CN102915019B - System for monitoring free state and anchoring state of floating docks - Google Patents

System for monitoring free state and anchoring state of floating docks Download PDF

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CN102915019B
CN102915019B CN201210429698.XA CN201210429698A CN102915019B CN 102915019 B CN102915019 B CN 102915019B CN 201210429698 A CN201210429698 A CN 201210429698A CN 102915019 B CN102915019 B CN 102915019B
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floating drydock
node
state
data
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CN102915019A (en
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曹辉
贾宝柱
张均东
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Dalian Haida Zhichuan Technology Co.,Ltd.
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Dalian Maritime University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention discloses a system for monitoring a free state and an anchoring state of floating docks. The system comprises a plurality of monitoring nodes for monitoring different floating docks respectively and a monitoring center, wherein each monitoring node is connected with the monitoring center through optical fiber; each monitoring node comprises a data acquisition unit, a central processing unit, a node display unit, a node alarm unit and a node optical fiber transmitting/receiving unit; the monitoring center comprises a center optical fiber transmitting/receiving unit, a center display unit, a center control unit and a center alarm unit; and the central processing unit comprises a data acquisition unit, a data processing unit, a state judgment unit, a node control unit and a storage unit. The system is specially applied to the special monitoring objects, namely the floating docks, can analyze and calculate the acquired and detected state data, has pertinence, and is comprehensive, perfect, accurate, reliable, convenient and practicable.

Description

Dissociate and anchored condition surveillance in floating drydock
Technical field
The present invention relates to a kind of floating drydock dissociates and anchored condition surveillance.
Background technology
Floating drydock is for shiprepair, shipbuilding and the engineering ship that can move and can drift along of salvaging a sunken ship, the development of repairing shipbuilding industry along with the modern times, the scale at floating drydock constantly increases, automaticity increases day by day, to controlling the real-time at floating drydock and the security requirement of its work, also improve constantly simultaneously, and effective supervision of and anchored condition free to floating drydock is floating drydock and the necessary guarantee of being lifted safety of ship work, in prior art, there are the following problems for the surveillance of the free and anchoring in floating drydock: use the data acquisition that completes floating drydock for the surveillance of boats and ships, the follow-up works such as transmission and demonstration, though having certain versatility, surveillance only lacks state analysis processing and the trend prediction function for this special monitored object of floating drydock, surveillance is not pointed, function is not mated imperfection.
Summary of the invention
The present invention is directed to the proposition of above problem, and develop a kind of pointed, comprehensively perfect, accurately and reliably, convenient and practical floating drydock is free and anchored condition surveillance.
Technological means of the present invention is as follows:
Dissociating and an anchored condition surveillance in floating drydock, comprising: comprise for monitoring respectively a plurality of supervision nodes and the central monitoring position at different floating drydock; Each monitors between node and central monitoring position and is connected by optical fiber;
Described supervision node comprises for gathering the data acquisition unit of floating drydock state primary data; Central processing unit; Described central processing unit comprises connection data collecting unit, data processing unit, state judging unit and node control unit respectively, the storage unit of the floating drydock state processing data that the floating drydock state primary data transmitting for storage vessels depressed place preassigned state parameter, data acquisition unit, the failure message that state judging unit transmits and data processing unit transmit; Connect storage unit, for the preassigned state parameter and the floating drydock state primary data that store according to storage unit, carry out the data processing unit that analytical calculation obtains floating drydock state processing data; Connect storage unit, the state judging unit that carries out state judgement for the floating drydock preassigned state parameter that stores according to storage unit and floating drydock state processing data; Connect respectively storage unit, node optical fiber transceiving unit and data acquisition unit, for controlling, monitor that floating drydock state primary data and floating drydock state processing data adjustment data acquisition unit that node duty, configuration-system parameter, the central monitoring position steering order sending over according to node optical fiber transceiving unit and storage unit store move, control the node control unit that node optical fiber transceiving unit receives and sends;
Connect storage unit, the node display unit that shows the two-dimensional square bitmap at floating drydock for the floating drydock state primary data that stores according to storage unit and floating drydock state processing data;
Connection status judging unit, for the node alarm unit of reporting to the police according to the judged result of state judging unit;
Connected node control module, for the node optical fiber transceiving unit that sends failure message, floating drydock state primary data and floating drydock state processing data and receive the steering order that central monitoring position transmits;
Described central monitoring position comprises connected node optical fiber transceiving unit, for receiving the central optical fiber Transmit-Receive Unit of the steering order that each failure message, floating drydock state primary data and floating drydock state processing data that monitor that node transmits and dispatching centre control module transmit; Connect central optical fiber Transmit-Receive Unit, for the center display unit that monitors that according to each floating drydock state primary data that node transmits and floating drydock state processing data show floating drydock two-dimensional square bitmap; Connect central optical fiber Transmit-Receive Unit, for each monitors the centralized control unit of the duty of node according to failure message, floating drydock state primary data and the floating drydock state processing Data Control of each supervision node; Connect central optical fiber Transmit-Receive Unit, for monitoring according to each center alarm unit that failure message of node is reported to the police;
Further, described data acquisition unit comprises at least two fixing distance measuring sensor Z 1, Z 2, at least three The Cloud Terrace T 1, T 2, T 3with at least one, the comprehensive high-speed holder T of camera is housed 4; Described The Cloud Terrace T 1, T 2, T 3the upper distance measuring sensor S that is mounted with respectively 1, S 2, S 3;
