CN103177606A - Piloting berthing system based on solar-blind ultraviolet light signals - Google Patents
Piloting berthing system based on solar-blind ultraviolet light signals Download PDFInfo
- Publication number
- CN103177606A CN103177606A CN2012105507102A CN201210550710A CN103177606A CN 103177606 A CN103177606 A CN 103177606A CN 2012105507102 A CN2012105507102 A CN 2012105507102A CN 201210550710 A CN201210550710 A CN 201210550710A CN 103177606 A CN103177606 A CN 103177606A
- Authority
- CN
- China
- Prior art keywords
- video
- solar blind
- blind
- signal
- solar
- 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.)
- Granted
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
A piloting berthing system based on solar-blind ultraviolet light signals comprises a solar-blind ultraviolet light source system, a piloting instrument and a display system. The piloting instrument comprises a tri-axial electronic compass, an optical imaging module and an information processing terminal. The tri-axial electronic compass is connected with the optical imaging module and is used for acquiring angle information of the optical imaging system during rotation and transmitting the angle information to the information processing terminal. The optical imaging module is composed of a spectroscope, a visible light or infrared light imaging channel and a solar-blind ultraviolet light imaging channel, wherein the spectroscope splits an incident ray into two beams to enable the two beams to enter the visible light or infrared light imaging channel and the solar-blind ultraviolet light imaging channel respectively, the visible light or infrared light imaging channel receives visible light signals and outputs visible light or infrared light video signals, and the solar-blind ultraviolet light imaging channel receives solar-blind ultraviolet light signals and outputs solar-blind ultraviolet light video signals. The signal processing terminal is used for calculating navigation attitude data of a ship and outputting synthetic video to the display system according to digital signals of two ways of videos.
Description
Technical field
The present invention relates to the technology of ship piloting alongside, specifically, relate to a kind of pilotage alongside system based on the solar blind UV signal.
Background technology
Day, blind ultraviolet band referred to that UV C-band medium wavelength scope is the part of 190-290nm.The day blind ultraviolet band luminous point that the sun sends is subject to the strong absorption of ozonosphere in passing through the process of earth atmosphere, can't arrive ground fully, so there is no the light signal of day blind ultraviolet band under even in everyday situations near at the earth's surface;on the face of the globe fully.The detector of day blind ultraviolet band has very high gain, is not subjected to again the impact of sunlight background, the visible or infrared light wave band of therefore comparing, and solar blind ultraviolet detector can detect farther fainter signal.The image of blind ultraviolet band is comparatively simple with time, there is no environmental background fully, and taken image is nearly all signal specific, greatly reduces like this workload that successive image is processed.
Day, blind ultraviolet band had well broken mist ability, and this has obtained confirmation in pertinent literature.We have confirmed also that through actual measurement day blind ultraviolet detection technology can realize that visibility is outer solar blind UV sources, 600 meters of location under greasy weather of more than 100 meter.This is the basis that day blind ultraviolet characteristic is used for the broken mist pilotage alongside of boats and ships.
In the water transport field, the greasy weather is having a strong impact on the unobstructed of shipping lane.The hydrologic condition in different harbours and navigation channel is difference to some extent, but when visibility is less than 1 nautical mile usually, boats and ships will slow down navigation; Visibility during less than 1000m large ship should stop navigation, so the greasy weather not only affect the safety of ship's navigation, also having a strong impact on unobstructed (the seeing " waters, entrance of Changjiang River, PORT OF SHANGHAI traffic administration rule " the tenth) of shipping lane and port logistics.Because visibility is lower, the major accidents such as bridge pier usually occur to smash such as large ship under greasy weather, also be subject to the impact in greasy weather when boats and ships are crossed the dam simultaneously, during the greasy weather, boats and ships must stop the dam.
Common water transport airmanship mainly contains ARPA, GPS, AIS, EDIS, radar etc. both at home and abroad at present.But for the transportation of water route, boisterous impact is huge.As in the greasy weather, the accuracy of ARPA radar pilotage descends greatly, particularly in the process of ship berthing, because radar system is erected at higher position on boats and ships, can only survey situation at a distance and can't detect and the situation of boats and ships apart from more and more nearer Post Office when work, thereby can't carry out pilotage and alongside.In case this just means inclement weathers such as dense fog occur, when ship piloting person's naked eyes can't be observed the advance route situation, iceound measure can only be taked in the harbour.
The pilot adopts visual this positioning means the most intuitively always for a long time, judge by observing shore beacon, floating drum etc. whether boats and ships navigate by water in the navigation channel, but Mu Shi lookout often is subjected to the condition influence such as visibility and beacon light brightness, and pilotage is very limited.The pilot is directly perceived in the urgent need to having more, convenient, the equipment of adaptation pilotage requirement.Therefore, if can well use " day is blind " characteristic and broken mist characteristic of solar blind UV in the process of ship piloting alongside, will well address the above problem, fill up the existing vacancy of prior art.
Summary of the invention
Technical matters to be solved by this invention is that the outstanding broken mist performance of blind ultraviolet band light of day is combined with the water transport field, pilotage alongside system based on the solar blind UV signal is provided, solve the safety problem of water transport pilotage alongside under the greasy weather, realize safe navigation and the alongside of boats and ships.
The present invention solves the problems of the technologies described above the technical scheme that adopts: the pilotage alongside system based on the solar blind UV signal comprises solar blind UV origin system, piloting instrument and display system; Described solar blind UV origin system comprises some solar blind UVs sources; It is characterized in that, described piloting instrument is comprised of three axle electronic compasss, optical imagery module and the information processing terminal; Described three axle electronic compasss are connected with the optical imagery module, obtain described optical imagery module each angle information when rotating, and send angle information to the information processing terminal;
described optical imagery module is comprised of spectroscope, visible or infrared light imaging band and solar blind UV imaging band, described spectroscope with incident ray by a certain percentage or wavelength be divided into two bundles, make it enter respectively described visible or infrared light imaging band and day blind ultraviolet imagery passage, described visible or infrared light imaging band receives visible light signal or infrared signal, output visible or infrared light video signal, described solar blind UV imaging band receives the solar blind UV signal, output solar blind UV video signal, the described information processing terminal is used for the digital signal according to two-path video, the navigation attitude data of Ship ' and output composite signal are to described display system.
