and the safety and the reliability of the ship navigation are further improved.
Description
Technical field
The utility model relates to the marine operation safety technical field, especially relates to a kind of attitude of ship that can show in real time to guarantee the attitude of ship pick-up unit of safety of ship.
Background technology
In recent years, because the reinforcement that deepens continuously and exchange with foreign economic of China's reform and opening-up, the boats and ships forwarding business has obtained swift and violent development as the main channel of international trade cargo movement.Because the boats and ships forwarding business is accompanied by the continuous progress of shipbuilding technology to the demand of large-scale ships, boats and ships maximize has become the trend of boats and ships development.
The large ship load-carrying is big, drinking water is dark, scale length, stroke is big, inertia is big, and it is bigger disturbed by factors such as sea wind, wave, and it is more strong that the less type ship oceangoing ship of its disturbance reponse comes.Disturbed by environmental factors such as sea wind, wave, the maneuvering performance of large ship descends, and the navigation attitude changes, and bad stability produces inevitably and waves, and especially under abominable sea conditions, the offshore operation of boats and ships is caused very big potential safety hazard.
A large amount of marine accidents shows that large ship is at the wave water-area navigation, and Ship Swaying is the main cause that has an accident.
Recent years, the serious accident that the heavy people of a lot of large ships ship in high sea dies takes place in China.The shipwreck accident takes place not only make national wealth be subjected to loss, and, cause a tremendous loss of lives; On the other hand, large ship is subjected to the high sea influence across the sea and produces the various motions of swaying, and can bring adverse effect to use, habitability, sea keeping quality and the security etc. of equipment on board.
In order to guarantee the navigation safety of large ship, understand the attitude of current boats and ships, at present domestic a kind of inclinator equipment commonly used shows the ship rolling attitude, the pitching attitude does not then have special display device.
Inclinator is simple in structure, and precision is lower, and particularly under severe sea condition during operation, inclinator can't provide the information of waving accurately for the user, is difficult to use in personnel's task instruction, even can allow the navigating officer produce erroneous judgement.
Therefore, press for a attitude of ship pick-up unit that can carry out fast the current attitude of boats and ships, measure comprehensively and accurately at present.
Chinese patent mandate publication number CN202511787U, authorize and disclose a kind of boats and ships horizontal attitude instrument open day on October 31st, 2012, comprise single-chip microcomputer, LCD, button, communication level conversion, acceleration of gravity sensor, hummer and stabilized voltage supply, the signal wire on the single-chip microcomputer pin is connected with LCD, button, communication level conversion, acceleration of gravity sensor, hummer respectively; Stabilized voltage supply is connected with single-chip microcomputer, LCD, communication level conversion, acceleration of gravity sensor, hummer by lead, and to its power supply.This utility model is only used the acceleration transducer image data, and the data parameters with collection is single, and the boats and ships horizontal attitude precision of demonstration is low, the shortcoming of poor reliability.
Summary of the invention
The utility model is low in order to overcome inclinator precision of the prior art, particularly under severe sea condition during operation, inclinator can't provide the information of waving accurately for the user, be difficult to use in personnel's task instruction, even can allow the navigating officer produce the deficiency of erroneous judgement, provide a kind of attitude of ship that can show in real time to guarantee the attitude of ship pick-up unit of safety of ship.
To achieve these goals, the utility model is by the following technical solutions:
A kind of attitude of ship pick-up unit comprises the controller of being located on the hull and the GPS orientator that is electrically connected with controller respectively, three geomagnetic sensors, MPU6050 processor, barometric altimeter and display screens; Described MPU6050 processor comprises three-axis gyroscope and 3-axis acceleration sensor.
Attitude of ship pick-up unit of the present utility model not only will be measured the ship rolling attitude, also to measure attitude of ship data such as the pitching of current boats and ships, courses, and rolling angle, pitching angle and the course angle that records can be shown intuitively, for the control operation of attitude of ship provides reference, guarantee shipping navigation safety.
Three-axis gyroscope among the MPU6050 and three acceleration sensors are respectively applied to measure angular velocity and the linear velocity of boats and ships; Three geomagnetic sensors are used for measuring absolute force, and controller calculates course angle, rolling angle and the pitching angle of boats and ships according to angular velocity, linear velocity and absolute force.