A supervision method for the free and anchored condition surveillance in floating drydock,
The supervision method that monitors node comprises the following steps:
S1: monitor node initializing, carry out S2;
S2: whether node control unit judges can detect data acquisition unit, is to carry out S3, otherwise goes to S17;
S3: whether the transmitting-receiving communications status of node control unit judges node optical fiber transceiving unit and Surveillance center is normal, is to carry out S4, otherwise goes to S18;
S4: node control cell location systematic parameter: w 3distance measuring sensor Z 1, Z 2between distance; w 1, w 2distance measuring sensor Z 1, Z 2divide the lateral separation of taking leave of two ends, floating drydock; w 4the length at floating drydock; θ be floating drydock with respect to the angle of inclination of bank, cos θ=(w 1+ w 2+ w 3)/w 4; d 1, d 2distance measuring sensor Z 1, Z 2divide the vertical range of taking leave of floating drydock; The Cloud Terrace T 1be positioned at distance measuring sensor Z 1, Z 2between, to distance measuring sensor Z 1, Z 2distance equate; The Cloud Terrace T 2, T 3between distance be greater than (w 1+ w 2+ w 3); Set p 1, p 2, p 3, p 4for four jiaos of floating drydock, angle point p wherein 1, p 2distance to bank is less than angle point p 3, p 4distance to bank; Angle point p 1, p 3to distance measuring sensor S 3distance be less than angle point p 2, p 4to distance measuring sensor S 3distance; p 5for being positioned at angle point p on floating drydock 1, p 2between, with distance measuring sensor S 1the angle point that place axis is vertical; Angle point p 1, p 2and p 5with distance measuring sensor S 1distance be l 1, l 2, l 3; Angle point p 1, p 2and p 4with distance measuring sensor S 2distance be l 4, l 5, l 6; Angle point p 1, p 2and p 3with distance measuring sensor S 3distance be l 7, l 8, l 9; α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9be respectively l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9with respect to the angle of horizontal direction, execution step S5;
S5: storage unit storage vessels depressed place preassigned state parameter d 1, d 2, w 1, w 2, w 3, w 4, θ, execution step S6;
S6: node optical fiber transceiving unit receives the steering order of central monitoring position, execution step S7;
S7: the action of data acquisition unit is controlled in node control unit according to the steering order of central monitoring position, execution step S8;
S8: data acquisition unit Real-time Collection floating drydock state primary data: the distance measuring sensor Z of data acquisition unit 1, Z 2real-time Collection distance measuring sensor Z 1, Z 2divide the vertical range d that takes leave of floating drydock 1', d 2'; The Cloud Terrace T 1, T 2and T 3dynamic rotary fan sweeping drives distance measuring sensor S 1, S 2and S 3survey the angle point p at floating drydock 1, p 2, p 3, p 4and p 5; Distance measuring sensor S 1gather the angle point p at floating drydock 1, p 2and p 5with distance measuring sensor S 1distance l 1, l 2, l 3; Distance measuring sensor S 2gather the angle point p at floating drydock 1, p 2and p 4with distance measuring sensor S 2distance l 4, l 5, l 6; Distance measuring sensor S 3gather the angle point p at floating drydock 1, p 2and p 3with distance measuring sensor S 3distance l 7, l 8, l 9, carry out S9;
S9: storage unit storage vessels depressed place state primary data d 1', d 2', l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9and α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9, carry out S10;
S10: the d that state judging unit stores according to storage unit 1, d 2and d 1', d 2' value judges whether | d 1'-d 1|>=c 1or | d 2'-d 2|>=c 1, c wherein 1for predetermined threshold, be to go to S19, otherwise carry out S11;
S11: the preassigned state parameter that data processing unit stores according to storage unit and floating drydock state primary data are carried out analytical calculation and obtained floating drydock state processing data: data processing unit according to formula tan θ '=| d 2'-d 1' |/w 3calculate floating drydock with respect to the tilt angle theta of bank '; Set distance measuring sensor S 3position be plane coordinate system initial point (0,0), data processing unit is according to formula p 1, x=l 7cos α 7, p 1, y=l 7sin α 7; p 2, x=l 8cos α 8, p 2, y=l 8sin α 8; p 3, x=l 9cos α 9, p 3, y=l 9sin α 9calculate angle point p 1, p 2, p 3coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 3, x, p 3, y), the while further calculates the tilt angle theta on phase opposite bank, floating drydock 12=arctan[(p 2, y-p 1, y)/(p 2, x-p 1, x)], θ 13=arctan[(p 3, y-p 1, y)/(p 3, x-p 1, x)], carry out S12;
S12: storage unit storage vessels depressed place state processing data θ ', p 1, p 2, p 3coordinate, θ 12and θ 13, carry out S13;
S13: state judging unit judges whether | θ '-θ |>=c 2, c wherein 2for predetermined threshold, be to go to S20, otherwise carry out S14;
S14: state judging unit judges whether | θ 12-θ 13|>=c 3or | θ 12-θ ' |>=c 3or | θ 13-θ ' |>=c 3time, c wherein 3for predetermined threshold, be to go to S21, otherwise carry out S15;
S15: the floating drydock state primary data that node display unit stores according to storage unit and floating drydock state processing data show the two-dimensional square bitmap at floating drydock, carries out S16;
S16: node control unit controls node optical fiber transceiving unit sends failure message, floating drydock state primary data and floating drydock state processing data, carries out S23;
S17: node alarm unit carries out the warning of data acquisition unit communication failure;
S18: node alarm unit carries out Surveillance center's communication failure warning;
S19: node alarm unit carries out floating drydock vertical misalignment warning, carries out S22;
S20: node alarm unit is rotated super scope and reports to the police, carries out S22;
S21: node alarm unit carries out distance measuring sensor fault alarm, carries out S22;
S22: storage unit stores failure message; Go to S16;
S23: node control unit controls is adjusted the action of data acquisition unit according to floating drydock state primary data and floating drydock state processing data, carry out S8;
The supervision method of central monitoring position comprises the following steps:
C1: central monitoring position initialization, carry out C2;
C2: centralized control unit judges that whether the transmitting-receiving communications status of central optical fiber Transmit-Receive Unit and monitor node is normal, is to carry out C3, otherwise goes to S17;
C3: central optical fiber Transmit-Receive Unit receives failure message, floating drydock state primary data and floating drydock state processing data, carries out C4;
C4: center display unit shows the two-dimensional square bitmap at floating drydock according to floating drydock state primary data and floating drydock state processing data, carry out C5;
C5: center alarm unit is reported to the police according to failure message, carries out C6;
C6: centralized control unit according to failure message, floating drydock state primary data and floating drydock state processing data to monitoring node sending controling instruction;
C7: center alarm unit carries out the warning of monitor node communication failure.
