• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A mesh sensor network system (1) for a vessel (2) is disclosed. The system includes: – a first sensor group (3) comprising one or more fixed network sensor nodes (4) mountable to the vessel (2) and configured to measure parameter data of the vessel (2), – a second sensor group (6) comprising one or more moveable network sensor nodes (7) moveable with respect to one or more of the fixed network sensor nodes (4) and attachable to one or more objects (8) on board the vessel (2) and configured to measure parameter data of the one or more objects (8); – a controller (18, 40) configured to receive measured parameter data over the mesh network system (1) from the first sensor group (3) and/or the second sensor group (6); wherein the controller (18, 40) is configured to a determine a condition of the one or more objects (8) based on the received measured parameter data.
    公开号:DK201870089A1
    申请号:DKP201870089
    申请日:2018-02-14
    公开日:2019-09-20
    发明作者:Bruun Egeberg Klaus；Marie Vincent Andersen Ingrid
    申请人:A.P. Møller - Mærsk A/S；
    IPC主号:
    专利说明:

    A mesh sensor network for a vessel and methods of its use
    Maritime vessels carry various assets such as cargo or crew. Typically, cargo is lashed to the hull of the vessel and, often, the crew moves freely on board the ship.
    It is desired to track or monitor movement of shipborne assets as ship operators’ seek to gain absolute knowledge of the position, or change in position, of cargo including the whereabouts of crew; especially in emergency situations such as in fire or man overboard situations.
    It is moreover desired to gain absolute knowledge of any relative movement, or relative acceleration, of cargo on board the vessel as the operator or crew may be able to take precautionary measures in case, for example, indications are received that cargo is moving excessively relative to the vessel.
    The present invention relates to a system for, and a method of, tracking movement of moveable objects, or assets, such as cargo and crew, on board a vessel by means of a mesh network system including a number of sensor nodes connected to the mesh network.
    The term mesh network denotes, within the context of the present disclosure, a local network topology in which the infrastructure and sensor nodes including any support equipment such as bridges and switches etc. connect directly, dynamically and non-hierarchically to one another to efficiently route data from and/or to clients within the network. This lack of dependency on one node allows for every node to participate in the relay of information. Mesh networks dynamically self-organize and self-configure, which reduces installation overhead. The ability to self-configure enables dynamic distribution of workloads, particularly in the event that a few nodes should fail.
    DK 2018 70089 A1
    This in turn contributes to fault-tolerance and reduced maintenance costs of the network.
    The term vessel denotes, within the context of the present disclosure, a marine vessel such as, but not limited to, a cargo or freight ship such as a container ship.
    Sensor networks including sensor nodes mounted to a hull of a vessel are known e.g. from:
    - EP 2 993 116 A1 which discloses a sensor box fixed to the hull which measures data of the vessel including movement of the vessel.
    - WO 03 053 775 A1 which discloses a system designed to monitor and control ship motions with respect to pitch and roll with the aid of a number of sensors.
    US 2010/149028 A discloses a system and a method for conserving or lessening power consumption of container tracking devices. The tracking devices form part of a mesh network including the tracking devices as well as a processing and communication device coupled to the shipping vessel. The processing device is configured for allowing the tracking devices to update their status to a server without using individual long-range or satellite communications adaptors.
    The objects of the present invention are to:
    - Identify the relative movement of sensor groups mounted to a vessel;
    - Identify the relative movement of sensor groups mounted to objects on the vessel;
    - Tracking disappeared or lost objects with respect to a vessel.
    DK 2018 70089 A1
    According to a first aspect of the invention, there is provided a mesh sensor network system for a vessel including:
    - a first sensor group comprising one or more fixed network sensor nodes mountable to the vessel. The fixed sensor nodes are configured to measure parameter data of the vessel, and
    - a second sensor group comprising one or more moveable network sensor nodes moveable with respect to one or more of the fixed network sensor nodes. The moveable sensor nodes are attachable to one or more objects on board the vessel and configured to measure parameter data of the one or more objects; and
    - a controller configured to receive measured parameter data over the mesh network system from the first sensor group and/or the second sensor group;
    wherein the controller is configured to a determine a condition of the one or more objects based on the received measured parameter data.
    The mesh sensor network may be configured for providing, or carrying, parameter data representing e.g. movement of one or more moveable sensor nodes within the second sensor group relative to one or more fixed sensor nodes within the first sensor group.
    The sensor groups may be configured to form part of the same mesh network.
    Since the fixed network sensor nodes of the first sensor group are fixed with respect to the vessel, when the vessel moves, so do the fixed network sensor nodes.
    DK 2018 70089 A1
    The moveable network sensor nodes of the second sensor group may be used to identify the relative movement of objects such as containers or crew with respect to the vessel. The moveable network sensor nodes may also be configured for determining, or supplying input for determining by a controller or a processor, forces based on acceleration measurements, as a function of small movements between stacked containers. The derived forces can be analysed in real-time - or after an event.
    The present invention is especially relevant and useful for tracking of nonbulk cargo like containers where to moveable network sensor nodes are easily attached.
    The moveable network sensor nodes can also be used to track the movement of other assets as well as crew. In respect of the crew, a manover board signal can be initiated by the system, or by the system controller, if the moveable network sensor node associated with the crew member disappears from the mesh network; possibly for more than a predetermined period of time.
    An advantage of applying, or relying on, data parameters established by the first sensor group comprising one or more fixed network sensor nodes is that the mesh network system may be configured to subtract the movement of the vessel as it travels across the sea and experiences dynamic and quasi-static movement (e.g. roll, heave, pitch, heel, trim and hull deflection etc.) from the data parameters established by the moveable network sensor nodes attached to the objects. This means that any movement of the objects (i.e. containers, crew etc.) relative to the vessel can be identified accurately.
    A plurality of fixed network sensor nodes may be attached to the vessel on positions e.g. on the hull and on the superstructure.