Barometric altimeter can calculate the height and position in the space, place of boats and ships.The GPS orientator is also obtaining the positional information of current location.Processor carries out data calibration according to positional information to magnetic field data after obtaining the positional information of current location.Because magnetic north pole and north geographic pole are not quite identical, so the vertical plane (magnetic meridian plate) at the magnetic deviation induction vector place, ground of definition earth surface any point is magnetic declination α with the angle of geographical meridian ellipse, can determine according to tabling look-up based on the geographic position.With magnetic declination α and the magnetic heading angle addition that calculates, obtain whole course angle with respect to the geographical north.
Make up a plurality of three-dimensional ship images in the controller, each Zhang San ties up the corresponding one group of query argument that is made of pitch angle and roll angle of attitude of ship in the boats and ships image, and pitch angle and roll angle serve as to carry out permutation and combination at interval with 1 degree, make up 3600 pictures altogether; And three-dimensional ship image and corresponding query argument thereof be stored in the hard disk of controller; In controller, make up a compass background image in advance, the compass background image is shown in display screen.
The course of work of attitude of ship pick-up unit is as follows:
Controller control GPS orientator, three geomagnetic sensors, MPU6050 processor, barometric altimeter and display screens are started working, the GPS orientator gets access to the locating information of current location, three geomagnetic sensors are measured the absolute force of current location, and the three-axis gyroscope among the MPU6050 and three acceleration sensors are measured current angular velocity and linear velocity respectively; Controller calculates course angle, rolling angle and the pitching angle of boats and ships according to angular velocity, linear velocity and absolute force; Controller calculates the geographical north course angle according to locating information and course angle;
Controller is according to the rolling angle that calculates and pitching angle inquiry three-dimensional ship image, the angle that in the display screen that is preset with the compass background image corresponding three-dimensional ship image is rotated counterclockwise the geographical north course angle shows, thereby obtains current attitude of ship; And sea level elevation and the geographical north course angle of current location shown in display screen.
As preferably, also comprise alarm, alarm is electrically connected with controller, and alarm comprises alarm lamp and hummer.
Roll angle scope and the pitch angle scope of default boats and ships in controller, controller is compared the roll angle and the pitch angle that calculate with roll angle scope and pitch angle scope; If the pitch angle of boats and ships and in the roll angle at least one be not in default roll angle scope and pitch angle scope, the hummer of alarm and alarm lamp send sound, light warning message respectively.
As preferably, described three geomagnetic sensors are the Honeywell geomagnetic sensor.
The Honeywell geomagnetic sensor have the magnetic field induction scope wide (+/-80e), can in ± 8 Gausses, realize the advantage of the resolution of 2 milligauss.
As preferably, described barometer altitude is counted the BMP085 barometric altimeter.
As preferably, three geomagnetic sensors are located at the middle part, deck of hull.Sensor is arranged at the middle part, deck and namely is arranged at the boats and ships center, reflects the influence in each suffered magnetic field, position of boats and ships by measurement.
As preferably, controller is provided with several data-out ports.
Attitude of ship pick-up unit of the present utility model can be monitored in real time to current attitude (rolling attitude, pitching attitude, the course etc.) information of boats and ships, for the safety traffic of boats and ships provides the authentic data support.
And attitude of ship pick-up unit of the present utility model can also carry out providing when goods loads safe support at boats and ships.When large-scale cargo ship carried out the goods loading, the balance of assurance cargo ship had very big meaning to the safety of cargo ship.Large-scale cargo ship load-carrying is big, absorbs water deeply, and charging burden is big, in the goods loading process, needs to guarantee the steady of cargo ship, guarantees the steady of boats and ships as if failing in the goods loading process, easily causes the cargo ship out of trim, has an accident.
This device can be monitored attitude of ship in real time, understands current attitude of ship fast, is convenient to the boats and ships staff and formulates job placement; Be beneficial to staff's evolutionary operation; Be easy to the staff and in time operation process adjusted, guarantee the steady of boats and ships, increased the security of operation greatly.
Therefore, the utlity model has following beneficial effect: the data that (1) is measured are more accurate; (2) data of Ce Lianging more comprehensively; (3) can show attitude of ship in real time, for ship's navigation, handling goods and approaching etc. provides safe support; (4) electronic compass can be used for the course and shows, but when the device run-off the straight also operate as normal, further improved shipping navigation safety and reliability.
Description of drawings
Fig. 1 is a kind of theory diagram of the present utility model.
