CN110816782A - Ship low-navigational-speed underwater detection system and working method thereof - Google Patents
Ship low-navigational-speed underwater detection system and working method thereof Download PDFInfo
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Abstract
The invention provides a ship low-navigational-speed underwater detection system and a working method thereof. The system of the invention comprises: the device comprises an ultrasonic wave transducer module for detecting navigational speed, a temperature sensor module, an inclination angle sensor module, a modulation and demodulation module, a data acquisition and processing module and a navigational speed data transmission module; the navigational speed detection ultrasonic transducer module, the temperature sensor module and the inclination angle sensor module are integrated in a dense detection device and are arranged under the water surface; the modulation and demodulation module modulates a high-frequency signal required by the system and demodulates and converts the high-frequency signal into a voltage driving signal to drive the transducer to work; the navigation speed data transmission module wirelessly transmits the real-time navigation speed data to the handheld device and stores the data in a database. The technical scheme of the invention solves the problem that the existing ship speed detection technology is easily influenced by moving targets on and around the ship to be detected, so that the measurement is inaccurate.
Description
Technical Field
The invention relates to the technical field of navigational speed detection and ship safety detection, in particular to a ship low-navigational speed underwater detection system and a working method thereof.
Background
Along with the rapid development of national economy, inland river shipping is rapidly developed, the shipping requirements are rapidly increased, the construction of hydropower stations greatly improves inland river shipping conditions, and meanwhile, when a ship passes through a navigable building such as a ship lift, strict standards and requirements are provided for the shipping speed when the ship passes in and out of a ship compartment of the ship lift, so that the shipping speed detection when the inland ship passes in and out of the navigable building such as the ship lift is increasingly important. The existing ship speed measuring method adopts a low-speed radar measuring method, and is easily influenced by moving targets on a ship to be measured and around the ship to be measured, so that the measurement is inaccurate.
Disclosure of Invention
According to the technical problems provided by the above, a ship low-speed underwater detection system and a working method thereof are provided. The invention integrates the navigational speed detection ultrasonic transducer module, the temperature sensor module and the inclination angle sensor module into a close detection device and is arranged under the water surface; the modulation and demodulation module is used for realizing high-frequency signals required by a modulation system, and the signals are demodulated and converted into voltage driving signals to drive the transducer to work; and the data acquisition and processing module is used for realizing impedance matching of the transducer, receiving an echo signal received by the navigational speed detection ultrasonic transducer module, amplifying, filtering and shaping the echo signal, analyzing the Doppler frequency shift of the echo signal and calculating the real-time navigational speed of the ship, and meanwhile, the acquisition temperature sensor module and the inclination angle sensor module are used for calculating and correcting the real-time navigational speed of the ship.
The technical means adopted by the invention are as follows:
a low-speed underwater detection system for a ship, comprising: the device comprises an ultrasonic wave transducer module for detecting navigational speed, a temperature sensor module, an inclination angle sensor module, a modulation and demodulation module, a data acquisition and processing module and a navigational speed data transmission module;
the navigational speed detection ultrasonic transducer module, the temperature sensor module and the inclination angle sensor module are integrated in a close detection device and are arranged under the water surface;
the modulation and demodulation module is connected with the navigational speed detection ultrasonic transducer module and is used for modulating a high-frequency signal required by the system and demodulating and converting the high-frequency signal into a voltage driving signal to drive the transducer to work;
the data acquisition and processing module is connected with the navigational speed detection ultrasonic transducer module, the temperature sensor module and the inclination angle sensor module and is used for carrying out impedance matching on the transducers, receiving an echo signal received by the navigational speed detection ultrasonic transducer module, amplifying, filtering and shaping the echo signal, analyzing Doppler frequency shift of the echo signal and calculating the real-time navigational speed of the ship, and meanwhile, acquiring data of the temperature sensor module and the inclination angle sensor module and calculating the real-time navigational speed of the corrected ship;
the navigation speed data transmission module is used for wirelessly transmitting the real-time navigation speed data to the handheld device and storing the data into the database.
