CN211308915U - Low-navigational-speed underwater detection system for ship - Google Patents
Low-navigational-speed underwater detection system for ship Download PDFInfo
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- CN211308915U CN211308915U CN201922214203.1U CN201922214203U CN211308915U CN 211308915 U CN211308915 U CN 211308915U CN 201922214203 U CN201922214203 U CN 201922214203U CN 211308915 U CN211308915 U CN 211308915U
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Abstract
The utility model provides a low navigational speed underwater detection system of boats and ships. The utility model discloses the system, include: 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 utility model solved current ship speed detection technique and received on the survey boats and ships easily and surveyed the influence of the target of moving around for measure inaccurately.
Description
Technical Field
The utility model relates to a speed of a ship detects and boats and ships safety inspection technical field, particularly, especially relates to a low speed of a ship underwater detection system.
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.
SUMMERY OF THE UTILITY MODEL
According to the technical problem provided by the invention, the underwater detection system for the low navigational speed of the ship is provided. The utility model integrates the supersonic transducer module, the temperature sensor module and the inclination sensor module into a compact 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 utility model discloses a technical means 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.
Compared with the prior art, the utility model has the advantages of it is following:
1. the utility model provides a low navigational speed underwater detection system of boats and ships arranges check out test set in under water, has eliminated on the surveyed boats and ships and has been surveyed the influence that the ship motion target caused around to testing the speed.
2. The utility model provides a low navigational speed underwater detection system of boats and ships adopts high frequency ultrasonic signal, has greatly improved the detection precision, has reduced the equipment research and development purchase degree of difficulty.
Based on the reason above, the utility model discloses can extensively promote in fields such as speed detection and boats and ships safety inspection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are 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 inventive labor.
Fig. 1 is a schematic structural diagram of the system of the present invention.
Fig. 2 is an installation schematic diagram of the system of the present invention.
Fig. 3 is an installation diagram 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, in the present invention, 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 accompanying drawings in conjunction with embodiments.
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 accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all 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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to 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 example embodiments in accordance with 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.
Unless specifically stated 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. 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 should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element in question must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed 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 if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
As shown in fig. 1, the utility model provides a low navigational speed underwater detection system of boats and ships, include: 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 the utility model discloses preferred embodiment, temperature sensor module 2 be the temperature sensor of model RSDS12, its temperature measurement range is-55 ~ 125 ℃, measurement progress 0.5 ℃ for measure current temperature, measure the temperature and be used for revising the deviation of sound velocity under current temperature equation of state.
Further, as the utility model discloses preferred embodiment, inclination sensor module 3 be the inclination sensor of model LVT426T, its measuring range is 0- +/-180, and measurement accuracy is 0.3, and resolution ratio is 0.05 for the measuring equipment inclination, the measuring equipment inclination is used for guaranteeing that the speed of a ship detects ultrasonic transducer module and is in 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 embodiment 1, the utility model also provides a low navigational speed underwater detection system's of boats and ships theory of operation, specifically as follows:
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 the preferred embodiment of the present invention, as shown in fig. 2, when the cruise detection device is operating, the central axis of the ultrasonic beam emitted by the cruise detection ultrasonic transducer module needs to form an angle θ with the movement 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 detecting ultrasonic transducer is installed, the central axis of the ultrasonic beam of the navigational speed detecting 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; although the present invention has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (6)
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. A marine vessel low speed underwater detection system as claimed in claim 1, wherein said temperature sensor module (2) is a temperature sensor of type RSDS 12.
5. A marine vessel low speed underwater detection system as claimed in claim 1, wherein said inclination sensor module (3) is an inclination sensor of model LVT 426T.
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.
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| CN201922214203.1U CN211308915U (en) | 2019-12-11 | 2019-12-11 | Low-navigational-speed underwater detection system for ship |
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| CN201922214203.1U CN211308915U (en) | 2019-12-11 | 2019-12-11 | Low-navigational-speed underwater detection system for ship |
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