Owing to having adopted technique scheme, dissociate and anchored condition surveillance in floating drydock provided by the invention, be to be specifically applied to this special monitored object of floating drydock, solved prior art and used the not pointed and unmatched problem of function that completes the follow-up works such as data acquisition, transmission and demonstration at floating drydock for the surveillance of boats and ships; Can carry out analyzing and processing and calculating to the status data gathering and detect simultaneously, thereby obtain more status data, realize better more effective supervision; Adopt each supervision node and central monitoring position to combine and share floating drydock field data co-controlling, surveillance safety and reliability.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of supervision node of the present invention;
Fig. 2 is the structured flowchart of surveillance of the present invention;
Fig. 3 is the exemplary position arrangenent diagram of distance measuring sensor of the present invention and The Cloud Terrace;
Fig. 4 is the schematic diagram calculation that the The Cloud Terrace fan sweeping of diverse location of the present invention gathers floating drydock angle point;
Fig. 5, Fig. 6, Fig. 7 are The Cloud Terrace T of the present invention 1, T 2and T 3distance measuring sensor S in unidirectional fan sweeping process 1, S 2and S 3the trend map that the signal gathering changes with angle;
Fig. 8 is The Cloud Terrace T of the present invention 3signal intensity trend map in reciprocal fan sweeping process in time series;
Fig. 9 monitors that node monitors method flow diagram;
Figure 10 is that central monitoring position monitors method flow diagram.
Embodiment
By reference to the accompanying drawings the present invention is elaborated:
Dissociate and anchored condition surveillance in described a kind of floating drydock as shown in Figure 1, Figure 2, comprises for monitoring respectively a plurality of supervision nodes and the central monitoring position at different floating drydock; Each monitors between node and central monitoring position and is connected by optical fiber;
Described supervision node comprises for gathering the data acquisition unit 100 of floating drydock state primary data; Central processing unit 200; Described central processing unit 200 comprises connection data collecting unit 100, data processing unit 202, state judging unit 203 and node control unit 204 respectively, the storage unit 201 of the floating drydock state processing data that the floating drydock state primary data transmitting for storage vessels depressed place preassigned state parameter, data acquisition unit 100, the failure message that state judging unit transmits and data processing unit 202 transmit; Connect storage unit 201, for the preassigned state parameter and the floating drydock state primary data that store according to storage unit, carry out the data processing unit 202 that analytical calculation obtains floating drydock state processing data; Connect storage unit 201, the state judging unit 203 that carries out state judgement for the floating drydock preassigned state parameter that stores according to storage unit 201 and floating drydock state processing data; Connect respectively storage unit 201, node optical fiber transceiving unit 600 and data acquisition unit 100, for controlling, monitor that floating drydock state primary data and floating drydock state processing data adjustment data acquisition unit 100 that node duty, configuration-system parameter, the central monitoring position steering order sending over according to node optical fiber transceiving unit and storage unit store move, control the node control unit 204 that node optical fiber transceiving unit receives and sends;
Connect storage unit 201, the node display unit 300 that shows the two-dimensional square bitmap at floating drydock for the floating drydock state primary data that stores according to storage unit 201 and floating drydock state processing data;
Connection status judging unit 203, for the node alarm unit 400 of reporting to the police according to the judged result of state judging unit 203;
Connected node control module 204, for the node optical fiber transceiving unit 600 that sends failure message, floating drydock state primary data and floating drydock state processing data and receive the steering order that central monitoring position transmits;
Described central monitoring position comprises connected node optical fiber transceiving unit 600, for receiving the central optical fiber Transmit-Receive Unit 701 of the steering order that each failure message, floating drydock state primary data and floating drydock state processing data that monitor that node transmits and dispatching centre control module 703 transmit; Connect central optical fiber Transmit-Receive Unit 701, for the center display unit 702 that monitors that according to each floating drydock state primary data that node transmits and floating drydock state processing data show floating drydock two-dimensional square bitmap; Connect central optical fiber Transmit-Receive Unit 701, for each monitors the centralized control unit 703 of the duty of node according to failure message, floating drydock state primary data and the floating drydock state processing Data Control of each supervision node; Connect central optical fiber Transmit-Receive Unit 701, for monitoring according to each center alarm unit that failure message of node is reported to the police;
Further, described data acquisition unit comprises at least two fixing distance measuring sensor Z 1, Z 2, at least three The Cloud Terrace T 1, T 2, T 3with at least one, the comprehensive high-speed holder T of camera is housed 4; Described The Cloud Terrace T 1, T 2, T 3the upper distance measuring sensor S that is mounted with respectively 1, S 2, S 3;
A supervision method for the free and anchored condition surveillance in floating drydock, monitors that the supervision method of node comprises the following steps:
S1: monitor node initializing, carry out S2;
S2: whether node control unit judges can detect data acquisition unit, is to carry out S3, otherwise goes to S17;
S3: whether the transmitting-receiving communications status of node control unit judges node optical fiber transceiving unit and Surveillance center is normal, is to carry out S4, otherwise goes to S18;
S4: node control cell location systematic parameter: w 3distance measuring sensor Z 1, Z 2between distance; w 1, w 2distance measuring sensor Z 1, Z 2divide the lateral separation of taking leave of two ends, floating drydock; w 4the length at floating drydock; θ be floating drydock with respect to the angle of inclination of bank, cos θ=(w 1+ w 2+ w 3)/w 4; d 1, d 2distance measuring sensor Z 1, Z 2divide the vertical range of taking leave of floating drydock; The Cloud Terrace T 1be positioned at distance measuring sensor Z 1, Z 2between, to distance measuring sensor Z 1, Z 2distance equate; The Cloud Terrace T 2, T 3between distance be greater than (w 1+ w 2+ w 3); Set p 1, p 2, p 3, p 4for four jiaos of floating drydock, angle point p wherein 1, p 2distance to bank is less than angle point p 3, p 4distance to bank; Angle point p 1, p 3to distance measuring sensor S 3distance be less than angle point p 2, p 4to distance measuring sensor S 3distance; p 5for being positioned at angle point p on floating drydock 1, p 2between, with distance measuring sensor S 1the angle point that place axis is vertical; Angle point p 1, p 2and p 5with distance measuring sensor S 1distance be l 1, l 2, l 3; Angle point p 1, p 2and p 4with distance measuring sensor S 2distance be l 4, l 5, l 6; Angle point p 1, p 2and p 3with distance measuring sensor S 3distance be l 7, l 8, l 9; α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9be respectively l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9with respect to the angle of horizontal direction, execution step S5;
S5: storage unit storage vessels depressed place preassigned state parameter d 1, d 2, w 1, w 2, w 3, w 4, θ, execution step S6;
S6: node optical fiber transceiving unit receives the steering order of central monitoring position, execution step S7;
S7: the action of data acquisition unit is controlled in node control unit according to the steering order of central monitoring position, execution step S8;
S8: data acquisition unit Real-time Collection floating drydock state primary data: the distance measuring sensor Z of data acquisition unit 1, Z 2real-time Collection distance measuring sensor Z 1, Z 2divide the vertical range d that takes leave of floating drydock 1', d 2'; The Cloud Terrace T 1, T 2and T 3dynamic rotary fan sweeping drives distance measuring sensor S 1, S 2and S 3survey the angle point p at floating drydock 1, p 2, p 3, p 4and p 5; Distance measuring sensor S 1gather the angle point p at floating drydock 1, p 2and p 5with distance measuring sensor S 1distance l 1, l 2, l 3; Distance measuring sensor S 2gather the angle point p at floating drydock 1, p 2and p 4with distance measuring sensor S 2distance l 4, l 5, l 6; Distance measuring sensor S 3gather the angle point p at floating drydock 1, p 2and p 3with distance measuring sensor S 3distance l 7, l 8, l 9, carry out S9;
S9: storage unit storage vessels depressed place state primary data d 1', d 2', l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9and α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9, carry out S10;
S10: the d that state judging unit stores according to storage unit 1, d 2and d 1', d 2' value judges whether | d 1'-d 1|>=c 1or | d 2'-d 2|>=c 1, c wherein 1for predetermined threshold, be to go to S19, otherwise carry out S11;
S11: the preassigned state parameter that data processing unit stores according to storage unit and floating drydock state primary data are carried out analytical calculation and obtained floating drydock state processing data: data processing unit according to formula tan θ '=| d 2'-d 1' |/w 3calculate floating drydock with respect to the tilt angle theta of bank '; Set distance measuring sensor S 3position be plane coordinate system initial point (0,0), data processing unit is according to formula p 1, x=l 7cos α 7, p 1, y=l 7sin α 7; p 2, x=l 8cos α 8, p 2, y=l 8sin α 8; p 3, x=l 9cos α 9, p 3, y=l 9sin α 9calculate angle point p 1, p 2, p 3coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 3, x, p 3, y), the while further calculates the tilt angle theta on phase opposite bank, floating drydock 12=arctan[(p 2, y-p 1, y)/(p 2, x-p 1, x)], θ 13=arctan[(p 3, y-p 1, y)/(p 3, x-p 1, x)], carry out S12;
S12: storage unit storage vessels depressed place state processing data θ ', p 1, p 2, p 3coordinate, θ 12and θ 13, carry out S13;
S13: state judging unit judges whether | θ '-θ |>=c 2, c wherein 2for predetermined threshold, be to go to S20, otherwise carry out S14;
S14: state judging unit judges whether | θ 12-θ 13|>=c 3or | θ 12-θ ' |>=c 3or | θ 13-θ ' |>=c 3time, c wherein 3for predetermined threshold, be to go to S21, otherwise carry out S15;
S15: the floating drydock state primary data that node display unit stores according to storage unit and floating drydock state processing data show the two-dimensional square bitmap at floating drydock, carries out S16;