As a further improvement on the present invention, also be provided with video acquisition module in described piloting instrument; Described visible or infrared light imaging band receives visible light signal or infrared signal, output visible or infrared light video analog signal is to video acquisition module, described solar blind UV imaging band receives the solar blind UV signal, output solar blind UV video analog signal is to video acquisition module, described video acquisition module gathers the analogue video signal of above-mentioned two paths, and convert thereof into the video of digital signal, send the described information processing terminal to.
Described composite signal can be navigation attitude data and the utility appliance information compound display of visible light and solar blind UV synthetic video, boats and ships, can be also with day blind ultraviolet video signal, visible light video digital signal, calculate gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart and combine, the simulating live-action figure that obtains by virtual reality technology.
As a further improvement on the present invention, described near infrared imaging passage is the short-wave infrared imaging band, its can for day blind ultraviolet image reference background information more clearly is provided.
As a further improvement on the present invention, described short-wave infrared imaging band is the planar array detector of InGaAs material or the CCD/CMOS device that adheres near infrared filter.
Described some solar blind UVs source is arranged on boats and ships and the profile place of place, port and pier berth, bridge dam, both sides, navigation channel etc., and this solar blind UV source also can be mounted to specific pattern on demand.The light source of day blind ultraviolet band light can be sent for deep ultraviolet LED lamp, low pressure mercury lamp, high-pressure sodium lamp, halogen tungsten lamp etc. in the solar blind UV source, and its optical wavelength range of sending contains 190nm-290nm.The Sino-Japan blind ultraviolet light source of the present invention also comprise with day blind ultraviolet band laser device as the situation of light source.Described solar blind UV source be arranged on boats and ships be for day blind ultraviolet imagery passage an initial position is arranged when rotating, the angle that begins to rotate gained from this initial position can be read by three axle electronic compasss.
Described solar blind UV source on being fixedly mounted on equipment, can be also mobile light source: can be arranged on dolly, on canoe or be carried at the harbour personnel and wait, move to suitable position with it in needs.
As a further improvement on the present invention, also be provided with modulation module in described solar blind UV origin system, described modulation module be connected the solar blind UV source and connect, the light-emitting mode that is used for modulation solar blind UV source is to load information needed to the solar blind UV source.Preferably, it can be realized by control terminals such as single-chip microcomputer or PC, for example according to the actual requirements, controls the pattern that forms when blind uviol lamp is lighted glow frequency, luminous intensity or day in solar blind UV source.
As a further improvement on the present invention, also be provided with utility appliance in described piloting instrument, utility appliance comprises the devices such as shipborne radar, GPS, and the sail information such as the speed when being used for obtaining the output ship's navigation, course, geographic position longitude and latitude, draft also exports the information processing terminal to.。At this moment, the described information processing terminal is carried out following steps:
1) obtain day blind ultraviolet video and visible light video digital signal, carry out the synthetic of visible light video and day blind ultraviolet video, obtain the real-time video composite signal under Same Scene;
Angle when 2) obtaining above-mentioned three axle electronic compasss rotation, and the above-mentioned day blind ultraviolet video signal that obtains is calculated, obtain the navigation attitude data of boats and ships, the navigation attitude data is when comprising ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) information with above-mentioned relative orientation and relative distance is superimposed on blind ultraviolet synthetic video of above-mentioned visible light/day;
4) obtain described sail information from utility appliance, described sail information is added on the blind ultraviolet synthetic video of the above-mentioned synthetic visible light that includes the ship's navigation attitude data/day.
Described display system can adopt screen display, Projection Display, wears demonstration, glasses show and other feasible multiple display modes.
As a further improvement on the present invention, utility appliance in described piloting instrument is by Real-time Obtaining water transport electronic chart or three-dimensional electronic sea charts such as GPS or AIS, so that the information processing terminal is exported the simulating live-action figure of pilotage to described display system by virtual reality technology.At this moment, the described information processing terminal is carried out following steps:
1) obtain day blind ultraviolet video signal and visible light video digital signal;
Angle when 2) obtaining above-mentioned three axle electronic compasss rotation, and the above-mentioned day blind ultraviolet video signal that obtains is calculated, obtain the navigation attitude data of boats and ships, the navigation attitude data is when comprising ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) obtain described sail information from utility appliance;
4) with day blind ultraviolet video signal, visible light video digital signal, calculate gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart and combine, export the simulating live-action figure of pilotage by virtual reality technology.
Beneficial effect of the present invention is, " day is blind " ultraviolet characteristic and outstanding broken mist performance of solar blind UV due to the sun, pilotage alongside system based on the solar blind UV signal of the present invention by reference, can obviously solve under existing technology boats and ships in greasy weather alongside difficulty in large and existing technology the ship piloting berthing device be subjected to weather, environment etc. to affect large problem.Even in the greasy weather, it also can be convenient to the pilot and in the greasy weather, ship berthing be carried out pilotage for the pilot provides more directly perceived, accurate, safe sail information, has also solved the unobstructed problem of greasy weather shipping lane and port logistics.
Description of drawings
Fig. 1 is the structured flowchart of the embodiment of the present invention 1 piloting system;
Fig. 2 is solar blind UV of the present invention source installation form schematic diagram on object;
Fig. 3 is another kind installation form schematic diagram on object in solar blind UV of the present invention source;
Fig. 4 is the structured flowchart of the embodiment of the present invention 1 piloting instrument;
Fig. 5 is information processing terminal algorithm flow chart of the present invention;
Fig. 6 is the structured flowchart of the embodiment of the present invention 2 piloting instruments;
Fig. 7 is greasy weather pilotage alongside schematic diagram of the present invention;
When being piloting instrument of the present invention work, Fig. 8 wears the display mode schematic diagram.