Among the figure: controller 1, GPS orientator 2, three geomagnetic sensors 3, MPU6050 processor 4, barometric altimeter 5, display screen 6, alarm 7.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is further described.
Embodiment as shown in Figure 1 is a kind of attitude of ship pick-up unit, comprises the controller of being located on the hull 1 and the GPS orientator 2 that is electrically connected with controller respectively, three geomagnetic sensors 3, MPU6050 processor 4, barometric altimeter 5 and display screens 6; The MPU6050 processor comprises three-axis gyroscope and 3-axis acceleration sensor.
Also comprise alarm 7, alarm is electrically connected with controller, and alarm comprises alarm lamp and hummer.Three geomagnetic sensors are the Honeywell geomagnetic sensor.Barometer altitude is counted the BMP085 barometric altimeter.Three geomagnetic sensors are located at the middle part, deck of hull.Controller is provided with 2 data output ports.
Make up a plurality of three-dimensional ship images in the controller, each Zhang San ties up the corresponding one group of query argument that is made of pitch angle and roll angle of attitude of ship in the boats and ships image, and pitch angle and roll angle serve as to carry out permutation and combination at interval with 1 degree, make up 3600 pictures altogether; And three-dimensional ship image and corresponding query argument thereof be stored in the hard disk of controller; In controller, make up a compass background image in advance, the compass background image is shown in display screen; Roll angle scope and the pitch angle scope of default boats and ships in controller.
The course of work of attitude of ship pick-up unit is as follows:
Controller control GPS orientator, three geomagnetic sensors, MPU6050 processor, barometric altimeter and display screens are started working, the GPS orientator gets access to the locating information of current location, three geomagnetic sensors are measured the absolute force of current location, and the three-axis gyroscope among the MPU6050 and three acceleration sensors are measured current angular velocity and linear velocity respectively; Controller calculates course angle, rolling angle and the pitching angle of boats and ships according to angular velocity, linear velocity and absolute force; Controller calculates the geographical north course angle of current location according to locating information and course angle;
Controller is according to the rolling angle that calculates and pitching angle inquiry three-dimensional ship image, the angle that in the display screen that is preset with the compass background image corresponding three-dimensional ship image is rotated counterclockwise the geographical north course angle shows, thereby obtains current attitude of ship; And sea level elevation and the geographical north course angle of current location shown in display screen.
And controller is compared the roll angle and the pitch angle that calculate with roll angle scope and pitch angle scope; If the pitch angle of boats and ships and in the roll angle at least one be not in default roll angle scope and pitch angle scope, the hummer of alarm and alarm lamp send sound, light warning message respectively.
Should be understood that present embodiment only is used for explanation the utility model and is not used in the scope of the present utility model that limits.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Claims (6)
1. attitude of ship pick-up unit, it is characterized in that, comprise the controller of being located on the hull (1) and the GPS orientator (2) that is electrically connected with controller respectively, three geomagnetic sensors (3), MPU6050 processor (4), barometric altimeter (5) and display screen (6); Described MPU6050 processor comprises three-axis gyroscope and 3-axis acceleration sensor.
2. attitude of ship pick-up unit according to claim 1 is characterized in that, also comprises alarm (7), and alarm is electrically connected with controller, and alarm comprises alarm lamp and hummer.
3. attitude of ship pick-up unit according to claim 1 is characterized in that, described three geomagnetic sensors are the Honeywell geomagnetic sensor.
4. attitude of ship pick-up unit according to claim 1 is characterized in that, described barometer altitude is counted the BMP085 barometric altimeter.
5. according to claim 1 or 2 or 3 or 4 described attitude of ship pick-up units, it is characterized in that three geomagnetic sensors are located at the middle part, deck of hull.