    DK 2018 70089 A1
    The fixed network sensor nodes may be permanently fixed to the vessel and may be connected to the vessel's power supply or be powered by batteries; the latter allowing for easy retrofit of the mesh sensor network system.
    The data parameters, or sensor outputs, may be time stamped by the network or a controller or a processor associated with the network. This way, the relative movement experienced by the second sensor group can be reviewed in sync.
    According to one embodiment, the controller may be configured to determine the condition of the one or more objects by subtracting the vessel condition data from the received measured parameter data from one or more moveable sensor nodes within the second sensor group thereby establishing data representing movement of objects relative to the vessel.
    According to one embodiment, the condition of the one or more objects may be one or more of a temperature, a humidity, an atmospheric pressure, an inclination, a force, an acceleration, a light condition, a door security status, a door opening status, a proximity status, a stress-strain, a sound status. By this, additional data may be provided by the mesh network.
    According to one embodiment, the vessel condition may constitute a true vessel movement reference. The true vessel movement reference may comprise movement related to vessel deflection, vessel torsional movement and/or vessel bending movement of one or more parts of the vessel. By this, vessel deflection may be determined and subtracted from the vessel condition data thereby increasing accuracy within the sensor network.
    According to one embodiment, at least one of the fixed network sensor nodes and/or the moveable network sensor nodes may include one or more of an
    DK 2018 70089 A1 accelerometer, a temperature sensor, a pressure sensor, a light sensor, a humidity sensor, a proximity sensor, an inclinometer, a stress-strain sensor, a barometric sensor, radio frequency sensors, infrared sensors, acoustic sensors, and/or door sensors. By this, additional sensor data is made available via the sensor network.
    According to one embodiment, at least one of the moveable network sensor nodes of the second sensor group may include a transmitter-receiver for communicating with one or more sensors not connected to the mesh network.
    According to one embodiment, controller may be configured to initiate an alarm in the event that one or more network sensor nodes of the second sensor group is lost from the mesh network or moves outside a boundary. The boundary may be a boundary defined by the outer boundary of the vessel.
    According to one embodiment, the controller may be configured to detect relative movement of one of more of the moveable network sensor nodes with respect to one or more of the fixed network sensor nodes and to initiate an alarm if one or more of the moveable network sensor nodes exceeds a threshold distance.
    According to one embodiment, the one or more objects may include any of the following: a container, cargo, a crew member, a lifeboat, an anchor, a winch or vessel machinery.
    According to one embodiment, one or more of the fixed network sensor nodes of the first sensor group may be coupled to a transmitter-receiver configured for off-vessel communication.
    DK 2018 70089 A1
    Movement of objects relative to the vessel may also be detected if a movable network sensor node attached to an object detects acceleration above a threshold. Detection of acceleration above a threshold may prompt the network, or a controller associated with the network, to take a snapshot the network and compare this snapshot with other or subsequent snapshots thereby establishing an indication of any relative movement of the sensors within or across the first and the second sensor groups.
    Multiple snapshots of the entire datasets from the complete array of sensors will allow detection of relative movement of the objects.
    The fixed network sensor nodes may, in one embodiment, have the size of a large book; i.e. about 20 χ 15 χ 3 cm (LxHxß). The moveable network sensor nodes may be somewhat smaller. According to one embodiment, the movable sensor nodes may be embodied as boxes with dimensions of about 10 χ 5 χ 2 cm (LxHxß). However in other embodiments, the fixed and moveable network sensor nodes may be identical.
    As mentioned above, since the fixed network sensor nodes are fixed with respect to their mounted position on the vessel, when the vessel moves or deflects, the fixed network sensor nodes too will move. In case the vessel deflects, the fixed network sensor nodes move relative to each other. This makes it possible to establish a vessel deflection baseline on basis of parameter data provided by the fixed network sensor nodes. This means that the movement of the objects can be identified by movement in, or within, the mesh network also relative to the vessel deflection baseline. Consequently, the first group of fixed mesh network sensor nodes fixed to the vessel may form basis for baseline determination of the vessel.
    DK 2018 70089 A1
    The sensor information may be available for processing by the controller in real-time and/or stored and/or time stamped by the network, or by a controller in communication with the network, for later or displaced use.
    The baseline vessel movement data established by the sensors of the first sensor group may be subtracted from the movable sensor data in order to, possibly while taking into account the geometrical offsets between the sensors/sensor groups and the baseline, establish the relative movement of the second sensor group sensors including the objects to which the movable sensors are attached. By this it is made possible to use the movable sensor nodes to detect relative motion of objects such as containers or crew with respect to the vessel, given that some of the sensors are attached to the objects such as containers and other sensors are attached to the vessel.
    Multiple snapshots of the entire datasets from the complete array of sensors will allow detection of relative motion of the containers also because the vessel sensors can be used as a baseline for subtracting the motion of the vessel.
    In some embodiments, essentially fixed second group sensors, such as sensors attached to containers resting or tied directly to cargo fixtures, may take the role of one or more first group sensors.
    The first sensor group comprising one or more fixed network sensor nodes may be coupled to a transmitter-receiver device such as a central gateway for connectivity via satellite link or cellular network. The central gateway may form part of, or be integrated with, a system controller.
    In some embodiments, the network may be any IP4 or IP6 based network. By this, it possible to place a plurality of fixed network sensor nodes as well as transmitter-receivers permanently on fixed parts of the vessel such as the
    DK 2018 70089 A1 hull. Moreover, this allows for inclusion of a plurality of moveable network sensor nodes.
    The moveable sensor nodes may be attached to objects such as containers or other assets by means of glue, tape, magnets, mechanical fixtures and/or another suitable fastener or adhesive.
    The moveable network sensor nodes may be powered by batteries. The batteries may be able to power the moveable network sensor nodes for approximately 30 days or more; or a period of time that corresponds at least with the maximum time a container sits on a vessel during a voyage. In some embodiments, it may be preferred use batteries that lasts for longer time, such as for more than a year, thereby allowing the moveable network sensor nodes to operate for several voyages.