S16: node control unit controls node optical fiber transceiving unit sends failure message, floating drydock state primary data and floating drydock state processing data, carries out S23;
S17: node alarm unit carries out the warning of data acquisition unit communication failure;
S18: node alarm unit carries out Surveillance center's communication failure warning;
S19: node alarm unit carries out floating drydock vertical misalignment warning, carries out S22;
S20: node alarm unit is rotated super scope and reports to the police, carries out S22;
S21: node alarm unit carries out distance measuring sensor fault alarm, carries out S22;
S22: storage unit stores failure message; Go to S16;
S23: node control unit controls is adjusted the action of data acquisition unit according to floating drydock state primary data and floating drydock state processing data, carry out S8;
The supervision method of central monitoring position comprises the following steps:
C1: central monitoring position initialization, carry out C2;
C2: centralized control unit judges that whether the transmitting-receiving communications status of central optical fiber Transmit-Receive Unit and monitor node is normal, is to carry out C3, otherwise goes to S17;
C3: central optical fiber Transmit-Receive Unit receives failure message, floating drydock state primary data and floating drydock state processing data, carries out C4;
C4: center display unit shows the two-dimensional square bitmap at floating drydock according to floating drydock state primary data and floating drydock state processing data, carry out C5;
C5: center alarm unit is reported to the police according to failure message, carries out C6;
C6: centralized control unit according to failure message, floating drydock state primary data and floating drydock state processing data to monitoring node sending controling instruction;
C7: center alarm unit carries out the warning of monitor node communication failure.
While using this floating drydock to dissociate with anchored condition surveillance, comprising vertical range, monitor, first the preassigned state value d of the corresponding side in cell stores floating drydock and harbour bank vertical range 1, d 2; Adopt distance measuring sensor Z 1, Z 2the vertical range d on the corresponding side in Real-time Collection floating drydock and harbour bank 1', d 2', and by d 1', d 2' value stores storage unit into; Further, state judging unit is transferred preassigned state value d from storage unit 1, d 2and judge | d 1'-d 1|>=c 1or | d 2'-d 2|>=c 1, c 1for predetermined threshold, when | d 1'-d 1|>=c 1or | d 2'-d 2|>=c 1node alarm unit floating drydock vertical misalignment is reported to the police; Common predetermined threshold c 1get 2m;
Also comprise that lateral drift event monitors, first the preassigned state value w of the corresponding side in cell stores floating drydock and harbour bank vertical range 1, w 2, w 3, w 4; w 3distance measuring sensor Z 1, Z 2between distance; w 1, w 2distance measuring sensor Z 1, Z 2divide the lateral separation of taking leave of two ends, floating drydock; w 4the length at floating drydock; As distance measuring sensor Z 1, Z 2measured value occur that None-identified is the missing situation of monitoring objective, illustrate that monitored object is that floating drydock disappears in d 1', d 2in the measurement axis at ' place, be judged as lateral drift event, in fact w 1, w 2for the distance of the drift Event triggered of horizontal direction, at this moment data acquisition unit is given state judging unit by None-identified value via storage unit, and node alarm unit carries out lateral excursion warning;
Also comprise holographic attitude monitoring, by loading distance measuring sensor S 1, S 2And S 3The Cloud Terrace T 1, T 2And T 3Dynamic fan sweeping mode realize, The Cloud Terrace T 1, T 2And T 3Have corner feedback function, the corner that is relevant position The Cloud Terrace as the sector region in Fig. 4 arranges scope, and this scope has contained distance measuring sensor and can scan all angle points at floating dock, wherein p 1, p 2, p 3, p 4And p 5For the crucial angle point at floating dock, distance measuring sensor S 1Gather the angle point p at floating dock 1, p 2And p 5With distance measuring sensor S 1Distance l 1, l 2, l 3; Distance measuring sensor S 2Gather the angle point p at floating dock 1, p 2And p 4With distance measuring sensor S 2Distance l 4, l 5, l 6;Distance measuring sensor S 3Gather the angle point p at floating dock 1, p 2And p 3With distance measuring sensor S 3Distance l 7, l 8, l 9; Set p 1, p 2, p 3, p 4For four jiaos of floating dock, wherein angle point p 1, p 2Be less than angle point p to the distance of bank 3, p 4To the distance of bank, angle point p 1, p 3To distance measuring sensor S 3Distance be less than angle point p 2, p 4To distance measuring sensor S 3Distance; p 5For being positioned at angle point p on floating dock 1, p 2Between, with distance measuring sensor S 1The angle point that place axis is vertical; α 1, α 2, α 3, α 4, α 5, α 6,α 7, α 8, α 9Be respectively l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9With respect to the angle of horizontal direction; Set S 3Position be plane coordinate system initial point (0,0), data processing unit is according to formula p 1, x=l 7Cos α 7, p 1, y=l 7Sin α 7; p 2, x=l 8Cos α 8, p 2, y=l 8Sin α 8; p 3, x=l 9Cos α 9, p 3, y=l 9Sin α 9Calculate angle point p 1, p 2,P 3Coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 3, x, p 3, y), the while further calculates the tilt angle theta on phase opposite bank, floating dock 12=arctan[(p 2, y-p 1, y)/(p 2, x-p 1, x)], θ 13=arctan[(p 3, y-p 1, y)/(p 3, x-p 1, x)]; Adopt and can set in the same way S 2Position be plane