Embodiment
In order to make technical scheme of the present invention and advantage clearer, below in conjunction with drawings and Examples, the present invention is described in further detail.
Referring to Fig. 1, under a kind of greasy weather, based on the pilotage alongside system of solar blind UV signal, it comprises solar blind UV origin system 1, piloting instrument 2 and display system 3.
Solar blind UV origin system 1 is comprised of some solar blind UVs source 1-1, it is first-class that these solar blind UVs source is installed in profile place, port and pier place or the boats and ships of both sides, navigation channel, bridge dam, be mainly used in identifying the profile of object, it is when luminous like this, and the observer just can pick out objects in front by luminous pattern.It is that blind ultraviolet imagery passage of day in piloting instrument has an initial reference position when rotating that the solar blind UV source is arranged on boats and ships, and the angle that begins to rotate gained from this initial position can be read by three axle electronic compasss, and this will hereinafter be described.
In the present embodiment, the preferential selection is arranged on the mark post at port and pier place the solar blind UV source (referring to Fig. 2 A, in Fig. 2 A, the hypothesis length of the berth is 320m, adjacent solar blind UV source interval 40m, totally 9 solar blind UV source mark posts) and hull unique point (as fore, stern and left and right string, referring to Fig. 2 B).Certainly, the mounting means in solar blind UV source is not limited in this.Can (referring to Fig. 3 B) be installed around hull as the solar blind UV source that can be at the port and pier place solar blind UV source be mounted on inverse-T-shaped (referring to Fig. 3 A), ship, perhaps the solar blind UV source also can be mounted to the patterns such as " △ ", " zero ", " 7 ".Can imagine, the mounting means in solar blind UV source is diversified, as long as help the light source pattern recognition.
Solar blind UV source 1-1 can also be mobile.As being carried the solar blind UV source by the people, the suitable position of standing when needing the solar blind UV source; The solar blind UV source perhaps is installed on moveable carriage, and dolly is pushed into suitable position in needs; Perhaps installation solar blind UV source on canoe, drive to suitable position by canoe light signal be provided.Perhaps other feasible mobile solar blind UVs source form.
Solar blind UV source 1-1 can send the light source of day blind ultraviolet band light for deep ultraviolet LED lamp or low pressure and high-pressure sodium lamp fluorescent tube, halogen tungsten lamp, deuterium lamp etc., and in its light that sends, most of wavelength coverage is 190nm-290nm.In the present invention solar blind UV source 1-1 also comprise with day blind ultraviolet band laser device as the situation of light source.In the present embodiment, preferentially select deep ultraviolet LED lamp, because its power consumption is little, luminescence efficiency is high, particularly its spectral range concentrates on a day blind ultraviolet band, has simultaneously good electrical modulation characteristic, is convenient to follow-up to the solar blind UV source carrying out optical modulation.
In further embodiment, the solar blind UV origin system also comprises for the modulation module 1-2 that the solar blind UV signal is modulated, and preferably, it can be realized by control ends such as single-chip microcomputer or PC.Modulation module 1-2 is connected with solar blind UV source 1-1, can be according to the actual requirements, the light-emitting mode in modulation solar blind UV source is to load information needed to the solar blind UV source, as control glow frequency, the luminous intensity of solar blind UV source 1-1, perhaps control the pattern that the solar blind UV source point forms when bright.During if any a plurality of berth, can control the free berth place day blind uviol lamp and the day blind uviol lamp at non-free berth place light with multi-form, differentiate for the pilot.
Referring to Fig. 1, piloting instrument 2 is mainly by consisting of with lower component: three axle electronic compass 2-1, optical imagery module 2-2, video acquisition module 2-3, information processing terminal 2-4.
Three axle electronic compass 2-1 are connected with optical imagery module 2-2, can read exactly the angle of optical imagery module 2-2 when rotating.Three axle electronic compass 2-1 also are connected with information processing terminal 2-4, thereby send the such rotation angle information to information processing terminal 2-4.Optical imagery module 2-2, video acquisition module 2-3 and information processing terminal 2-4 are connected successively, the utility appliance 2-5 such as boat-carrying GPS, radar, ECDIS also are connected with information processing terminal 2-4, send supplementary to the information processing terminal, final information processing terminal 2-4 is connected with display system 3, and above-mentioned all information are shown in real time.Wherein optical imagery module 2-2 can to solar blind UV signal and visible or infrared light image formation, produce two-path video; Video acquisition module 2-3 can gather above-mentioned two-path video, and sends it to information processing terminal 2-4.Related data when information processing terminal 2-4 calculates ship's navigation according to two-path video information, two-path video is superposeed synthetic, and the data message that provides in conjunction with utility appliance 2-5 such as boat-carrying GPS, radar, ECDIS, for boats and ships provide pilotage alongside information needed.
When not comprising utility appliance 2-5 in piloting instrument 2, the information processing terminal is according to the digital signal of two-path video, and the navigation attitude data of Ship ' and output composite signal be to described display system, and do not need every data message of providing in conjunction with utility appliance again.
Referring to Fig. 4, the concrete block diagram when working for piloting instrument.The light that send in the light of environment and solar blind UV source enters optical imagery module 2-2 simultaneously, at first by the spectroscope 2-2-1 in optical imagery module 2-2 with incident ray by a certain percentage or wavelength be divided into two bundles, make it enter respectively day blind ultraviolet imagery passage 2-2-2 and visible or infrared light imaging band 2-2-3.This visible or infrared light imaging band 2-2-3 can carry out imaging to the picture of nature under the greasy weather, obviously, under greasy weather or other low visibility conditions, the imaging picture is very fuzzy, if there is no other supplementarys, boats and ships are can not be according to the navigation of the information that obtains under this situation or alongside.This day blind ultraviolet imagery passage 2-2-2 is only the solar blind UV signal sensitivity of 190-290nm to wavelength, got rid of other environmental backgrounds fully and disturbed, thereby day blind ultraviolet passage imaging band 2-2-2 only detects the light signal that the solar blind UV source 1-1 that solar blind UV source that boats and ships self install and port berth place installs sends when work.Then, optical imagery module 2-2 can be from day blind ultraviolet imagery passage 2-2-2 and day blind ultraviolet video of visible or infrared light imaging band 2-2-3 difference outputting analog signal and the visible or infrared light video of simulating signal.This optical imagery module 2-2 can adopt Israel Ofil company to produce
This product is the day blind ultraviolet/visible light two waveband detecting and imaging device of a sensitivity.Day total blindness's ultraviolet/visible light binary channels image-forming module that also can adopt Jiangsu five dimension electronics technology company limited to produce.