6. according to claim 1 or 2 or 3 or 4 described attitude of ship pick-up units, it is characterized in that controller is provided with several data-out ports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320060201 CN203116727U (en) | 2013-02-04 | 2013-02-04 | Ship attitude detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320060201 CN203116727U (en) | 2013-02-04 | 2013-02-04 | Ship attitude detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203116727U true CN203116727U (en) | 2013-08-07 |
Family
ID=48897063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320060201 Expired - Fee Related CN203116727U (en) | 2013-02-04 | 2013-02-04 | Ship attitude detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203116727U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103892838A (en) * | 2014-04-17 | 2014-07-02 | 上海迈动医疗器械有限公司 | Upper limb recovery parameter evaluating and testing system |
| CN105486275A (en) * | 2015-11-19 | 2016-04-13 | 中国兵器工业集团第二一四研究所苏州研发中心 | Magnetic declination calculation method based on nine-axis inertial measurement unit |
| CN105701999A (en) * | 2016-04-22 | 2016-06-22 | 天津开发区瑞锋科技有限公司 | Ship collision and attitude monitoring and alarm system |
| CN106662443A (en) * | 2014-10-01 | 2017-05-10 | 英特尔公司 | Methods and systems for vertical trajectory determination |
| CN108775206A (en) * | 2018-05-31 | 2018-11-09 | 济南每日优鲜便利购网络科技有限公司 | Controller and Intelligent cargo cabinet for Intelligent cargo cabinet |
-
2013
- 2013-02-04 CN CN 201320060201 patent/CN203116727U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103892838A (en) * | 2014-04-17 | 2014-07-02 | 上海迈动医疗器械有限公司 | Upper limb recovery parameter evaluating and testing system |
| CN106662443A (en) * | 2014-10-01 | 2017-05-10 | 英特尔公司 | Methods and systems for vertical trajectory determination |
| CN107076554A (en) * | 2014-10-01 | 2017-08-18 | 英特尔公司 | Determined for normal trajectories and the automatic method and system detected that jumps |
| US10222213B2 (en) | 2014-10-01 | 2019-03-05 | Intel Corporation | Methods and systems for vertical trajectory determination |
| US10240929B2 (en) | 2014-10-01 | 2019-03-26 | Intel Corporation | Methods and systems for vertical trajectory determination and automatic jump detection |
| CN107076554B (en) * | 2014-10-01 | 2019-08-20 | 英特尔公司 | Method and system for the determining and automatic jump detection of normal trajectories |
| CN105486275A (en) * | 2015-11-19 | 2016-04-13 | 中国兵器工业集团第二一四研究所苏州研发中心 | Magnetic declination calculation method based on nine-axis inertial measurement unit |
| CN105701999A (en) * | 2016-04-22 | 2016-06-22 | 天津开发区瑞锋科技有限公司 | Ship collision and attitude monitoring and alarm system |
| CN105701999B (en) * | 2016-04-22 | 2018-05-29 | 天津开发区瑞锋科技有限公司 | A kind of ship collision, attitude monitoring alarm system |
| CN108775206A (en) * | 2018-05-31 | 2018-11-09 | 济南每日优鲜便利购网络科技有限公司 | Controller and Intelligent cargo cabinet for Intelligent cargo cabinet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103192957B (en) | Control method of device for displaying ship attitude | |
| CN203116727U (en) | Ship attitude detection device | |
| CN112923924B (en) | Method and system for monitoring posture and position of anchoring ship | |
| CN102064386B (en) | Method and auxiliary device for adjusting angle of antenna | |
| CN106516007B (en) | A kind of anchoring auxiliary system | |
| CN102706361B (en) | A kind of high precision many inertial navigation systems attitude accuracy assessment method | |
| US20230032340A1 (en) | Techniques for monitoring windlass rotation | |
| CN103253357B (en) | Control method for ship posture display device | |
| CN103192958B (en) | Control method of ship attitude display device | |
| KR100831373B1 (en) | Electronic device for checking error and method thereof | |
| CN102192739A (en) | Navigating instrument and system for mine | |
| CN103241347B (en) | Displaying method of ship attitude displaying device | |
| US9626854B2 (en) | Lifeguard alarm system for detecting a state of a swimmer | |
| CN207816290U (en) | Navigation attitude measuring device | |
| CN203199163U (en) | Ship gesture display device | |
| CN211904155U (en) | Electronic intelligent geological compass | |
| RU127452U1 (en) | ON-BOARD RECORDER FOR SMALL VESSEL | |
| KR20120017837A (en) | Location or motion detection system of vessel | |
| US3685352A (en) | Course-made-good apparatus for sailboats | |
| Djebli et al. | The application of a smartphone in ship stability experiment | |
| CN203083570U (en) | Digital geologic compass for multi-function measurement | |
| CN211810119U (en) | High-precision hull sinking measurement, display and recording device | |
| CN113834468A (en) | Sightseeing vehicle driving route gradient measuring instrument based on real-time positioning technology | |
| CN207580120U (en) | A kind of Big Dipper safety of ship running vehicle | |
| CN101201254A (en) | Navigation device as well as navigation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130807 Termination date: 20180204 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |