CN102353956A - Device and method for measuring water draught of inland ship based on sonar synchronous scanning - Google Patents
Device and method for measuring water draught of inland ship based on sonar synchronous scanning Download PDFInfo
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- CN102353956A CN102353956A CN2011101859894A CN201110185989A CN102353956A CN 102353956 A CN102353956 A CN 102353956A CN 2011101859894 A CN2011101859894 A CN 2011101859894A CN 201110185989 A CN201110185989 A CN 201110185989A CN 102353956 A CN102353956 A CN 102353956A
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Abstract
The invention discloses a device for measuring the waster draught of an inland ship based on sonar synchronous scanning. By using the device, the water draught of a ship is measured on line by adopting a sonar receiving device and a sonar transmitting device which move synchronously. The invention further discloses a measuring method based on the device. The device and the measuring method have the beneficial technical effects that sonar arrays are avoided being arranged in a high-density way through the scanning detection of a single set of the sonar transmitting device and the sonar receiving device; the equipment cost is decreased; synchronously, the requirements on the beam characteristics of sonar signals are decreased greatly; the problem that signals interfere mutually does not exist; the influence of a sonar divergence angle on detection precision is eliminated; and the detection precision can be improved to the utmost extent.
Description
Technical field
The present invention relates to a kind of shipping draft measuring technique, relate in particular to a kind of inland navigation craft draft measurement mechanism and method based on sonar synchronous scanning.
Background technology
Water transport is as means of transportation with the longest history, outstanding advantage such as have that freight volume is big, small investment, cost are low.In recent years, along with the continuous propelling of national strategy to develop western regions, and the vigorously implementing of the many construction projects of the Changjiang river golden waterway and tributary thereof, the advantage of inland water transport constantly manifests, and the water transport ability is just presenting the state of develop rapidly.
Unobstructedly do not hinder operation for what guarantee cruiseway; Must be prone to stranded section at some boats and ships drauht is carried out on-line measurement; Reduce to greatest extent the navigation channel stranded, hinder incident such as boat to take place; Guarantee channel safe, and boats and ships carry out administrative penalty that foundation is provided to " ultra drinking water " for the navigation channel administration staff.
Draft is measured the most direct; Simple method is to judge through inspection water marks and load line; But be subjected to ordering about of interests; Some shipowner does not stint mark draught mark and load line again; Attempt to get by under false pretences; This method also is subjected to the boats and ships self stability simultaneously; Factor affecting such as malformation; So whether the load line of visualization boats and ships surpasses corresponding permission load line; Do not have accuracy; Can only be as the clue of the doubtful overload of ship; And can not be as the evidence of assert that this ship has overloaded; This will be the unobstructed great hidden of burying in navigation channel, so must rely on more accurate measurement means shipping draft is carried out on-line monitoring.
Mainly contain two kinds of practicable drauht detection systems at present:
1, sidewall sonar array fixation measuring system
This method is only applicable to the comparatively simple zone of Channel Conditions such as ship lock or lock approach.This system's sonar array is provided with the position as shown in Figure 1, at ship lock or lock approach both sides a plurality of sonar equipment signal generator arrays and receiving array is installed highly suitably.When boats and ships through out-of-date; Owing to stopped by hull; A plurality of receivers in the water surface to the hull bottom elevation scope do not receive signal (receiving device like a, b, c bugle call among Fig. 1); Extrapolate the real draft of boats and ships according to the position of the position of the receiver that can receive signal that is close to the hull bottom downside (receiving device like d bugle call among Fig. 1) and the water surface, whether ultra drinking water is navigated by water to judge it.
The defective of this method is: in order to guarantee accurately to detect the bottom margin of boats and ships, just must make the sonar receiver and transmitter arrange closely as far as possible, the sonar arrangements of components is overstocked simultaneously, adjacent sonar parts is produced crosstalk, and influences accuracy of detection.So this method exists cost high, the shortcoming that accuracy of detection is low.In addition; Because the sonar diffusion is directly proportional with the boats and ships distance; It is wide more to measure the waters; Be easy to generate the phase mutual interference between adjacent sonar more; Can reduce measuring accuracy greatly; So this method is the comparatively simple and narrower zone of measuring distance applicable to Channel Conditions such as ship lock or lock approach only, is difficult to be applied in the actual cruiseway.
2, water-bed sonar array fixation measuring system
This system's sonar array is provided with the position as shown in Figure 2; The a plurality of sonar equipments that are installed on the water-bed bed hedgehopping track (possess receipts simultaneously; Send out function) Vertical Launch simultaneously makes progress sonar signal; When boats and ships through out-of-date; With the vertical sonar equipment that overlaps in hull zone (like d among Fig. 2; E; F; G; The h bugle call is received device) acoustical signal sent reflects through hull; The sonar propagation trajectories changes; And received by sonar equipment; Utilize measurement mechanism can calculate the distance H 1 of boats and ships to sonar equipment; All the other acoustical signals are not by the emission of the sonar equipment of hull reflection; Receiving locus is constant; Sonar signal is transmitted to the water surface; After water-reflected; The signal of reflection is received by sonar equipment again; Utilize measurement mechanism can calculate the distance H 2 of the water surface to sonar equipment; Because when boats and ships cross; The fluctuation of the water surface is very big; So distance H 2 need be got a plurality of sonar to measure devices simultaneously; The mean value of single measurement; Could effectively reduce the influence (even like this handle back error also very big) of wave to H2, the difference of last H2 and H1 is the draft H0 of boats and ships.
The defective of this method is: need guarantee that the acoustical signal that sonar equipment launches is vertical with surface level; It is big that device is provided with difficulty; Its measuring accuracy is tilted by hull; The influence of situation such as riverbed silt; In natural river course; Particularly the zone takes place frequently in " ultra drinking water "; The section of silted by mud and sand especially; The sonar assembly is installed in the waters of silted by mud and sand; Be difficult to guarantee the accuracy of measurement; Simultaneously in Upper Yangtze River; Water-bed array measurement method also can face the danger that cobble impacts, and is difficult to guarantee stable for a long time; Reliable measuring, and this method also is difficult to be applied in the actual cruiseway.
Summary of the invention
To the problem in the background technology; Need high-density arrangement in order to solve existing draft measurement mechanism, be subject to the silt cobble become silted up bury, self mutual interference of signal phase is big and measuring accuracy is low problem, the present invention proposes a kind of inland navigation craft draft measurement mechanism based on sonar synchronous scanning: it is made up of two guide rails, sonar receiving trap, sonar emitter, two gearings, control device and water surface curve measurement mechanisms; Two guide rails are oppositely arranged, and each is connected sonar receiving trap and sonar emitter with a gearing, and gearing and guide rail are slidingly connected correspondingly; Sonar receiving trap, sonar emitter, two gearings, water surface curve measurement mechanisms all are electrically connected with control device; Sonar receiving trap and sonar emitter are in same surface level all the time.
The invention allows for a kind of measuring method based on aforementioned measurement mechanism; The steps include: 1) two actuator drives sonar receiving traps and sonar emitter be synchronized with the movement on guide rail, and sonar receiving trap and sonar emitter are in same surface level all the time;
2) transmit direction of the receive direction of sonar receiving trap and sonar emitter is coaxial; The sonar emitter continues to transmit; When signal generation saltus step that the sonar receiving trap receives, the sonar emitter of this moment or the position of sonar receiving trap are the hull bottom position;
3) relative position according to sonar emitter or sonar receiving trap and guide rail calculates the height number A of hull bottom position with respect to guide rail; Read the water surface site reading of water surface curve measurement mechanism simultaneously, and calculate the height number B of water surface site reading with respect to guide rail;
4) difference of computed altitude numerical value A and height number B can obtain shipping draft.