Video acquisition module 2-3 in piloting instrument 2 can gather respectively subsequently from the video of the two-way simulating signal of day blind ultraviolet imagery passage 2-2-2 and visible or infrared light imaging band 2-2-3 output, and convert thereof into day blind ultraviolet video signal 2-3-1 and visible or infrared light video signal 2-3-2, send information processing terminal 2-4 to.For one of ordinary skill in the art, function and the working method of video acquisition module 2-3 are well known in the art, and therefore are not described in detail the workflow of video acquisition module 2-3 herein.
Information processing terminal 2-4 in piloting instrument 2 is a microprocessor, and it mainly carries out following functions: the solar blind UV signal is processed and the synthetic output of information.The solar blind UV signal is processed i.e. ultraviolet video signal Ship ' navigation attitude data blind in day, and the ship's navigation attitude data comprises boats and ships boat and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place.
Information processing terminal 2-4 when work according to process flow diagram shown in Figure 5 carry out following steps (take day blind ultraviolet video and visible light video as example):
1) obtain day blind ultraviolet video signal 2-3-1 and visible light video digital signal 2-3-2; Then carry out the synthetic of visible light video and day blind ultraviolet video, obtain the real-time synthetic video under Same Scene;
Angle when 2) obtaining above-mentioned three axle electronic compasss rotation, and the above-mentioned day blind ultraviolet video signal 2-3-1 that obtains is calculated, obtain the navigation attitude data of boats and ships, the navigation attitude data is when comprising ship's navigation and the relative orientation in solar blind UV source, harbour place and the distance in boats and ships and solar blind UV source, harbour place;
3) information with above-mentioned relative orientation and relative distance is superimposed on blind ultraviolet synthetic video of above-mentioned visible light/day;
4) obtain described sail information (speed during as ship's navigation, course, geographic position longitude and latitude, draft etc.) from above-mentioned utility appliance, described sail information is added on the blind ultraviolet synthetic video of the above-mentioned synthetic visible light that includes the ship's navigation attitude data/day.
Finally, the information processing terminal is preserved these data, shows frequently in order to as required it is exported in real time, perhaps uses in order to follow-up checking when analyzing.In further embodiment, above-mentioned visible or infrared light imaging band also can be selected the short-wave infrared imaging band.As be applied to short-wave infrared the InGaAs material planar array detector or adhere to the CCD/CMOS device of near infrared filter, it is more clear that its picture that photographs in the greasy weather photographed than visual light imaging the picture that photographs, thus can for day blind ultraviolet image clearer reference background background is provided.
According to technical concept of the present invention, above-mentioned visible or infrared light imaging band also can be low-light level imaging passage, thermal infrared imaging passage, because when using night, near infrared imaging passage or low-light level imaging passage can provide than visual light imaging passage image-forming information more clearly.
When the visual light imaging passage in optical imagery module 2-2 was near infrared imaging passage or low-light level imaging passage, specific implementation method and the present embodiment were described identical, no longer are repeated in this description herein.
A kind of method of blind ultraviolet video 2-3-1 Ship ' navigation of day attitude data of the digital signal by obtaining below is provided, but should be appreciated that computing method are not unique in actual applications, also be not limited to this:
1) reading out data: suppose each solar blind UV source, harbour place corresponding coordinate (x in world coordinate system
t, y
t, z
t) set in advance, as (x
t, y
t, z
t) be longitude, latitude and the height above sea level of solar blind UV source reality, and the harbour place coordinate of solar blind UV source in the boats and ships coordinate system is (x
b, y
b, z
b), the coordinate in day blind ultraviolet imagery passage coordinate system is (x
c, y
c, z
c), this day initial point and the initial point of boats and ships coordinate system of blind ultraviolet imagery passage coordinate system overlap; The final harbour place image coordinates of solar blind UV source on imaging surface is (x
i, y
i), (x
i, y
i) can read from day blind ultraviolet video of digital signal.The focal distance f of day blind ultraviolet imagery passage is known; Day blind ultraviolet imagery passage is turned to the angle of rotating when watching solar blind UV source, harbour place by the solar blind UV source on boats and ships
Can be read by three axle electronic compasss.
2) calculate the coordinate (x of solar blind UV source, harbour place in day blind ultraviolet imagery passage coordinate system
c, y
c, z
c): according to
Solve (x
c, y
c, z
c) ((X that wherein capitalizes form
i, Y
i), (X
c, Y
c, Z
c) Vector Groups that forms of the coordinate figure in expression some solar blind UVs source, lower with);
3) with the coordinate (x of solar blind UV source, harbour place in day blind ultraviolet imagery passage coordinate system
c, y
c, z
c) convert the coordinate (x in the boats and ships coordinate system to
b, y
b, z
b): according to
R wherein
cRotation matrix when rotating for video camera, by
Determine, and
It is the angle of the day blind ultraviolet imagery passage rotation that provides of three axle electronic compasss;
4) by the coordinate (x of solar blind UV source, harbour place in world coordinate system
t, y
t, z
t) and the coordinate (x in the boats and ships coordinate system
b, y
b, z
b), solve relative orientation and the distance in boats and ships and solar blind UV source, harbour place: by
Solve matrix R
BAnd T
BR
BBoats and ships and harbour place solar blind UV source relative orientation have spatially been reflected, T
BThe distance that has reflected solar blind UV source, the relative harbour of boats and ships place.