    The moveable network sensor nodes may be provided with a functionality allowing for monitoring and network transmission of power reserve/battery status.
    The moveable network sensor nodes moreover may be configured for connecting to a power supply provided on the object to which the sensor is attached. An example hereto is coupling to a reefer container or the power supply of a reefer container.
    The first sensor group may comprise one or more fixed network sensor nodes which is/are configured to communicate with a ship area network (SAN). The SAN is a network separate from the mesh network and therefore the mesh network can be installed separately and to any existing systems or hardware on the vessel.
    DK 2018 70089 A1
    The fixed network sensor nodes may be powered by batteries. The batteries in the fixed network sensor nodes may, as the fixed network sensor nodes may be embodied as large nodes, be provided with large capacity batteries configured to power the nodes for extended periods of time such as for several months or even several years. This means that the mesh network can be implemented by attaching the nodes to existing structures without installing wired power supplies to the nodes. This makes retrofitting easier, simpler, cheaper and hence more attractive.
    The first sensor group may include at least 5 fixed network sensor nodes or 5-15 fixed network sensor nodes or 8-12 fixed network sensor nodes. Preferably, the first sensor group includes an adequate number of fixed network sensor nodes in order to extend the network to the entire vessel.
    The fixed network sensor nodes may be configured to have higher RF range than the movable sensor nodes. By this, a relatively small number of fixed network sensor nodes may be able to cover a large ship such as a 400 m χ 50 m ship.
    The fixed network sensor nodes and/or the moveable network sensor nodes may include one or more of an accelerometer, a temperature sensor, a pressure sensor, a light sensor, an inclinometer, a humidity sensor or a proximity sensor.
    At least one of the moveable network sensor nodes may be configured for coupling to external sensors via a TX-RX system or equivalent. By this, it is possible to incorporate various external sensor technologies such as accelerometer, temperature, pressure, light, humidity, and proximity sensor technology to the network. As an example, some of the mentioned sensors may be incorporated to the first sensor group and yet other sensors could be coupled to the TX-RX system of the moveable network sensor nodes.
    DK 2018 70089 A1
    Another option is to differentiate the first sensor group and the second sensor group and hence incorporate specific sensor technology in the sensors depending on their operating environment or place of location of the vessel.
    In one embodiment, the present invention relates to a mesh sensor network wherein the mesh network is configured for initiating an alarm in the event that one or more moveable network sensor nodes is lost or moves outside a defined boundary.
    In another aspect of the present invention there is provided a method of monitoring one or more objects on board a vessel with a mesh network. The method comprises the steps of:
    - mounting on a vessel a first sensor group comprising one or more fixed network sensor nodes, and
    - attaching to one or more objects on board the vessel a second sensor group comprising one or more moveable network sensor nodes, the moveable network sensor nodes being moveable with respect to one or more of the fixed network sensor nodes;
    - measuring parameter data of the vessel with the first sensor group;
    - measuring parameter data of the one or more objects with the second sensor group;
    - receiving at a controller the measured parameter data over the mesh network from the first sensor group and I or the second sensor group; and
    - determine a condition of the one or more objects based on the received measured parameter data.
    The method moreover may include the steps of:
    - establishing a vessel baseline, or a vessel deflection baseline, by means of the first sensor group sensor nodes;
    - applying the baseline as a vessel movement baseline;
    DK 2018 70089 A1
    - monitoring the movement of the second group moveable network sensor nodes relative to the vessel movement baseline;
    - communicating the relative movement of the second group moveable network sensor nodes to a display or alert system.
    In one embodiment, the method further may include a step of assessing whether acceleration measured by one or more fixed network sensor nodes exceeds a predetermined threshold. By this, alarms or indicators may by triggered and precautionary measures taken.
    Figure 1 shows a profile of a container vessel with a schematic representation of a mesh sensor network according to the present invention.
    Figure 2 shows a cross section of a vessel with a mesh sensor network.
    Figure 3 shows an example of a moveable or a fixed network sensor node.
    Figure 4 shows a schematic representation of the mesh sensor network.
    Figures 5, 6 and 7 show flow diagrams of embodiments according to the present invention.
    Figure 8 shows a perspective schematic view according to an embodiment of the present invention.
    Figure 9 shows a schematic diagram according to an embodiment of the present invention.
    Figure 1 shows a profile of a container vessel 2 with a schematic representation of a mesh sensor network 1. The arrangement, positioning
    DK 2018 70089 A1 and number of the nodes 4, 7 in the mesh network 1 as shown in Figure 1 is exemplary.
    The nodes in the mesh network 1 can adopt any arrangement, positioning or number.
    A first sensor group 3 comprising a plurality of fixed network sensor nodes 4, shown in the Figures as triangular sensors 4, are mounted to the vessel 2 at strategical positions allowing for RF communication and coverage in essentially all areas where assets or objects 8 are present. The coverage of the first group sensor nodes 4 are, for illustrative purposes, shown as dotted circles 4' having their centres at the fixed sensor nodes 4.
    The plurality of fixed sensor nodes 4 may be fixed with respect to the vessel 2 and considered to be “stationary” with respect to the vessel 2.
    The plurality of fixed sensor nodes 4 may be mounted at suitable locations though out the vessel 2 such as on bulkheads, on the lashing bridges or other structures fixed with respect to the hull 5. This means that the first sensor group 3 will experience the same movement as the hull 5 of the vessel 2.
    In other embodiments the plurality of fixed sensor nodes 4 may be repositionable in order to fixedly mount the plurality of sensor nodes 4 to different positions on the vessel 2. The fixed network sensor nodes 4 may in other embodiments be mounted on moveable elements of the vessel 2 such as on hatch covers etc.