coordinate system initial point (0,0), data processing unit is according to formula p 1, x=l 4Cos α 4, p 1, y=l 4Sin α 4; p 2, x=l 5Cos α 5, p 2, y=l 5Sin α 5; p 4, x=l 6Cos α 6, p 4, y=l 6Sin α 6Calculate angle point p 1, p 2, p 4Coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 4, x, p 4, y); Adopt and can set in the same way S 1Position be plane coordinate system initial point (0,0), data processing unit is according to formula p 1, x=l 1Cos α 1, p 1, y=l 1Sin α 1; p 2, x=l 2Cos α 2, p 2, y=l 2Sin α 2; p 5, x=l 3Cos α 3, p 5, y=l 3Sin α 3Calculate angle point p 1, p 2, p 5Coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 5, x, p 5, y); Angular coordinate data storing is arrived memory cell by data processing unit; As shown in Fig. 5, Fig. 6 and Fig. 7, be respectively and load distance measuring sensor S 1, S 2And S 3The Cloud Terrace T 1, T 2And T 3Collection signal changing trend diagram in unidirectional fan sweeping process, abscissa correspondence the angle that is rotated counterclockwise of The Cloud Terrace, the measuring distance that ordinate is sensor, in tendency chart with abscissa α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9Corresponding ordinate value is respectively corresponding and floating dock angle point p 1, p 2, p 3, p 4And p 5Crossing ray path is apart from l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8And l 9, its corresponding angle with respect to horizontal direction is respectively α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8And α 9; Holographic attitude monitoring adopts the distance measuring sensor of an optional position as main attitude monitoring sensor, other two can be used as auxiliary attitude monitoring sensor, distance measuring sensor and The Cloud Terrace, according to certain strategy or frequency start and stop work, have effectively ensured that in the mode of redundant correcting the data that collect are accurate; Be illustrated in figure 8 distance measuring sensor S 3Distance measuring signal variation tendency in time series, in effective fan sweeping cycle that wherein T is distance measuring sensor, t is fan sweeping interval, S 1, S 2Distance measuring signal changing trend diagram and the Fig. 8 in time series is similar for distance measuring sensor;
Also comprise that angle of inclination monitors, the preassigned state value θ of the corresponding side in cell stores floating drydock and harbour bank vertical range first, θ be floating drydock with respect to the angle of inclination of bank, cos θ=(w 1+ w 2+ w 3)/w 4; Data processing unit according to formula tan θ '=| d 2'-d 1' |/w 3calculate floating drydock with respect to the tilt angle theta of bank ' and θ ' value is stored into storage unit; State judging unit judges | θ '-θ | and>=c 2, when | θ '-θ |>=c 2time, c 2for predetermined threshold, node alarm unit is rotated super scope and reports to the police; Predetermined threshold c 2be generally in advance 10 °; Data processing unit is according to a p 1, p 2, p 3coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 3, x, p 3, y) calculate the tilt angle theta on phase opposite bank, floating drydock 12=arctan[(p 2, y-p 1, y)/(p 2, x-p 1, x)], θ 13=arctan[(p 3, y-p 1, y)/(p 3, x-p 1, x)], and by θ, θ 12, θ 13be transferred to storage unit, state judging unit judges | θ 12-θ 13|>=c 3or work as | θ 12-θ ' |>=c 3or | θ 13-θ ' |>=c 3, c 3for predetermined threshold, when | θ 12-θ 13|>=c 3or work as | θ 12-θ ' |>=c 3or | θ 13-θ ' |>=c 3time, node alarm unit carries out distance measuring sensor fault alarm; Predetermined threshold c 3generally get 5 °,
Node display unit is according to floating drydock length w 4, tilt angle theta ', the distance d of floating drydock offshore 1', d 2' and angle point p 1, p 2, p 3the data such as coordinate show the two-dimensional square bitmap at floating drydock;
The action of data acquisition unit is adjusted in node control unit according to current floating drydock state primary data and floating drydock state processing data, choose the distance measuring sensor and the The Cloud Terrace that carry out data acquisition, control the corner size of The Cloud Terrace, and floating drydock state primary data, floating drydock state processing data and failure message are passed to central monitoring position after via node optical fiber transceiving unit and central optical fiber Transmit-Receive Unit; The center display unit of central monitoring position dynamically shows the two-dimensional square bitmap that each monitors the floating drydock that node monitors, centralized control unit controls according to floating drydock state primary data, floating drydock state processing data and the failure message of each supervision node the duty that each monitors node simultaneously, adopt Optical Fiber Transmission to realize each and monitor communicating by letter of node and central monitoring position, signal disturbs little, and transmission quality is good;
Dissociate and anchored condition surveillance in floating drydock provided by the invention, be to be specifically applied to this special monitored object of floating drydock, solved prior art and used the not pointed and unmatched problem of function that completes the follow-up works such as data acquisition, transmission and demonstration at floating drydock for the surveillance of boats and ships; Can carry out analyzing and processing and calculating to the status data gathering and detect simultaneously, thereby obtain more status data, realize better more effective supervision; Adopt each supervision node and central monitoring position to combine and share floating drydock field data co-controlling, surveillance safety and reliability.