Before adopting the method, need to carry out the lower a series of imaging devices of different attitude of ship and distance from demarcation, to set up the relation of image coordinates and solar blind UV source coordinate position.To those skilled in the art, imaging device is a proven technique from demarcating, and therefore scaling method no longer is described herein, calculates but the good day blind ultraviolet imagery passage of utilization demarcation carries out data.
Based on above-mentioned steps, can obtain relative orientation, the relative distance in boats and ships and solar blind UV source, harbour place, and in existing routine techniques, not have the technology of the light source information Ship ' navigation attitude that under the greasy weather, foundation detects.Relevant information when the radio means such as the total main dependence radar of existing technology are obtained ship's navigation, but not only there is ground unrest in wireless device, also be easy to be subject to the interference of the signals such as sleety weather or sea clutter, so the technology in the present invention has good advantage to greasy weather ship piloting alongside.
Certainly, consider that the mounting means in solar blind UV source is different in actual use, wherein involved computing formula can change according to actual conditions.The present embodiment is just chosen one of them preferred embodiment and is illustrated, does not represent in this invention to use above-mentioned computing formula.
The output form of display system 3 comprises screen display, Projection Display, wears demonstration and glasses demonstration etc.The real-time sail information that its displaying contents provides from information processing terminal 2-4 in piloting instrument 2.
The present embodiment is substantially the same manner as Example 1, difference is that piloting instrument 2 is comprised of three axle electronic compass 2-1, optical imagery module 2-2 and information processing terminal 2-4, be not comprise video acquisition module 2-3 in piloting instrument 2, visible or infrared light imaging band 2-2-3 in piloting instrument 2 and day direct output digital video of blind ultraviolet imagery passage 2-2-2 are to information processing terminal 2-4, as shown in Figure 6.
Under a kind of greasy weather, based on the pilotage alongside system of solar blind UV signal, it comprises solar blind UV origin system 1, piloting instrument 2 and display system 3.
Identical in solar blind UV origin system 1 and display system 3 and embodiment 1.From different in embodiment 1 be, in piloting instrument 2, the information of information processing terminal 2-4 output is not the synthetic video of day blind ultraviolet/visible light, but the pilotage simulating live-action figure that processes through virtual reality technology.
In the present embodiment, the utility appliance 2-5 in piloting instrument passes through Real-time Obtaining water transport electronic chart or the three-dimensional electronic sea charts such as GPS or AIS, and is sent to the information processing terminal.At this moment, described information processing terminal 2-4 carries out following steps: 1) obtain day blind ultraviolet video signal and visible light video digital signal;
Angle when 2) obtaining three axle electronic compasss rotations, and the above-mentioned day blind ultraviolet video signal that obtains is calculated, obtain the navigation attitude data of boats and ships, the navigation attitude data comprises boats and ships boat and the relative orientation in solar blind UV source, harbour place and the distance in boats and ships and solar blind UV source, harbour place;
3) obtain described sail information from utility appliance;
4) with day blind ultraviolet video signal, visible light video digital signal, calculate gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart and combine, export the simulating live-action figure of pilotage by virtual reality technology.
Can imagine, in the situation that there is no actual object of reference, boats and ships can not be only according to water transport electronic chart or three-dimensional electronic sea chart in boundless and indistinct large fog-navigation.After but above-mentioned visible light video and day blind ultraviolet video information have been arranged, boats and ships just can according to scene shown on video differentiate this water transport electronic chart or the three-dimensional electronic sea chart whether correct.If the object profile in electronic chart can with visible light video, day blind ultraviolet video information in the object profile be complementary, the boats and ships pilotage alongside of information realization under the greasy weather etc. accordingly so.The information such as the speed when certainly, utility appliance 2-5 also can provide the geographic position of the boats and ships described in embodiment 1 in hydrological environment, ship's navigation and draft.In further embodiment, if when display does not need to show through the video after information processing, also can directly adopt eyepiece to observe extraneous outdoor scene.Below provide a specific works process of the present invention:
Referring to Fig. 7, the specific works scene during for ship berthing.On the string of hull all around and the port and pier place solar blind UV source 1-1 is installed.Piloting instrument 2 and display system 3 aboard ship are installed.Optical imagery module 2-2 in piloting instrument 2 is connected with three axle electronic compass 2-1 and is erected at the hull appropriate location, can clearly detect the solar blind UV signal at hull and sea port berths place.Video acquisition module 2-3 in piloting instrument 2, information processing terminal 2-4 and utility appliance 2-5 are equipped in ship wheel house.
When the ship that navigates by water under the greasy weather needed alongside, at first it informed place, water transport base station, harbour by telecommunication modes such as radio.When place, water transport base station receives the signal that boats and ships send, can light the solar blind UV source at port berth place, the pilot signals during as ship berthing.
Subsequently, boats and ships receive the feedback information at place, water transport base station, learn the solar blind UV source signal characteristics at port berth place, and light the solar blind UV source on this ship, and this moment, piloting instrument 2 was started working.
In optical imagery module 2-2, the visible or infrared light imaging band can detect scene comparatively fuzzy under the greasy weather, its day, blind ultraviolet imagery passage can detect the day blind UV signal on place, sea port berths and this ship, and a day blind UV signal is only arranged, get rid of the interference of other ground unrests fully.The video council of this two-way simulating signal is sent to ship wheel house, converts the video of digital signal to and sends information processing terminal 2-4 to through video acquisition module 2-3.Information processing terminal 2-4 carries out respective handling according to the step described in above-mentioned embodiment, the information such as the orientation in solar blind UV source, relative harbour place, distance when obtaining ship's navigation, and send display system 3 to after two-path video is synthesized stack; Perhaps will send display system 3 to through the simulating live-action figure that virtual reality technology is processed.