Step 2) the signal generation saltus step that receives when the sonar receiving trap described in comprises: when sonar receiving trap and sonar emitter move downward synchronously, the reception signal of sonar receiving trap from no signal to the signal saltus step is arranged; When sonar receiving trap and sonar emitter moved upward synchronously, the reception signal of sonar receiving trap was from having signal to the no signal saltus step.
Useful technique effect of the present invention is: detect through the emission of single cover sonar, receiving trap scanning; Avoided high density that sonar array is set; Reduced equipment cost; Reduce simultaneously requirement greatly to sonar signal beam characteristic; The problem that does not have the mutual interference of signal phase; Eliminated of the influence of the sonar angle of divergence, can improve accuracy of detection to greatest extent accuracy of detection.
Description of drawings
Fig. 1, existing sidewall sonar array fixation measuring system sonar position synoptic diagram;
Fig. 2, existing water-bed sonar array fixation measuring system sonar position synoptic diagram;
Fig. 3, measurement mechanism system architecture synoptic diagram one of the present invention;
Fig. 4, measurement mechanism system architecture synoptic diagram two of the present invention.
Embodiment
Scheme of the present invention is: it is made up of two guide rails 1, sonar receiving trap 2, sonar emitter 3, two gearings 4, control device and water surface curve measurement mechanisms; Two guide rails 1 are oppositely arranged, and sonar receiving trap 2 respectively is connected with a gearing 4 with sonar emitter 3, and gearing 4 is slidingly connected with guide rail 1 correspondingly; Sonar receiving trap 2, sonar emitter 3, two gearings 4, water surface curve measurement mechanisms all are electrically connected with control device; Sonar receiving trap 2 is in same surface level all the time with sonar emitter 3.
During measurement; Control device control transmission device 4; Sonar receiving system 2 and sonar emitter 3 are synchronized with the movement; And make sonar receiving system 2 and sonar emitter 3 remain at same horizontal plane; Sonar emitter 3 emission sonar signals; If the boats and ships process is arranged; When sonar emitter 3 moves in the elevation scope of the water surface to hull bottom (as shown in Figure 3); Sonar signal is because of being stopped by hull; Can't be received by sonar receiving system 2; The input of sonar receiving system 2 no signals; When sonar emitter 3 just moves to hull bottom with upper/lower positions (as shown in Figure 4); Sonar signal is received by sonar receiving system 2 because of unobstructed; The input signal generation saltus step of sonar receiving system 2 is (when sonar receiving system 2 and sonar emitter 3 move from the bottom up; The signal of sonar receiving system 2 is from having signal to the no signal saltus step); Can know the relative position of hull bottom and guide rail 1 this moment according to the position of sonar receiving system 2 or sonar emitter 3; According to the measured water surface site of water surface curve measurement mechanism and the relative position of guide rail 1, can obtain the shipping draft data again by simple calculating.
What the present invention and prior art were maximum is not both; Prior art adopts array fixed position metering system; The present invention adopts monomer-type motion scan metering system, the benefit following points of portable scanning: 1, reduced installation cost, need not a large amount of, high-density arrangement sonar equipment; 2, with respect to being installed in water-bed array, simplified installation; 3,, avoided sonar equipment to be become silted up and buried, applicable to the section of silted by mud and sand by silt because sonar equipment often is in mobile status; 4, the reception of sonar equipment and ballistic device are monomer-type; Avoided the signal between a plurality of sonar equipments of array to disturb; Avoided existing array device to need the sonar generating means to possess the problem of high beam characteristic, applicable to the section of big span; 5, the position-controllable property of sonar equipment is strong, can scan repeatedly same position or same section.
On aforesaid system architecture basis, two guide rails 1 can vertically be provided with, and the move distance in the time of can further shortening sonar receiving trap 2 with 3 scannings of sonar emitter improves scan efficiency.