    As can be seen in the Figure, the first sensor group 3 may include a plurality of fixed sensor nodes 3 arranged to cover essentially all parts of the vessel 2 where assets or objects 8 are present and/or all parts of the vessel 2 where
    DK 2018 70089 A1 assets or objects 8 are in risk of falling overboard and/or all parts of the vessel 2 where assets or objects 8 are exposed to weather and/or part of the vessel 2 where assets or objects 8 can move relative to the hull of the vessel
    2.
    In the depicted embodiment of the invention, 10 fixed network sensor 4 nodes are provided; 5 on each side of the vessel 2. Of course, different numbers of nodes 4 can be used and the fixed sensor nodes 4 may be provided near the vessels' centre line/centrally as an alternative to provision of the fixed sensor nodes 4 on/near the sides of the vessel 2. On large container ships, 10-15 fixed network sensor nodes will able to cover the required area of 400 m χ 60 m. In other embodiments the area may be larger or smaller and the number of fixed sensor nodes 4 may be adapted accordingly.
    Figure 1 also shows the mesh sensor network 1 with a second sensor group 6 comprising moveable network sensor nodes 7 attached to assets or objects 8 such as containers 9, cargo 10 and crew 11. For illustrative purposes, the moveable network sensor nodes 7 are shown as circular sensor nodes.
    Figure 1 further shows that the interconnections, or links, 17 between the fixed network sensor nodes 4 and the moveable network sensor nodes 7 can be in any arrangement (a mesh network). In this way, data from one moveable sensor node 7 can be transmitted directly to a fixed network sensor node 4 or, alternatively, over a multi-hop path via a plurality of moveable network sensor nodes 7 and/or fixed sensor nodes 4. An example of a mesh network configuration is shown in Figure 4.
    Turning back to Figure 2 which shows an embodiment of the deployment of a first sensor group 3 and a second sensor group 6 on a vessel 2. Figure 2 shows a schematic cross section of a vessel 2. The mesh sensor network 1
    DK 2018 70089 A1 comprises a plurality of moveable network sensor nodes 7 which are located on stacked containers 8. Figure 2 shows the stack of containers 8 in a situation of exaggerated motion. As can be seen, the lowermost container, which may be fixed to the hatch cover on the deck of the hull 5, comprises a movable network sensor node 7. This is the lowermost moveable network sensor node 7 in the container stack and may follow the motion of the hull 5. In contrast, the uppermost container carrying the uppermost movable network sensor node 7 may sway; sometimes heavily. In some embodiments, the data output from the movable network sensor node 7 of the second sensor group 6 that experiences the least amount of relative movement with respect to the hull, like the one placed on the lowermost container in a container stack, may be used to define a vessel baseline. However the lowermost container on the hatch cover will still move with respect to the hull and therefore a vessel baseline using the a moveable network sensor node on the lowermost container is less preferable.
    Figure 2 moreover shows that all the movable network sensor nodes 7 may be linked directly to a/the fixed sensor node/s 4 in the first sensor group 3. In other arrangements, e.g. where the RF ranges of some the movable network sensor nodes 7 of the second sensor group 6 and the fixed network sensor nodes 4 are not allowing for direct link communication between the groups of sensors, one or more of the movable network sensor nodes 7 may be configured for relaying data from one or more movable network sensor nodes without link to the first group sensor nodes 4 to the first group sensor nodes 4 (as shown in Figure 4). This may be beneficial e.g. in case of very high container stacking or in case the RF range of one or more of the movable sensor nodes 7 is/are limited e.g. due to obstacles, power shortage or battery drain etc. Additionally, Figure 2 shows that the length of RF links 17 between fixed network sensor nodes 4 and moveable network sensor nodes 7 vary depending on the motion/real-time location of the individual cargo 8 in relation to the vessel 2. This may in some embodiment be used for providing
    DK 2018 70089 A1 data representative of the assets position, or change in position, on board the vessel based on triangulation from the data packet timings.
    Figure 3 shows an example of a fixed network sensor node 4 of the first sensor group 3 or a moveable network sensor node 7 of the second sensor group 6 according to an embodiment of the present invention. The fixed network sensor node 4 of the first sensor group 3 and the moveable network sensor node 7 of the second sensor group 6 in some embodiments are substantially the same. In some embodiments the fixed and moveable network sensor nodes 4, 7 are identical. In some embodiments the fixed network sensor nodes 4 of the first sensor group 3 may optionally carry fewer sensors and I or may comprises a larger battery or be hardwired to the power supply of the vessel (not shown). The fixed network sensor nodes 4 of the first sensor group 3 optionally comprise wired or wireless TXIRX connectivity for communication with a ship area network (SAN).
    For the purposes of brevity, reference will be made to a moveable network sensor node 7 of the second sensor group 6 when discussing Figure 3 in more detail. As can be seen, the node 7 may be battery powered 13 and include a TXIRX transmitter receiver device 12 arranged as IIO device for a processing unit 18. The processing unit 18 is a controller for controlling the moveable network sensor node 7 but optionally the controller 18 is configured to processing received data from internal and/or external sensors as well as from other sensor nodes within the mesh network. The processing unit 18 is coupled to a memory module 19 for recalling stored programs and/or saving data. The processing unit 18 can be coupled to additional computational modules (not shown) for processing data. The memory module 19 is configured for storing data relating to the vessel and the objects on vessel such as the ship manifest. In this embodiment as shown in Figure 3, the moveable network sensor node 7 includes a sensor suite 20. The sensor suite 20 comprises at least one sensor for measuring a parameter of
    DK 2018 70089 A1 a moveable object on the vessel or a parameter of a condition of the vessel. Figure 3 shows that the sensor suite 20 may comprise an accelerometer 14, a temperature sensor 15 and humidity sensor 16. In some other embodiments the sensor suite 20 may additionally or alternatively include other kinds of sensors like submersion sensors or light sensors, GPS/GLONASS/other positioning sensors, stress-strain sensors, or any other suitable sensor. Infrared sensors and radio frequency sensors can be used for determining the presence of an object, for example a crew member.
    In other embodiments the network sensor nodes 4, 7 may comprises sensors for determining the operation or status of doors of containers 9. The sensors may also be eSeals for electronically determining the security status of containers 9.
    In yet further embodiments, the sensors may be a barometric sensor, an inclinometer and / or acoustic sensors for monitoring the condition of cargo on the vessel 2. The accelerometer 14, the temperature sensor 15 and the humidity sensor 16 can also be used to monitor the condition of cargo on the vessel and / or within a container 9. For example the accelerometer 14 can be used to determine impact forces and tilt of the cargo during transit.
    Pressure sensors may be used to determine the pressure at various points around the vessel. For example a pressure sensor can be used at the bottom of a container stack thereby providing stack load data to the mesh network.
    Parameter data from stack load sensors may in some embodiments be used as indicators of undesired movement in the container stacks.
    The transmitter receiver (TX/RX) 12 in some embodiments comprises a connection to external devices 19 which are not part of the mesh network 1. In some embodiments the transmitter receiver 12 comprises a connection to
    DK 2018 70089 A1 an external sensor 19. For example the external sensor 19 is in wireless communication using a Bluetooth protocol. For example, the external sensor 19 can be an eSeal and the moveable network sensor node 7 communicates and receives security status data of the container 9 from the eSeal. Other wireless protocols can be used such as Wi-Fi, Zigbee etc. This allows for additional sensors not integrated in the network sensor nodes 4,7 to be added after the network sensor nodes 4, 7 have been installed. Data received from the external sensor 19 is transmitted separately or together with the data from the network sensor node 7. In other embodiments, the moveable network sensor node 7 does not have integrated sensors and only comprises a communication link with the external sensor 19. In such embodiment there is no sensor suite 20 in the network sensor node 4, 7. In further embodiments, the external sensor node 19 is also a moveable network sensor node 19 and connects to other network sensor nodes 4, 7. In the case where the external sensor node 19 can connect directly to the mesh network 1, the external sensor node 19 can connect via a moveable network sensor node 7 associated with the same container 9. Alternatively the external sensor node 19 may be physically closer and connect to a moveable sensor node 7 associated with an adjacent container 9. This is also discussed in reference to Figure 8.
    In one embodiment, the processing unit 18 receives output data from one or more of the other nodes in the second sensor group 6 or the first sensor group 3. The processing unit 18 is configured to relay the data to other parts of the mesh network via the TX/RX transmitter receiver device 12.
    In some embodiments, the processing unit 18 additionally receives output data from at least one sensor in the first and second sensor groups 3, 6 and processes the data. The steps of processing the data will be discussed in further detail below.
    DK 2018 70089 A1
    Reference will now be made to Figure 4 which discloses a schematic representation of the mesh sensor network 1. Figure 4 shows that the mesh network 1 comprises a first sensor group 3 and a second sensor group 6.
    Each of the network sensor nodes 4, 7 have a structure as described above with reference to Figure 3.
    Although Figure 4 shows that there is one first sensor group 3 and one second sensor group 6, in other embodiments, there may be a plurality of first 3 and I or second sensor groups 6. For example a plurality of different second sensor groups 6 may be deployed to monitor and measure parameters relating to different classes of objects such as crew, cargo, containers, tackle, lifeboats, machinery or other equipment of the vessel.
    Furthermore the mesh network 1 may be configured to permit that additional network sensor nodes can be added to sensor groups 3, 6. In some embodiments there can be any number of network sensor nodes in the first sensor group 3 and I or the second sensor group 6.
    As mentioned previously, each network sensor node 4, 7 comprises a controller processor 18 which optionally may process data received from one or more sensors. Additionally, or alternatively, the mesh network 1 comprises a communication connection to a separate or remote controller 40 which comprises a processing unit 42 for processing the data received from the mesh network 1. In some embodiments the controller 40 is located on board the vessel 2 and may be connected to the SAN or may be located remote from the vessel 2, for example an on-shore data centre.
    Operation of the mesh network 1 will now be discussed with reference to Figure 5. Figure 5 shows a flow diagram of the operation of the mesh network 1 in a first embodiment.
    DK 2018 70089 A1
    The moveable network sensor nodes 7 each comprise at least one sensor for determining a parameter of one or more objects 8 on board the vessel 2. The moveable network sensor nodes 7 measure parameter data of the object as shown in step 500. The parameter data is measured periodically and the period of measurement is dependent on the object and on the conditions. For example in heavy seas the conditions of cargo and containers may be rapidly changing and therefore the polling of measurement data may be more frequent. Abnormal sensor readings in/from one or more sensors may also prompt for, or trigger, more frequent polling of measurement of data.
    Once measurement data has been made of a parameter of an object aboard the vessel, the moveable network sensor node 7 transmits the measurement data across the mesh network as shown in step 502. As mentioned previously, the data can be sent directly or via multi-hop transmission across the mesh network 1.
    The measurement data is received by a controller 18, 40 as shown in step 504. The controller 18 is optionally located in a fixed network sensor node 4 of the first sensor group 3 and/or a moveable sensor node 7 of the second sensor group 6 and/or in a controller 40 which is remote from the mesh network 1. The controller 18, 40 compares the measurement data to a predetermined threshold associated with the measured parameter data. The predetermined threshold may correspond to a safe working conditions of the vessel and / or the object aboard the vessel. The controller 18, 40 then determines whether the measured parameter exceeds the predetermined threshold.
    If the controller 18, 40 determines that a predetermined threshold has been exceeded for a parameter of the object 8 on the vessel 2, the controller 18, 40 requests a snapshot of measurement data from all the sensor nodes 4, 7
    DK 2018 70089 A1 of the entire network as shown in step 506. This allows the controller 18, 40 to confirm whether the measurement data obtained in step 500 is correct and that there is an issue. In some embodiments the controller 18, 40 determines sequential snapshots of measurement data for parameters changing over time as shown by the arrow from step 508 to step 506.
    The controller 18, 40 receives measurement data from every moveable network sensor node 7 in the second sensor group 6 and measurement data from every fixed network sensor node 4 in the first sensor group 3. The controller 18, 40 then determines the parameter data associated with the first sensor group 3. Once the controller 18, 40 has determined the parameter data of the first sensor group 3, this is subtracted from the measurement data of the second sensor group 6. Accordingly a condition of the object can be determined based on measured parameter data from a first sensor group mounted on the vessel 2 and measured parameter data from a second sensor group as shown in 508. This means that a parameter determined for the first sensor group 3 is a vessel condition. Therefore the localised conditions for specific objects can be determined.
    Accordingly the mesh sensor network 1 and controller 18, 40 can establish a vessel baseline, or provide input to a processing unit configured for calculating and thereby establishing, a vessel baseline. The vessel baseline may in this way be established without disturbances from torsional and/or bending movement of different parts of the vessel as these movements are not included when a condition of the object is determined based on the measured parameter data from the second sensor group 6.
    Optionally each moveable network sensor node 7 comprises a unique identification such as an asset or object ID which is stored in memory 19, by the controller 18, 40. The unique identification of the moveable network sensor node 7 can be registered with a particular object such as cargo, crew
    DK 2018 70089 A1 or containers. For example when a container 9 is loaded on to the vessel 2, the controller 18, 40 stores the unique identification of the moveable network sensor node 7 and records the unique identification against the ship manifest. In this way the location of the unique identification of the moveable network sensor node 7 can be determined based on the moveable network sensor nodes' 7 unique identification included in messages transmitted across the mesh network 1. The registration of the unique identification is not necessary because the location of the respective network sensor nodes 4, 7 can be triangulated.
    Operation of the mesh network 1 on the vessel 2 will now be discussed in reference to Figure 6 and Figure 2. In the embodiment as shown in Figure 2, the fixed network sensor nodes 4 of the first sensor group 3 are mounted on the hull 5 or a structure fixed to the hull 5. The second sensor group 6 comprises a plurality of moveable network sensor nodes 7 mounted on a plurality of containers in a container stack. Figure 2 shows that the moveable network sensor nodes 7 are mounted on only some of the containers 9 in the container stack. Of course, in other embodiments every container 9 may comprise a moveable network sensor node 7. As mentioned previously, Figure 2 shows the container stack undergoing excessive movement. At an earlier time, the container stack as shown in Figure 2 would be vertical, for example when the vessel is not experiencing extreme weather.
    As mentioned previously in connection with Figure 2, the moveable network sensor nodes 7 and the fixed network sensor nodes 4 comprise an accelerometer 14. Each moveable network sensor node 7 detects the current acceleration experienced at a particular location. The moveable network sensor node 7 is attached to an object 8 such as a container 9. Accordingly the acceleration detected by the moveable network sensor node 7 is also the acceleration experienced by the container 9.
    DK 2018 70089 A1
    Figure 6 shows a flow diagram of another embodiment. In particular Figure 6 shows the process for the controller 18, 40 for determining how the containers move on the vessel 2. The flow diagram as shown in Figure 6 is predominantly the same as shown in Figure 5 except that the parameter being measured is the acceleration.
    The moveable network sensor nodes 7 mounted on the containers periodically measure the acceleration of the containers 9 as shown in step 600. In some embodiments, the acceleration is measured every 5 minutes. Other measurement periodicities can be selected e.g. 10 seconds, 30 seconds, 60 seconds etc.
    The moveable network sensor nodes 7 sends the measured acceleration data of a container 9 across the mesh network 1 to the controller 18, 40 as shown in step 602. On receiving the measured acceleration data, the controller 18, 40 determines whether the acceleration experienced by the container 9 exceeds a threshold as shown in step 604. The predetermined acceleration threshold stored by the controller 18, 40 is a determined safe working acceleration that the containers can experience under normal operating conditions. Once the acceleration is determined to be above this threshold, there is a possibility that the forces on the containers are becoming excessive. In extreme circumstances the containers 9 can become damaged or even lost. In some embodiments the controller 18, 40 sends a request to increase the frequency of the polling of sensor measurement in the second sensor group 6 if the acceleration exceeds a threshold.
    The controller 18, 40 sends a request to all the network sensor nodes 4, 7 in the mesh network 1 to send the acceleration measurement data as shown in step 606. The controller 18, 40 determines the movement of the vessel 2 based on the acceleration determined from the first sensor group 3 as shown in step 608. The acceleration associated with the vessel is then subtracted
    DK 2018 70089 A1 from the measured acceleration data from the second sensor group as shown in 610. Steps 606, 608 and 610 may be repeated to record data of how the containers are moving during transit of the vessel 2.
    The network sensor nodes 4, 7 may be configured to time stamp its data however the time stamps may not be accurate or synchronised. This means that the synchronisation of sensor data may be difficult across the network. As mentioned above, whenever a sensor detects acceleration above a certain threshold, a gateway takes a snapshot of the network. This means that the time stamp of each individual sensor may be unnecessary. However, subsequent snapshots will give an indication of the relative movement of the vessel with respect to the containers.
    The controller 18, 40 then determines whether the movement of the containers 9 exceeds a threshold as shown in step 612. If the movement of the containers is determined to be too high then rectifying measures may be taken such as to strengthening lashings or changes in operational parameters etc.
    A plurality of moveable network sensor nodes 7 can be located on multiple container stacks and/or the moveable network sensor nodes 7 can be placed on each container on the vessel 2. Alternatively the moveable network sensor nodes 7 can be placed in a group in a part of the vessel 2 that is susceptible to exaggerated motion.
    In another embodiment, a method for tracking disappeared objects such as containers, cargo or crew with respect to a vessel is envisioned. Operation of this method is discussed in further detail with respect to Figure 7. Figure 7 shows a flow diagram of a method of operation.