In further embodiment, the present invention also can adopt and wear display mode.With reference to figure 8, except the solar blind UV source, other parts comprise optical imagery module 2-2, information processing terminal 2-4 and glasses display 3.Wherein piloting instrument of the present invention is divided into two parts: optical imagery module 2-2 is placed in the pilot crown, and incident light axis direction and pilot's direction of visual lines are consistent, and guarantees that it has real visual experience; Information processing terminal 2-4 is placed in pilot's waist, knapsack etc., and it carries out video acquisition in above-mentioned piloting instrument function, information processing etc., and composite signal is back to pilot institute wear a pair of spectacles display 3.Glasses display 3 is worn by the pilot, day blind ultraviolet/visible light during with the observation ship's navigation or the synthetic view of infrared light binary channels.
The present invention also comprises following applicable cases: not only be used for ship berthing under the greasy weather, also can be used for observing when under the greasy weather, boats and ships navigate by water the navigation channel in the water route, at this moment, need only in installation solar blind UV source, place, both sides, navigation channel as navigation mark.According to theory of the present invention, also piloting instrument can be arranged on water transport place, base station (as port and pier, navigation channel Surveillance center etc.).The water transport base station can be monitored attitude of ship, management shipping order and accept the signal that boats and ships send.
Above introduce only be the preferred embodiment of patent of the present invention, certainly, the method for the invention stands good under the inclement weather conditions such as night or sleet.Therefore can not limit with this interest field of patent of the present invention, the equivalent variations according to Patent right requirement of the present invention is done still belongs to the scope that patent of the present invention contains.
Claims (12)
1. based on the pilotage alongside system of solar blind UV signal, comprise solar blind UV origin system, piloting instrument and display system;
Described solar blind UV origin system comprises some solar blind UVs sources; It is characterized in that, described piloting instrument is comprised of three axle electronic compasss, optical imagery module and the information processing terminal; Described three axle electronic compasss are connected with the optical imagery module, obtain described optical imagery module each angle information when rotating, and send angle information to the information processing terminal;
described optical imagery module is comprised of spectroscope, visible or infrared light imaging band and solar blind UV imaging band, described spectroscope with incident ray by a certain percentage or wavelength be divided into two bundles, make it enter respectively described visible or infrared light imaging band and day blind ultraviolet imagery passage, described visible or infrared light imaging band receives visible light signal or infrared signal, output visible or infrared light video signal, described solar blind UV imaging band receives the solar blind UV signal, output solar blind UV video signal, the described information processing terminal is used for the digital signal according to two-path video, the navigation attitude data of Ship ' and output composite signal are to described display system.
2. the pilotage alongside system based on the solar blind UV signal according to claim 1, is characterized in that, described composite signal is that the navigation attitude data of visible light and solar blind UV synthetic video and boats and ships shows.
3. the pilotage alongside system based on the solar blind UV signal according to claim 1, is characterized in that, described near infrared imaging passage is the short-wave infrared imaging band.
4. the pilotage alongside system based on the solar blind UV signal according to claim 1, it is characterized in that, also be provided with modulation module in described solar blind UV origin system, described modulation module be connected the solar blind UV source and connect, the light-emitting mode that is used for modulation solar blind UV source is to load information needed to the solar blind UV source.
5. the pilotage alongside system based on the solar blind UV signal according to claim 1, it is characterized in that, also be provided with utility appliance in described piloting instrument, speed, course, geographic position longitude and latitude, the draft information when being used for obtaining the output ship's navigation also exports the information processing terminal to.
6. the pilotage alongside system based on the solar blind UV signal according to claim 1, is characterized in that, described display system adopts screen display, Projection Display or glasses to show.
7. the pilotage alongside system based on the solar blind UV signal according to claim 1, is characterized in that, also is provided with video acquisition module in described piloting instrument; Described visible or infrared light imaging band receives visible light signal or infrared signal, output visible or infrared light video analog signal is to video acquisition module, described solar blind UV imaging band receives the solar blind UV signal, output solar blind UV video analog signal is to video acquisition module, described video acquisition module gathers the analogue video signal of above-mentioned two paths, and convert thereof into the video of digital signal, send the described information processing terminal to.
8. the pilotage alongside system based on the solar blind UV signal according to claim 3, is characterized in that, described short-wave infrared imaging band is the planar array detector of InGaAs material or the CCD/CMOS device that adheres near infrared filter.
9. the pilotage alongside system based on the solar blind UV signal according to claim 5, is characterized in that, the sail information that described utility appliance is obtained comprises by the water transport electronic chart of GPS or AIS Real-time Obtaining or three-dimensional electronic sea chart.
10. the pilotage alongside system based on the solar blind UV signal according to claim 5, is characterized in that, the described information processing terminal is carried out following steps:
1) obtain day blind ultraviolet video and visible light video digital signal, carry out the synthetic of visible light video and day blind ultraviolet video, obtain the real-time video composite signal under Same Scene;
Angle when 2) obtaining above-mentioned three axle electronic compasss rotation, and the above-mentioned day blind ultraviolet video signal that obtains is calculated, obtain the navigation attitude data of boats and ships, the navigation attitude data is when comprising ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) information with above-mentioned relative orientation and relative distance is superimposed on blind ultraviolet synthetic video of above-mentioned visible light/day;
4) obtain described sail information from utility appliance, described sail information is added on the blind ultraviolet synthetic video of the above-mentioned synthetic visible light that includes the ship's navigation attitude data/day.
11. the pilotage alongside system based on the solar blind UV signal according to claim 9, it is characterized in that, described synthetic video for day blind ultraviolet video signal, visible light video digital signal, calculate gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart and combine, the simulating live-action figure that obtains by virtual reality technology.