The control method of system of the present invention is: 1) two gearings 4 driving sonar receiving traps 2 are synchronized with the movement on guide rail 1 with sonar emitter 3, and sonar receiving trap 2 is in same surface level all the time with sonar emitter 3;
2) transmit direction of the receive direction of sonar receiving trap 2 and sonar emitter 3 is coaxial; Sonar emitter 3 continues to transmit; When signal generation saltus step that sonar receiving trap 2 receives, the sonar emitter 3 of this moment or the position of sonar receiving trap 2 are the hull bottom position;
3) relative position according to sonar emitter 3 or sonar receiving trap 2 and guide rail 1 calculates the height number A of hull bottom position with respect to guide rail 1; Read the water surface site reading of water surface curve measurement mechanism simultaneously, and calculate the height number B of water surface site reading with respect to guide rail 1;
4) difference of computed altitude numerical value A and height number B can obtain shipping draft.
Step 2) the signal generation saltus step that receives when sonar receiving trap 2 described in mainly contains two kinds of situations: when sonar receiving trap 2 moves downward with sonar emitter 3 synchronously, the reception signal of sonar receiving trap 2 from no signal to the signal saltus step is arranged; When sonar receiving trap 2 moved upward with sonar emitter 3 synchronously, the reception signal of sonar receiving trap 2 was from having signal to the no signal saltus step.
Claims (3)
1. inland navigation craft draft measurement mechanism based on sonar synchronous scanning, it is characterized in that: it is made up of two guide rails (1), sonar receiving trap (2), sonar emitter (3), two gearings (4), control device and water surface curve measurement mechanism; Two guide rails (1) are oppositely arranged, and each is connected sonar receiving trap (2) and sonar emitter (3) with a gearing (4), and gearing (4) is slidingly connected with guide rail (1) correspondingly; Sonar receiving trap (2), sonar emitter (3), two gearings (4), water surface curve measurement mechanism all are electrically connected with control device; Sonar receiving trap (2) and sonar emitter (3) are in same surface level all the time.
2. inland navigation craft draft measuring method based on sonar synchronous scanning; It is characterized in that: step is: 1) two gearings (4) drive sonar receiving trap (2) and sonar emitter (3) is synchronized with the movement on guide rail (1), and sonar receiving trap (2) and sonar emitter (3) are in same surface level all the time;
2) transmit direction of the receive direction of sonar receiving trap (2) and sonar emitter (3) is coaxial; Sonar emitter (3) continues to transmit; When signal generation saltus step that sonar receiving trap (2) receives, the sonar emitter (3) of this moment or the position of sonar receiving trap (2) are the hull bottom position;
3) relative position according to sonar emitter (3) or sonar receiving trap (2) and guide rail (1) calculates the height number A of hull bottom position with respect to guide rail (1); Read the water surface site reading of water surface curve measurement mechanism simultaneously, and calculate the height number B of water surface site reading with respect to guide rail (1);
4) difference of computed altitude numerical value A and height number B can obtain shipping draft.