The above; it is only preferably embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; according to technical scheme of the present invention and inventive concept thereof, be equal to replacement or changed, within all should being encompassed in protection scope of the present invention.

Claims (3)

1. dissociate and an anchored condition surveillance in floating drydock, it is characterized in that comprising: comprise for monitoring respectively a plurality of supervision nodes and the central monitoring position at different floating drydock; Each monitors between node and central monitoring position and is connected by optical fiber;
Described supervision node comprises the data acquisition unit (100) for gathering floating drydock state primary data; Central processing unit (200); Described central processing unit (200) comprises respectively connection data collecting unit (100), data processing unit (202), state judging unit (203) and node control unit (204), the storage unit (201) of the floating drydock state processing data that the floating drydock state primary data transmitting for storage vessels depressed place preassigned state parameter, data acquisition unit (100), the failure message that state judging unit transmits and data processing unit (202) transmit; Connect storage unit (201), for the preassigned state parameter and the floating drydock state primary data that store according to storage unit, carry out the data processing unit (202) that analytical calculation obtains floating drydock state processing data; Connect storage unit (201), the state judging unit (203) that carries out state judgement for the floating drydock preassigned state parameter that stores according to storage unit (201) and floating drydock state processing data; Connect respectively storage unit (201), node optical fiber transceiving unit (600) and data acquisition unit (100), for controlling, monitor that floating drydock state primary data and floating drydock state processing data adjustment data acquisition units (100) that node duty, configuration-system parameter, the central monitoring position steering order sending over according to node optical fiber transceiving unit and storage unit store move, control the node control unit (204) that node optical fiber transceiving unit receives and sends;
Connect storage unit (201), the node display unit (300) that shows the two-dimensional square bitmap at floating drydock for the floating drydock state primary data that stores according to storage unit (201) and floating drydock state processing data;
Connection status judging unit (203), for the node alarm unit (400) of reporting to the police according to the judged result of state judging unit (203);
Connected node control module (204), for the node optical fiber transceiving unit (600) that sends failure message, floating drydock state primary data and floating drydock state processing data and receive the steering order that central monitoring position transmits;
Described central monitoring position comprises connected node optical fiber transceiving unit (600), for receiving the central optical fiber Transmit-Receive Unit (701) of the steering order that each failure message, floating drydock state primary data and floating drydock state processing data that monitor that node transmits and dispatching centre control module (703) transmit; Connect central optical fiber Transmit-Receive Unit (701), for the center display unit (702) that monitors that according to each floating drydock state primary data that node transmits and floating drydock state processing data show floating drydock two-dimensional square bitmap; Connect central optical fiber Transmit-Receive Unit (701), for each monitors the centralized control unit (703) of the duty of node according to failure message, floating drydock state primary data and the floating drydock state processing Data Control of each supervision node; Connect central optical fiber Transmit-Receive Unit (701), for monitoring according to each center alarm unit that failure message of node is reported to the police.
2. dissociate and anchored condition surveillance in a kind of floating drydock according to claim 1, it is characterized in that described data acquisition unit comprises at least two fixing distance measuring sensor Z 1, Z 2, at least three The Cloud Terrace T 1, T 2, T 3with at least one, the comprehensive high-speed holder T of camera is housed 4; Described The Cloud Terrace T 1, T 2, T 3the upper distance measuring sensor S that is mounted with respectively 1, S 2, S 3.