12. the pilotage alongside system based on the solar blind UV signal according to claim 9 is characterized in that, the described information processing terminal is carried out following steps:
1) obtain day blind ultraviolet video signal and visible light video digital signal;
Angle when 2) obtaining above-mentioned three axle electronic compasss rotation, and the above-mentioned day blind ultraviolet video signal that obtains is calculated, obtain the navigation attitude data of boats and ships, the navigation attitude data is when comprising ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) obtain described sail information from utility appliance;
4) with day blind ultraviolet video signal, visible light video digital signal, calculate gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart and combine, export the simulating live-action figure of pilotage by virtual reality technology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210550710.2A CN103177606B (en) | 2012-12-18 | 2012-12-18 | Based on the pilotage docking system of solar blind ultraviolet light signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210550710.2A CN103177606B (en) | 2012-12-18 | 2012-12-18 | Based on the pilotage docking system of solar blind ultraviolet light signal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103177606A true CN103177606A (en) | 2013-06-26 |
| CN103177606B CN103177606B (en) | 2015-09-30 |
Family
ID=48637427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210550710.2A Active CN103177606B (en) | 2012-12-18 | 2012-12-18 | Based on the pilotage docking system of solar blind ultraviolet light signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103177606B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103175523A (en) * | 2012-12-18 | 2013-06-26 | 江苏五维电子科技有限公司 | Pilot instrument based on solar blind ultraviolet light signal |
| CN103745617A (en) * | 2014-01-11 | 2014-04-23 | 上海冠卓企业发展有限公司 | Assistant berthing monitoring system |
| WO2016112708A1 (en) * | 2015-01-15 | 2016-07-21 | 江苏南大五维电子科技有限公司 | Assistant docking method and system for vessel |
| WO2016112714A1 (en) * | 2015-01-15 | 2016-07-21 | 江苏南大五维电子科技有限公司 | Assistant docking method and system for vessel |
| WO2018098729A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Solar-blind ultraviolet-based piloting method and device |
| WO2018098742A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Imaging method and device for bad environment |
| CN108646239A (en) * | 2018-05-10 | 2018-10-12 | 芜湖航飞科技股份有限公司 | A kind of detection and identification device based on radar and photoelectric technology |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030137445A1 (en) * | 2002-01-22 | 2003-07-24 | Van Rees H. Barteld | Auto-docking system |
| JP2003276677A (en) * | 2002-03-27 | 2003-10-02 | Mitsui Eng & Shipbuild Co Ltd | Departing/landing bridge support device for ship |
| CN201689138U (en) * | 2010-03-25 | 2010-12-29 | 浙江红相科技有限公司 | Solar-blinded ultraviolet imaging instrument based on narrow-band spectrum |
| CN102236327A (en) * | 2010-04-27 | 2011-11-09 | 上海冠卓企业发展有限公司 | Laser berthing monitoring system for ship |
| CN102574569A (en) * | 2009-09-04 | 2012-07-11 | 雷声公司 | Search and rescue using ultraviolet radiation |
-
2012
- 2012-12-18 CN CN201210550710.2A patent/CN103177606B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030137445A1 (en) * | 2002-01-22 | 2003-07-24 | Van Rees H. Barteld | Auto-docking system |
| JP2003276677A (en) * | 2002-03-27 | 2003-10-02 | Mitsui Eng & Shipbuild Co Ltd | Departing/landing bridge support device for ship |
| CN102574569A (en) * | 2009-09-04 | 2012-07-11 | 雷声公司 | Search and rescue using ultraviolet radiation |
| CN201689138U (en) * | 2010-03-25 | 2010-12-29 | 浙江红相科技有限公司 | Solar-blinded ultraviolet imaging instrument based on narrow-band spectrum |
| CN102236327A (en) * | 2010-04-27 | 2011-11-09 | 上海冠卓企业发展有限公司 | Laser berthing monitoring system for ship |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103175523A (en) * | 2012-12-18 | 2013-06-26 | 江苏五维电子科技有限公司 | Pilot instrument based on solar blind ultraviolet light signal |
| CN103175523B (en) * | 2012-12-18 | 2015-08-12 | 江苏南大五维电子科技有限公司 | Based on the piloting instrument of solar blind ultraviolet light signal |
| CN103745617A (en) * | 2014-01-11 | 2014-04-23 | 上海冠卓企业发展有限公司 | Assistant berthing monitoring system |
| JP2018503913A (en) * | 2015-01-15 | 2018-02-08 | 江▲蘇▼南大五▲維▼▲電▼子科技有限公司 | Ship auxiliary docking method and system |
| WO2016112708A1 (en) * | 2015-01-15 | 2016-07-21 | 江苏南大五维电子科技有限公司 | Assistant docking method and system for vessel |
| CN105842724A (en) * | 2015-01-15 | 2016-08-10 | 江苏南大五维电子科技有限公司 | Ship mooring assisting method and ship mooring assisting system |
| CN105841688A (en) * | 2015-01-15 | 2016-08-10 | 江苏南大五维电子科技有限公司 | Ship's auxiliary berthing method and system |
| KR20170102992A (en) * | 2015-01-15 | 2017-09-12 | 난징 유니버시티 파이브디 테크놀로지 컴퍼니 리미티드 | Ship auxiliary docking method and system |
| KR20170102995A (en) * | 2015-01-15 | 2017-09-12 | 난징 유니버시티 파이브디 테크놀로지 컴퍼니 리미티드 | Ship auxiliary docking method and system |
| US20180012498A1 (en) * | 2015-01-15 | 2018-01-11 | Nanjing University 5D Technology Co., Ltd. | Auxiliary berthing method and system for vessel |
| US10378905B2 (en) | 2015-01-15 | 2019-08-13 | Nanjing University 5D Technology Co., Ltd. | Auxiliary berthing method and system for vessel |
| JP2018503915A (en) * | 2015-01-15 | 2018-02-08 | 江▲蘇▼南大五▲維▼▲電▼子科技有限公司 | Ship auxiliary docking method and system |
| WO2016112714A1 (en) * | 2015-01-15 | 2016-07-21 | 江苏南大五维电子科技有限公司 | Assistant docking method and system for vessel |
| KR102049371B1 (en) * | 2015-01-15 | 2020-01-22 | 난징 유니버시티 파이브디 테크놀로지 컴퍼니 리미티드 | Vessel Auxiliary Docking Method and System |
| CN105842724B (en) * | 2015-01-15 | 2018-07-17 | 江苏南大五维电子科技有限公司 | A kind of ship auxiliary anchors alongside the shore method and system |