    DK 2018 70089 A1
    Steps 700 and 702 as shown in Figure 7 are the same as shown in steps 500 and 502 and, for the purposes of brevity, will not be discussed in any further detail. The method as described in reference to Figure 7 is with respect to monitoring a moveable network sensor node 7 associated with a crew member. In other embodiments, the monitoring and location tracking of other objects around the vessel can also be carried out.
    The controller 18, 40 is configured to determine the movement of a moveable network sensor node 7 with respect to the first sensor group 3 as shown in step 704. In some embodiments this is achieved using the method of determining motion described in reference to Figure 6. Optionally the controller 18, 40 determines the location of the moveable network sensor node 7 according to which fixed network sensor node 4 the parameter data from the moveable network sensor node 7 is received from. As the moveable network sensor node 7 moves around the vessel 2, so the moveable network sensor node 7 is handed over from one fixed network sensor node 4, to another fixed network sensor node 4. Since the fixed network sensor nodes 4 are fixed with respect to the vessel, this can provide an indication of the location of the moveable network sensor node 7. Further location finding can be achieved with triangulation and other known location determination techniques.
    The controller 18, 40 determines the period of time since parameter data was last received from a moveable network sensor node 7 as shown in step 706. If the period of time is above a threshold time period, then the controller 18, 42 requests data from the movable network sensor node 7 as shown in step 708. In some embodiments the controller 18, 40 may request a snapshot from the entire mesh network 1. If the controller 18, 40 does not receive any further parameter data from the moveable network sensor node 7, the controller determines that the object and the moveable network sensor node 7 are missing from the network as shown in step 710.
    DK 2018 70089 A1
    The controller 18, 40 can determine a time that the moveable network sensor node 7 left the mesh network. The controller 18, 40 receives GPS information of the vessel associated with the time and this can provide an exact vessel location at the time when the moveable network sensor node 7 and crew member left the mesh network as shown in step 712. The GPS information can be received from the navigation systems (not shown) on the SAN of the vessel. The controller 18, 40 then issues an man-overboard alarm based on the missing condition determination as shown in step 714.
    Alternatively to step 710, the controller 18, 40 may determine that a crew member has moved across a boundary, for example into a prohibited area as shown in step 716. For example parts of a container ship may have dangerous cargo or have dangerous machinery. Once the controller 18, 40 has determined that the crew member has crossed a boundary on the vessel 2, then controller issues an alert as shown in step 718.
    Another embodiment is shown in Figures 8 and 9. Figure 8 shows a perspective schematic view according to an embodiment. Figure 9 shows a schematic diagram according to an embodiment.
    Figure 8 shows a plurality of external sensors 800 attached to the containers
    9. The external sensors 800 are security locks for preventing access to the inside of the containers. The external security sensor nodes 800 are moveable network sensor nodes 7 as discussed in reference to the previous embodiments. The external security sensor nodes 800 connect to the mesh network 1 in the same way as discussed previously. The external security sensor nodes 800 connect to the nearest network node 4, 7 of the mesh network 1. This can be the same container 9 to which the external security sensor node 800 is physically attached to. Alternatively the external security sensor node 800 may be connectively coupled to an adjacent moveable
    DK 2018 70089 A1 network sensor node 7 or a fixed network sensor node 4 associated with another container 9.
    As shown in Figure 9, the external security sensor 800 comprises a battery 802 and includes a TX/RX transmitter receiver device 806 arranged as I/O device for a processing unit 804. The processing unit 804 is a controller for controlling the external security sensor node 800 but optionally the controller 806 is configured to processing received data from internal and/or external sensors as well as from other sensor nodes within the mesh network. The processing unit 806 is coupled to a memory module 804 for recalling stored programs and/or saving data. The processing unit 806 can be coupled to additional computational modules (not shown) for processing data. The memory module 804 is configured for storing data relating to the container 9 and the cargo in the container 9.
    The external security sensor node 800 comprises a sensor 808, 810 connectively coupled to the processor 804 for measuring and / or determining whether there has been access to the container 9. In some embodiments the sensor is an electrical circuit which must be broken in order to gain access to the container 9. Additionally the external security sensor node 800 can comprise one or more other sensors discussed in reference to the previous embodiments.
    The external security sensor node 800 may comprise a bolt 810 which is received in a reciprocal socket 808. The bolt 810 mechanically engages with the socket 808 and cannot be removed once inserted into the socket 808. In some embodiments the external security sensor node 800 is a one-time use moveable sensor network node. In this case the bolt 810 must be cut from the socket 808 in order to remove the external security sensor node 800 from the container 9. Once the bolt 810 is cut or removed from the socket 808, the sensor determines that the container 9 has been accessed. Alternatively a
    DK 2018 70089 A1 remote processor 42 determines that the container 9 has been accessed because the remote process 42 no longer detects the external security sensor node 800 as part of the mesh network 1.
    When the bolt 810 is inserted into the socket 808, the bolt 810 actuates a switch or completes a circuit (not shown) for actuating the external security sensor node 800. When the external security sensor node 800 is first actuated, the processor 804 starts a one-time configuration program. The configuration program requires a user to enter details concerning the container 9 and the cargo required for the shipping manifest. The details may comprise name of sender, address of sender, destination of shipment, cargo specification, dangerous cargo indication, shipper, route for cargo and container identification. The details are stored in memory 804. The external security sensor node 800 is linked to the container identification.
    When the external security sensor node 800 is within range of the mesh network 100, the details stored in memory 804 are transmitted via the mesh network 1 and stored in a database 900. The database 900 stores the relationship between every moveable sensor network node 7 and each container 9. In some embodiments the database 900 can additionally include the ships manifest.
    During operation the external security sensor node 800 can periodically measure the access status parameter of the container 9.