Furthermore, the navigational speed detection ultrasonic transducer module is mainly composed of an ultrasonic transducer which is a transmitter and a receiver in the system and corresponds to an ultrasonic beam.
Furthermore, the ultrasonic waves emitted by the ultrasonic transducer are concentrated in a narrow ultrasonic beam range, the central axis of the ultrasonic beam is parallel to the horizontal plane, and a certain angle is formed between the central axis of the ultrasonic beam and the axis of the navigation channel of the ship lift, and the angle can be adjusted along with the width and the length of the navigation channel, so that the navigation speed of a ship entering and exiting the ship lift chamber is ensured to be in a measurement range.
Furthermore, the temperature sensor module is a temperature sensor with the model number RSDS12, the temperature measuring range is-55-125 ℃, the measuring progress is +/-0.5 ℃, the temperature sensor module is used for measuring the current water temperature, and the measured water temperature is used for correcting the deviation of the sound velocity under the current water temperature state equation.
Furthermore, the inclination angle sensor module is an inclination angle sensor of a model LVT426T, the measurement range is 0- +/-180 degrees, the measurement precision is 0.3 degrees, the resolution is 0.05 degrees, the inclination angle of the equipment is used for measuring the inclination angle of the equipment, and the inclination angle of the equipment is used for ensuring that the ultrasonic transducer module for detecting the navigational speed is at a correct angle.
Furthermore, the modulation and demodulation module mainly comprises an ultrasonic emission driving circuit and an ultrasonic emission modulation circuit.
The invention also provides a working method of the ship low-navigational-speed underwater detection system, which comprises the following steps:
s1, modulation transmission frequency:
the modulation and demodulation module modulates a high-frequency signal with the frequency f required by the ship low-speed detection system, demodulates and converts the high-frequency signal into a 12V driving signal, and drives the speed detection ultrasonic transducer module to emit ultrasonic waves with the frequency f to a channel at a certain time interval;
s2, measuring Doppler frequency shift:
after the transmission is finished, the modem module is closed, the data acquisition and processing module is started at the same time, the scattered ultrasonic waves are received, the flow velocity of a water body in a channel is approximately zero, when a ship passes close to the ultrasonic transducer, the echo frequency is higher than the transmission frequency, when the ship passes far away from the ultrasonic transducer, the echo frequency is lower than the transmission frequency, and the echo signals are amplified, filtered, shaped, subjected to threshold judgment and subjected to frequency calculation to obtain echo frequency information f';
s3, calculating and correcting the speed information:
the data acquisition and processing module acquires data of the temperature sensor module and the inclination angle sensor module (3) in real time, and the system acquires the speed V of the real-time corrected ultrasonic waves in water; according to the doppler effect: setting the motion of the wave source S and the motion of the observer R on a connecting line of the wave source and the observer, calibrating a fixed angle theta, representing an included angle between the central axis of ultrasonic beams emitted by the ultrasonic transducer and the motion direction of the ship by theta, representing the speed of the observer relative to a medium by v, and taking an approaching wave source as positive; the velocity of the wave source relative to the medium is expressed as u, which is negative toward the observer; the wave source emission frequency is f; when both the source S and the observer R move, the frequency relationship between the observer and the source is:
if the speed of the wave source relative to the medium is ignored, the moving ship speed formula is as follows:
the angle between the ultrasonic wave emission direction and the ship movement direction is theta, then the speed v' of the moving ship in the channel axis direction is:
s4, calibrating angle theta:
the method comprises the following steps that the ultrasonic direction transmitted by a navigational speed detection ultrasonic transducer can normally work only within a certain angle range with the movement direction of a ship to be detected, a fixed angle theta needs to be calibrated when the navigational speed detection ultrasonic transducer is installed, whether the navigational speed detection ultrasonic transducer is in the normal angle theta is monitored in real time through an inclination angle sensor when equipment runs, and if the inclination angle sensor is not abnormal, ship data are transmitted to a navigational speed data transmission module;
s5, transmitting ship speed data:
the speed data transmission module transmits the real-time speed data to the handheld device through wireless or other network equipment, and stores the data in a database.
Further, the step S4 includes a step of the speed detection device emitting an ultrasonic beam by the speed detection ultrasonic transducer module when operating, wherein the central axis of the ultrasonic beam needs to form an angle θ with the moving direction of the ship, and θ needs to be smaller than 90 °.
Further, in step S4, when the navigational speed detection ultrasonic transducer is mounted, the central axis of the ultrasonic beam of the navigational speed detection ultrasonic transducer needs to be parallel to the horizontal plane.
Compared with the prior art, the invention has the following advantages:
1. the working method of the ship low-navigational-speed underwater detection system provided by the invention adopts the ultrasonic Doppler effect to detect the navigational speed of the ship, and creates a new scheme for measuring the low navigational speed in the navigation buildings such as the ship lift and the like.
2. According to the ship low-navigational-speed underwater detection system, the detection equipment is arranged underwater, so that the influence of moving objects on the ship to be detected and around the ship to be detected on speed measurement is eliminated.
3. The ship low-navigational-speed underwater detection system provided by the invention adopts high-frequency ultrasonic signals, greatly improves the detection precision and reduces the difficulty in equipment research, development and purchase.
Based on the reasons, the invention can be widely popularized in the fields of speed detection, ship safety detection and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic illustration of the installation of the system of the present invention.
Fig. 3 is a schematic illustration of the installation of the system of the present invention.
Fig. 4 is a schematic diagram of an ultrasonic wave transmitting driving circuit of the modem module of the system of the present invention.
Fig. 5 is a schematic diagram of an ultrasonic wave transmitting modulation circuit of the system modem module of the present invention.
In the figure: 1. an ultrasonic transducer module for detecting navigational speed; 2. a temperature sensor module; 3. a tilt sensor module; 4. a modulation and demodulation module; 5. a data acquisition and processing module; 6. and the navigation speed data transmission module.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
As shown in fig. 1, the present invention provides a low-speed underwater detection system for a ship, comprising: the system comprises an ultrasonic wave transducer module 1 for detecting navigational speed, a temperature sensor module 2, an inclination angle sensor module 3, a modulation and demodulation module 4, a data acquisition and processing module 5 and a navigational speed data transmission module 6; the navigational speed detection ultrasonic transducer module 1, the temperature sensor module 2 and the inclination angle sensor module 3 are integrated in a dense detection device and are arranged under the water surface; the modulation and demodulation module 4 is physically connected with the navigational speed detection ultrasonic transducer module 1 and is used for modulating a high-frequency signal required by a system and demodulating and converting the signal into a voltage driving signal to drive the transducer to work; the data acquisition and processing module 5 is physically connected with the navigational speed detection ultrasonic transducer module 1, the temperature sensor module 2 and the inclination angle sensor module 3, and is used for performing impedance matching on the transducers, receiving an echo signal received by the navigational speed detection ultrasonic transducer module 1, amplifying, filtering and shaping the echo signal, analyzing Doppler frequency shift of the echo signal, calculating the real-time navigational speed of the ship, and simultaneously acquiring the temperature sensor module 2 and the inclination angle sensor module 3 for calculating and correcting the real-time navigational speed of the ship; the speed data transmission module 6 is used for wirelessly transmitting the real-time speed data to the handheld device and storing the data in a database.
Further, as a preferred embodiment of the present invention, the navigational speed detection ultrasonic transducer module 1 is mainly composed of an ultrasonic transducer, and the ultrasonic transducer is both a transmitter and a receiver in the system, and corresponds to an ultrasonic beam; the ultrasonic wave emitted by the ultrasonic transducer is concentrated in a narrower ultrasonic wave beam range, the central axis of the ultrasonic wave beam is parallel to the horizontal plane, and a certain angle is formed between the central axis of the ultrasonic wave beam and the axis of the navigation channel of the ship lift, and the angle can be adjusted along with the width and the length of the navigation channel, so that the navigation speed of a ship entering and exiting the ship lift chamber is ensured to be in a measurement range.
Further, as a preferred embodiment of the present invention, the temperature sensor module 2 is a temperature sensor of model RSDS12, the temperature measurement range is-55 to 125 ℃, the measurement progress is ± 0.5 ℃ for measuring the current water temperature, and the measured water temperature is used for correcting the deviation of the sound velocity under the current water temperature state equation.
Further, as a preferred embodiment of the present invention, the tilt sensor module 3 is a tilt sensor of model LVT426T, the measurement range of the tilt sensor module is 0 to ± 180 °, the measurement precision is 0.3 °, the resolution is 0.05 °, and the tilt sensor module is used for measuring the tilt of the device, and the tilt of the device is used for ensuring that the supersonic transducer module for detecting the speed of a ship is at a correct angle.
Further, as a preferred embodiment of the present invention, the modem module mainly comprises an ultrasonic emission driving circuit and an ultrasonic emission modulation circuit, as shown in fig. 4, which is a schematic diagram of the ultrasonic emission driving circuit, as shown in fig. 5, which is a schematic diagram of the ultrasonic emission modulation circuit.
Example 2
On the basis of the embodiment 1, the invention also provides a working method of the ship low-navigational-speed underwater detection system, which comprises the following steps:
s1, modulation transmission frequency:
the modulation and demodulation module modulates a high-frequency signal with the frequency f required by the ship low-speed detection system, demodulates and converts the high-frequency signal into a 12V driving signal, and drives the speed detection ultrasonic transducer module 1 to transmit ultrasonic waves with the frequency f to a channel at a certain time interval;
s2, measuring Doppler frequency shift:
after the transmission is finished, the modem module 4 is closed, the data acquisition and processing module 5 is started at the same time, the ultrasonic wave scattered back is received, the flow velocity of the water body in the channel is approximately zero, when the ship passes through the channel and is close to the ultrasonic transducer, the echo frequency is higher than the transmission frequency, when the ship passes through the channel and is far away from the ultrasonic transducer, the echo frequency is lower than the transmission frequency, and the echo signal is amplified, filtered, shaped, judged by a threshold value and calculated by the frequency, so that the frequency information f' of the echo is obtained;
s3, calculating and correcting the speed information:
the data acquisition and processing module 5 acquires data of the temperature sensor module 2 and the inclination angle sensor module 3 in real time, and the system acquires the speed V of real-time corrected ultrasonic waves in water; according to the doppler effect: setting the motion of the wave source S and the motion of the observer R on a connecting line of the wave source and the observer, calibrating a fixed angle theta, representing an included angle between the central axis of ultrasonic beams emitted by the ultrasonic transducer and the motion direction of the ship by theta, representing the speed of the observer relative to a medium by v, and taking an approaching wave source as positive; the velocity of the wave source relative to the medium is expressed as u, which is negative toward the observer; the wave source emission frequency is f; when both the source S and the observer R move, the frequency relationship between the observer and the source is:
if the speed of the wave source relative to the medium is ignored, the moving ship speed formula is as follows:
the angle between the ultrasonic wave emission direction and the ship movement direction is theta, then the speed v' of the moving ship in the channel axis direction is:
s4, calibrating angle theta:
the ultrasonic direction emitted by the navigational speed detection ultrasonic transducer and the movement direction of the ship to be detected can normally work only within a certain angle range, a fixed angle theta needs to be calibrated when the navigational speed detection ultrasonic transducer is installed, whether the navigational speed detection ultrasonic transducer is in the normal angle theta is monitored in real time through an inclination angle sensor when equipment runs, and if the inclination angle sensor is not abnormal, the ship data is transmitted to a navigational speed data transmission module 6;
s5, transmitting ship speed data:
the speed data transmission module 6 transmits the real-time speed data to the handheld device through wireless or other network equipment, and stores the data in a database.
Further, as a preferred embodiment of the present invention, as shown in fig. 2, when the cruise detection apparatus is in operation, the central axis of the ultrasonic beam emitted by the cruise detection ultrasonic transducer module needs to form an angle θ with the moving direction of the ship, and θ needs to be smaller than 90 °.
Further, as a preferred embodiment of the present invention, as shown in fig. 3, when the navigational speed detection ultrasonic transducer is installed, the central axis of the ultrasonic beam of the navigational speed detection ultrasonic transducer needs to be parallel to the horizontal plane.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A low navigational speed underwater detection system for a vessel, comprising: the device comprises an ultrasonic wave transducer module (1) for detecting the navigational speed, a temperature sensor module (2), an inclination sensor module (3), a modulation and demodulation module (4), a data acquisition and processing module (5) and a navigational speed data transmission module (6);
the navigational speed detection ultrasonic transducer module (1), the temperature sensor module (2) and the inclination angle sensor module (3) are integrated in a dense detection device and are arranged under the water surface;
the modulation and demodulation module (4) is connected with the navigational speed detection ultrasonic transducer module (1) and is used for modulating a high-frequency signal required by the system and demodulating and converting the high-frequency signal into a voltage driving signal to drive the transducer to work;
the data acquisition and processing module (5) is connected with the navigational speed detection ultrasonic transducer module (1), the temperature sensor module (2) and the inclination angle sensor module (3) and is used for carrying out impedance matching on the ultrasonic transducer, receiving an echo signal received by the navigational speed detection ultrasonic transducer module (1), amplifying, filtering and shaping the echo signal, analyzing the Doppler frequency shift of the echo signal and calculating the real-time navigational speed of the ship, and meanwhile, the acquisition temperature sensor module (2) and the inclination angle sensor module (3) are used for calculating and correcting the real-time navigational speed of the ship;
the speed data transmission module (6) is used for wirelessly transmitting the real-time speed data to the handheld device and storing the data into the database.
2. A low voyage underwater detection system of a ship according to claim 1, characterized in that said voyage detection ultrasonic transducer module (1) is mainly constituted by an ultrasonic transducer which is both a transmitter and a receiver in the system, corresponding to an ultrasonic beam.
3. The underwater detection system for low navigational speed of ship according to claim 1 or 2, wherein the ultrasonic wave emitted by the ultrasonic transducer is focused within a narrow ultrasonic wave beam range, and the central axis of the ultrasonic wave beam is parallel to the horizontal plane and forms an angle with the axis of the approach channel of the ship lift, and the angle can be adjusted according to the width and length of the channel, so that the navigational speed of the ship entering and exiting the ship chamber of the ship lift is within the measurement range.
4. The underwater detection system for the low navigational speed of the ship as claimed in claim 1, wherein the temperature sensor module (2) is a temperature sensor with model number RSDS12, the temperature measuring range is-55 to 125 ℃, the measuring progress is +/-0.5 ℃ for measuring the current water temperature, and the measured water temperature is used for correcting the deviation of the sound velocity under the current water temperature state equation.
5. The underwater detection system for low navigational speed of marine vessels of claim 1, wherein the tilt sensor module (3) is a tilt sensor of model LVT426T, the measurement range is 0 to ± 180 °, the measurement accuracy is 0.3 °, the resolution is 0.05 °, and the tilt sensor module is used for measuring the tilt angle of the device, and the tilt angle of the device is used for ensuring that the ultrasonic transducer module for navigational speed detection is at the correct angle.