| CN105841688B (en) * | 2015-01-15 | 2018-08-10 | 江苏南大五维电子科技有限公司 | A kind of ship auxiliary anchors alongside the shore method and system |
| US10424205B2 (en) | 2015-01-15 | 2019-09-24 | Nanjing University 5D Technology Co., Ltd. | Auxiliary berthing method and system for vessel |
| KR101992731B1 (en) * | 2015-01-15 | 2019-06-25 | 난징 유니버시티 파이브디 테크놀로지 컴퍼니 리미티드 | Ship auxiliary docking method and system |
| WO2018098729A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Solar-blind ultraviolet-based piloting method and device |
| WO2018098742A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Imaging method and device for bad environment |
| CN108646239A (en) * | 2018-05-10 | 2018-10-12 | 芜湖航飞科技股份有限公司 | A kind of detection and identification device based on radar and photoelectric technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103177606B (en) | 2015-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103177606B (en) | Based on the pilotage docking system of solar blind ultraviolet light signal | |
| CN103175523B (en) | Based on the piloting instrument of solar blind ultraviolet light signal | |
| KR102049371B1 (en) | Vessel Auxiliary Docking Method and System | |
| CN107316012B (en) | Fire detection and tracking method of small unmanned helicopter | |
| KR101992731B1 (en) | Ship auxiliary docking method and system | |
| CN103942941B (en) | Mobile monitoring convergence platform based on GIS | |
| US9401049B2 (en) | Augmented reality system using moving ceiling transparent display for ship and method for enabling same | |
| US8320630B2 (en) | Measuring turbulence and winds aloft using solar and lunar observable features | |
| CN100565245C (en) | The anti-collision alarm system and the crashproof analytical approach that are used for marine vehicle | |
| Kako et al. | Low altitude remote-sensing method to monitor marine and beach litter of various colors using a balloon equipped with a digital camera | |
| US20220024549A1 (en) | System and method for measuring the distance to an object in water | |
| CN103398710B (en) | Entering and leaving port, naval vessel navigational system under a kind of night fog sky condition and construction method thereof | |
| CN115267941B (en) | High-resolution true color visible light model generation and inversion method and system | |
| US9068884B1 (en) | Turbulence and winds aloft detection system and method | |
| CN210835732U (en) | Beacon inspection device based on unmanned aerial vehicle | |
| CN114040329B (en) | Method for measuring lighthouse range | |
| CN118314693A (en) | Tower instability monitoring and early warning device based on image recognition and computer vision | |
| CN106324275B (en) | Sea surface wind speed detection method based on double-view-angle optical remote sensing image | |
| KR102238421B1 (en) | Buoy monitoring terminal and method based on augmented reality | |
| CN113450598A (en) | Ship auxiliary navigation method and system based on infrared video | |
| Kim et al. | Development of real-time HABs detection technique using unmanned aerial vehicle (UAV) | |
| CN205837137U (en) | A kind of solar energy unmanned boat for water surface cruise | |
| CN209641094U (en) | Water-area navigation information enhancement glasses | |
| KR102386241B1 (en) | Ocean black box surveilance device for standard-type of light bouy | |
| Xiong et al. | Design of A Smart Safety Helmet Incorporating Observation, Communication and Localization Functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 210019, Nanjing, Jiangsu province Jianye Jialing Jiangdong Street No. 18 accelerator 04, 6 floor Applicant after: Jiangsu Nanda Wuwei Electronic Technology Co., Ltd. Address before: 902, room 1, building 69, Xincheng Science Park, 210019 Olympic Sports Avenue, Jianye District, Jiangsu, Nanjing, China Applicant before: Jiangsu Wuwei Electric Science & Technology Co., Ltd. |
|
| CB03 | Change of inventor or designer information |
Inventor after: Li Xiang Inventor after: Zhu Xi Inventor after: Zhang Liang Inventor after: Pan Weisong Inventor after: Kong Xiali Inventor after: Wang Jun Inventor after: Yan Feng Inventor before: Li Xiang Inventor before: Zhang Liang Inventor before: Pan Weisong Inventor before: Kong Xiali Inventor before: Wang Jun Inventor before: Yan Feng |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LI XIANG ZHANG LIANG PAN WEISONG KONG XIALI WANG JUN YAN FENG TO: LI XIANGZHU XI ZHANG LIANG PAN WEISONG KONG XIALI WANG JUN YAN FENG Free format text: CORRECT: APPLICANT; FROM: JIANGSU WUWEI ELECTRONIC TECHNOLOGY CO., LTD. TO: JIANGSU NANDA WUWEI ELECTRONIC TECHNOLOGY CO., LTD. |
|
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Xiang Inventor after: Yan Feng Inventor after: Pan Weisong Inventor after: Cao Xun Inventor after: Zhu Xi Inventor after: Zhang Liang Inventor after: Kong Xiali Inventor after: Wang Jun Inventor before: Li Xiang Inventor before: Zhu Xi Inventor before: Zhang Liang Inventor before: Pan Weisong Inventor before: Kong Xiali Inventor before: Wang Jun Inventor before: Yan Feng |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LI XIANG ZHU XI ZHANG LIANG PAN WEISONG KONG XIALI WANG JUN YAN FENG TO: LI XIANG YAN FENG PAN WEISONG CAO XUN ZHU XI ZHANG LIANG KONG XIALI WANG JUN |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Xiang Inventor after: Yan Feng Inventor after: Pan Weisong Inventor after: Cao Xun Inventor after: Zhu Xi Inventor after: Zhang Liang Inventor after: Kong Xiali Inventor after: Wang Jun Inventor after: Zhou Tingting Inventor before: Li Xiang Inventor before: Yan Feng Inventor before: Pan Weisong Inventor before: Cao Xun Inventor before: Zhu Xi Inventor before: Zhang Liang Inventor before: Kong Xiali Inventor before: Wang Jun |
|
| COR | Change of bibliographic data |