    This invention may be embodied in several forms without departing from the scope of essential characteristics thereof, the present embodiments are therefore illustrative and not restrictive, since the scope of the invention is defined by the appended claims rather than by the description preceding them. All changes that fall within meters and bounds of the claims, or
    DK 2018 70089 A1 equivalence of such meters and bounds thereof are therefore intended to be embodied by the claims.
    权利要求:
    Claims (16)
    [1] 1. A mesh sensor network system (1) for a vessel (2) including:
    - a first sensor group (3) comprising one or more fixed network sensor nodes (4) mountable to the vessel (2) and configured to measure parameter data of the vessel (2), and
    - a second sensor group (6) comprising one or more moveable network sensor nodes (7) moveable with respect to one or more of the fixed network sensor nodes (4) and attachable to one or more objects (8) on board the vessel (2) and configured to measure parameter data of the one or more objects (8); and
    - a controller (18, 40) configured to receive measured parameter data over the mesh network system (1) from the first sensor group (3) and/or the second sensor group (6);
    wherein the controller (18, 40) is configured to a determine a condition of the one or more objects (8) based on the received measured parameter data.
    [2] 2. A mesh sensor network system according to claim 1, wherein the controller (18, 40) is configured to determine a vessel condition based on the received measured parameter data from the first sensor group (3).
    [3] 3. A mesh sensor network system according to claim 2, wherein the controller (18, 40) is configured to determine the condition of the one or more objects (8) by subtracting the vessel condition data from the received measured parameter data from one or more moveable sensor nodes (7) within the second sensor group (6).
    DK 2018 70089 A1
    [4] 4. A mesh sensor network system according to any of the preceding claims, wherein the condition of the one or more objects (8) is relative movement of the one or more objects (8) with respect to the vessel (2).
    [5] 5. A mesh sensor network system according to any of the preceding claims, wherein the condition of the one or more objects (8) is one or more of a temperature, a humidity, an atmospheric pressure, an inclination, a force, an acceleration, a light condition, a door security status, a door opening status, a proximity status, a stress-strain, a sound status.
    [6] 6. A mesh sensor network system according to claims 2 to 4, wherein the vessel condition is a true vessel movement reference.
    [7] 7. A mesh sensor network system according to claim 6, wherein the true vessel movement reference comprises movement related to vessel deflection, vessel torsional movement and/or vessel bending movement of one or more parts of the vessel (2).
    [8] 8. A mesh sensor network system according to any one or more of the foregoing claims, wherein at least one of the fixed network sensor nodes (4) and/or the moveable network sensor nodes (7) includes one or more of an accelerometer (14), a temperature sensor (15), a pressure sensor, a light sensor, a humidity sensor (16), a proximity sensor, an inclinometer, a stressstrain sensor, a barometric sensor, radio frequency sensors, infrared sensors, acoustic sensors, and/or door sensors .
    [9] 9. A mesh sensor network system according to any one or more of the foregoing claims, wherein at least one of the moveable network sensor nodes (7) of the second sensor group (6) comprises a transmitter-receiver for communicating with one or more sensors not connected to the mesh network.
    DK 2018 70089 A1
    [10] 10. A mesh sensor network system according to any one or more of the foregoing claims, wherein the controller (18, 40) is configured to initiate an alarm in the event that one or more network sensor nodes (7) of the second sensor group (6) is lost from the mesh network (1) or moves outside a boundary.
    [11] 11. A mesh sensor network system according to claim 10, wherein the boundary is a boundary defined by the outer boundary of the vessel (2).
    [12] 12. A mesh sensor network system according to any of the of the preceding claims, wherein the controller (48, 40) is configured to detect relative movement of one of more of the moveable network sensor nodes (7) with respect to one or more of the fixed network sensor nodes (4); and to initiate an alarm if one or more of the moveable network sensor nodes (7) exceeds a threshold distance.
    [13] 13. A mesh sensor network system according to any of the preceding claims, wherein the one or more objects (8) are any of the following: a container, cargo, a crew member, a lifeboat, an anchor, a winch or vessel machinery.
    [14] 14. A mesh sensor network system according to any of the preceding claims, wherein one or more fixed network sensor nodes (4) of the first sensor group (3) is coupled to a transmitter-receiver configured for off-vessel communication.
    [15] 15. A method of monitoring one or more objects (8) on board a vessel (2) with a mesh network (1), the method comprises the steps of:
    - mounting on a vessel a first sensor group (3) comprising one or more fixed network sensor nodes (4), and
    DK 2018 70089 A1
    - attaching to one or more objects on board the vessel a second sensor group (6) comprising one or more moveable network sensor nodes (7), the moveable network sensor nodes (7) being moveable with respect to one or more of the fixed network sensor nodes (4);
    - measuring parameter data of the vessel (2) with the first sensor group (3);
    - measuring parameter data of the one or more objects (8) with the second sensor group (6);
    - receiving at a controller (18, 40) the measured parameter data over the mesh network (1) from the first sensor group (3) and I or the second sensor group (6); and
    - determine a condition of the one or more objects (8) based on the received measured parameter data.
    [16] 16. A method of monitoring according to claim 15, wherein the method further includes the steps of:
    - establishing a vessel baseline, or a vessel deflection baseline, by means of the first sensor group sensor nodes (4);
    - applying the baseline as a vessel movement baseline;
    - monitoring the movement of the second group moveable network sensor nodes (7) relative to the vessel movement baseline;
    - communicating the relative movement of the second group moveable network sensor nodes (7) to a display or alert system.
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    同族专利:
    公开号 | 公开日
    DK180184B1|2020-07-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2019-09-20| PAT| Application published|Effective date: 20190815 |
    2020-07-22| PME| Patent granted|Effective date: 20200722 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201870089A|DK180184B1|2018-02-14|2018-02-14|Mesh sensor network for a vessel and procedures for its use|DKPA201870089A| DK180184B1|2018-02-14|2018-02-14|Mesh sensor network for a vessel and procedures for its use|
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