6. The underwater detection system of low navigational speed of a ship according to claim 1, wherein said modem module (4) is essentially composed of an ultrasonic emission driving circuit and an ultrasonic emission modulation circuit.
7. A working method of the ship low-speed underwater detection system based on the claims 1-6 is characterized by comprising the following steps:
s1, modulation transmission frequency:
the modulation and demodulation module modulates a high-frequency signal with the frequency f required by the ship low-speed detection system, demodulates and converts the high-frequency signal into a 12V driving signal, and drives the speed detection ultrasonic transducer module (1) to emit ultrasonic waves with the frequency f to a channel at a certain time interval;
s2, measuring Doppler frequency shift:
after the transmission is finished, the modulation and demodulation module (4) is closed, the data acquisition and processing module (5) is started at the same time, the scattered ultrasonic waves are received, the flow velocity of a water body in a channel is approximately zero, when a ship passes through the channel and is close to the ultrasonic transducer, the echo frequency is higher than the transmission frequency, when the ship passes through the channel and is far away from the ultrasonic transducer, the echo frequency is lower than the transmission frequency, and the echo signals are amplified, filtered, shaped, judged by a threshold value and calculated by a frequency, so that the frequency information f' of the echo is obtained;
s3, calculating and correcting the speed information:
the data acquisition and processing module (5) acquires data of the temperature sensor module (2) and the inclination angle sensor module (3) in real time, and the system acquires the speed V of the real-time corrected ultrasonic waves in water; according to the doppler effect: setting the motion of the wave source S and the motion of the observer R on a connecting line of the wave source and the observer, calibrating a fixed angle theta, representing an included angle between the central axis of ultrasonic beams emitted by the ultrasonic transducer and the motion direction of the ship by theta, representing the speed of the observer relative to a medium by v, and taking an approaching wave source as positive; the velocity of the wave source relative to the medium is expressed as u, which is negative toward the observer; the wave source emission frequency is f; when both the source S and the observer R move, the frequency relationship between the observer and the source is:
if the speed of the wave source relative to the medium is ignored, the moving ship speed formula is as follows:
the angle between the ultrasonic wave emission direction and the ship movement direction is theta, then the speed v' of the moving ship in the channel axis direction is:
s4, calibrating angle theta:
the ultrasonic direction transmitted by the navigational speed detection ultrasonic transducer and the movement direction of the ship to be detected can normally work only within a certain angle range, a fixed angle theta needs to be calibrated when the navigational speed detection ultrasonic transducer is installed, the navigational speed detection ultrasonic transducer is monitored in real time through an inclination angle sensor when equipment runs, and if the inclination angle sensor is not abnormal, the ship data is transmitted to a navigational speed data transmission module (6);
s5, transmitting ship speed data:
the speed data transmission module (6) transmits the real-time speed data to the handheld device through wireless or other network equipment, and stores the data in a database.
8. The method according to claim 7, wherein the step S4 further comprises the step of the cruise test ultrasonic transducer module emitting an ultrasonic beam with a central axis at an angle θ with the moving direction of the ship, where θ is smaller than 90 °.
9. The method according to claim 7, wherein in step S4, when the speed detection ultrasonic transducer is installed, the central axis of the ultrasonic beam of the speed detection ultrasonic transducer is parallel to the horizontal plane.
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| CN201911270019.7A CN110816782A (en) | 2019-12-11 | 2019-12-11 | Ship low-navigational-speed underwater detection system and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498025A (en) * | 2020-06-17 | 2020-08-07 | 山东省地质矿产勘查开发局第四地质大队(山东省第四地质矿产勘查院) | Water surveying and mapping device for surveying and mapping ocean engineering |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111498025A (en) * | 2020-06-17 | 2020-08-07 | 山东省地质矿产勘查开发局第四地质大队(山东省第四地质矿产勘查院) | Water surveying and mapping device for surveying and mapping ocean engineering |
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