3. the inland navigation craft draft measuring method based on sonar synchronous scanning according to claim 2; It is characterized in that: step 2) described in the signal generation saltus step that receives when sonar receiving trap (2); Comprise: sonar receiving trap (2) and sonar emitter (3) be when moving downward synchronously, the reception signal of sonar receiving trap (2) from no signal to the signal saltus step is arranged; Sonar receiving trap (2) and sonar emitter (3) are when moving upward synchronously, and the reception signal of sonar receiving trap (2) is from having signal to the no signal saltus step.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110185989 CN102353956B (en) | 2011-07-05 | 2011-07-05 | Device and method for measuring water draught of inland ship based on sonar synchronous scanning |
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| CN 201110185989 CN102353956B (en) | 2011-07-05 | 2011-07-05 | Device and method for measuring water draught of inland ship based on sonar synchronous scanning |
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| CN102353956A true CN102353956A (en) | 2012-02-15 |
| CN102353956B CN102353956B (en) | 2013-01-02 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308013A (en) * | 2013-07-09 | 2013-09-18 | 重庆交通大学 | Method for measuring buttock bottom contour line of inland river ship |
| CN103759682A (en) * | 2014-01-20 | 2014-04-30 | 河海大学 | Track-variable pulley vehicle type ultrasonic ship lock sill abrasion detection device |
| CN103963939A (en) * | 2014-05-05 | 2014-08-06 | 山东大学 | Inland port ship load measuring system and method |
| CN104590502A (en) * | 2014-12-31 | 2015-05-06 | 大连海事大学 | Side-scanning ship draught detection system and method |
| CN104787261A (en) * | 2015-04-14 | 2015-07-22 | 重庆交通大学 | Ship-side-hanging inland river departure ship draft measurement device and control method thereof |
| CN105416524A (en) * | 2015-12-09 | 2016-03-23 | 武汉理工大学 | Ship draught depth detection system and method based on single-beam side-scanning technology |
| CN105738903A (en) * | 2016-01-26 | 2016-07-06 | 武汉德尔达科技有限公司 | Ship draught measured value calculating method |
| CN106005301A (en) * | 2016-07-06 | 2016-10-12 | 河海大学 | Detecting device for ship draft and detecting method |
| CN114037375A (en) * | 2021-11-04 | 2022-02-11 | 广州港发石油化工码头有限公司 | Wharf ship draft monitoring method, device, equipment and storage medium |
| CN114964444A (en) * | 2022-05-23 | 2022-08-30 | 江苏航运职业技术学院 | Ship weight calculation method based on dock inflow |
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Cited By (14)
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| CN103308013B (en) * | 2013-07-09 | 2015-12-23 | 重庆交通大学 | Inland navigation craft vertical profile bottom wheel profile measuring method |
| CN103308013A (en) * | 2013-07-09 | 2013-09-18 | 重庆交通大学 | Method for measuring buttock bottom contour line of inland river ship |
| CN103759682A (en) * | 2014-01-20 | 2014-04-30 | 河海大学 | Track-variable pulley vehicle type ultrasonic ship lock sill abrasion detection device |
| CN103759682B (en) * | 2014-01-20 | 2016-06-15 | 河海大学 | A kind of Track-variable pulley vehicle type ultrasonic ship lock sill abrasion detection device |
| CN103963939B (en) * | 2014-05-05 | 2016-06-29 | 山东大学 | A kind of inland harbour ship load measures system and method |
| CN103963939A (en) * | 2014-05-05 | 2014-08-06 | 山东大学 | Inland port ship load measuring system and method |
| CN104590502A (en) * | 2014-12-31 | 2015-05-06 | 大连海事大学 | Side-scanning ship draught detection system and method |
| CN104787261A (en) * | 2015-04-14 | 2015-07-22 | 重庆交通大学 | Ship-side-hanging inland river departure ship draft measurement device and control method thereof |
| CN105416524A (en) * | 2015-12-09 | 2016-03-23 | 武汉理工大学 | Ship draught depth detection system and method based on single-beam side-scanning technology |
| CN105738903A (en) * | 2016-01-26 | 2016-07-06 | 武汉德尔达科技有限公司 | Ship draught measured value calculating method |
| CN106005301A (en) * | 2016-07-06 | 2016-10-12 | 河海大学 | Detecting device for ship draft and detecting method |
| CN114037375A (en) * | 2021-11-04 | 2022-02-11 | 广州港发石油化工码头有限公司 | Wharf ship draft monitoring method, device, equipment and storage medium |
| CN114037375B (en) * | 2021-11-04 | 2022-06-28 | 广州港发石油化工码头有限公司 | Wharf ship draft monitoring method, device, equipment and storage medium |
| CN114964444A (en) * | 2022-05-23 | 2022-08-30 | 江苏航运职业技术学院 | Ship weight calculation method based on dock inflow |
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