3. a supervision method for the free and anchored condition surveillance in floating drydock as claimed in claim 1, is characterized in that:
The supervision method that monitors node comprises the following steps:
S1: monitor node initializing, carry out S2;
S2: whether node control unit judges can detect data acquisition unit, is to carry out S3, otherwise goes to S17;
S3: whether the transmitting-receiving communications status of node control unit judges node optical fiber transceiving unit and Surveillance center is normal, is to carry out S4, otherwise goes to S18;
S4: node control cell location systematic parameter: w 3distance measuring sensor Z 1, Z 2between distance; w 1, w 2distance measuring sensor Z 1, Z 2divide the lateral separation of taking leave of two ends, floating drydock; w 4the length at floating drydock; θ be floating drydock with respect to the angle of inclination of bank, cos θ=(w 1+ w 2+ w 3)/w 4; d 1, d 2distance measuring sensor Z 1, Z 2divide the vertical range of taking leave of floating drydock; The Cloud Terrace T 1be positioned at distance measuring sensor Z 1, Z 2between, to distance measuring sensor Z 1, Z 2distance equate; The Cloud Terrace T 2, T 3between distance be greater than (w 1+ w 2+ w 3); Set p 1, p 2, p 3, p 4for four jiaos of floating drydock, angle point p wherein 1, p 2distance to bank is less than angle point p 3, p 4distance to bank; Angle point p 1, p 3to distance measuring sensor S 3distance be less than angle point p 2, p 4to distance measuring sensor S 3distance; p 5for being positioned at angle point p on floating drydock 1, p 2between, with distance measuring sensor S 1the angle point that place axis is vertical; Angle point p 1, p 2and p 5with distance measuring sensor S 1distance be l 1, l 2, l 3; Angle point p 1, p 2and p 4with distance measuring sensor S 2distance be l 4, l 5, l 6; Angle point p 1, p 2and p 3with distance measuring sensor S 3distance be l 7, l 8, l 9; α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9be respectively l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9with respect to the angle of horizontal direction, execution step S5;
S5: storage unit storage vessels depressed place preassigned state parameter d 1, d 2, w 1, w 2, w 3, w 4, θ, execution step S6;
S6: node optical fiber transceiving unit receives the steering order of central monitoring position, execution step S7;
S7: the action of data acquisition unit is controlled in node control unit according to the steering order of central monitoring position, execution step S8;
S8: data acquisition unit Real-time Collection floating drydock state primary data: the distance measuring sensor Z of data acquisition unit 1, Z 2real-time Collection distance measuring sensor Z 1, Z 2divide the vertical range d that takes leave of floating drydock 1', d 2'; The Cloud Terrace T 1, T 2and T 3dynamic rotary fan sweeping drives distance measuring sensor S 1, S 2and S 3survey the angle point p at floating drydock 1, p 2, p 3, p 4and p 5; Distance measuring sensor S 1gather the angle point p at floating drydock 1, p 2and p 5with distance measuring sensor S 1distance l 1, l 2, l 3; Distance measuring sensor S 2gather the angle point p at floating drydock 1, p 2and p 4with distance measuring sensor S 2distance l 4, l 5, l 6; Distance measuring sensor S 3gather the angle point p at floating drydock 1, p 2and p 3with distance measuring sensor S 3distance l 7, l 8, l 9, carry out S9;
S9: storage unit storage vessels depressed place state primary data d 1', d 2', l 1, l 2, l 3, l 4, l 5, l 6, l 7, l 8, l 9and α 1, α 2, α 3, α 4, α 5, α 6, α 7, α 8, α 9, carry out S10;
S10: the d that state judging unit stores according to storage unit 1, d 2and d 1', d 2' value judges whether | d 1'-d 1|>=c 1or | d 2'-d 2|>=c 1, c wherein 1for predetermined threshold, be to go to S19, otherwise carry out S11;
S11: the preassigned state parameter that data processing unit stores according to storage unit and floating drydock state primary data are carried out analytical calculation and obtained floating drydock state processing data: data processing unit according to formula tan θ '=| d 2'-d 1' |/w 3calculate floating drydock with respect to the tilt angle theta of bank '; Set distance measuring sensor S 3position be plane coordinate system initial point (0,0), data processing unit is according to formula p 1, x=l 7cos α 7, p 1, y=l 7sin α 7; p 2, x=l 8cos α 8, p 2, y=l 8sin α 8; p 3, x=l 9cos α 9, p 3, y=l 9sin α 9calculate angle point p 1, p 2, p 3coordinate (p 1, x, p 1, y), (p 2, x, p 2, y), (p 3, x, p 3, y), the while further calculates the tilt angle theta on phase opposite bank, floating drydock 12=arctan[(p 2, y-p 1, y)/(p 2, x-p 1, x)], θ 13=arctan[(p 3, y-p 1, y)/(p 3, x-p 1, x)], carry out S12;
S12: storage unit storage vessels depressed place state processing data θ ', p 1, p 2, p 3coordinate, θ 12and θ 13, carry out S13;
S13: state judging unit judges whether | θ '-θ |>=c 2, c wherein 2for predetermined threshold, be to go to S20, otherwise carry out S14;
S14: state judging unit judges whether | θ 12-θ 13|>=c 3or | θ 12-θ ' |>=c 3or | θ 13-θ ' |>=c 3time, c wherein 3for predetermined threshold, be to go to S21, otherwise carry out S15;
S15: the floating drydock state primary data that node display unit stores according to storage unit and floating drydock state processing data show the two-dimensional square bitmap at floating drydock, carries out S16;
S16: node control unit controls node optical fiber transceiving unit sends failure message, floating drydock state primary data and floating drydock state processing data, carries out S23;
S17: node alarm unit carries out the warning of data acquisition unit communication failure;
S18: node alarm unit carries out Surveillance center's communication failure warning;
S19: node alarm unit carries out floating drydock vertical misalignment warning, carries out S22;
S20: node alarm unit is rotated super scope and reports to the police, carries out S22;
S21: node alarm unit carries out distance measuring sensor fault alarm, carries out S22;
S22: storage unit stores failure message; Go to S16;
S23: node control unit controls is adjusted the action of data acquisition unit according to floating drydock state primary data and floating drydock state processing data, carry out S8;
The supervision method of central monitoring position comprises the following steps:
C1: central monitoring position initialization, carry out C2;
C2: centralized control unit judges that whether the transmitting-receiving communications status of central optical fiber Transmit-Receive Unit and monitor node is normal, is to carry out C3, otherwise goes to S17;
C3: central optical fiber Transmit-Receive Unit receives failure message, floating drydock state primary data and floating drydock state processing data, carries out C4;
C4: center display unit shows the two-dimensional square bitmap at floating drydock according to floating drydock state primary data and floating drydock state processing data, carry out C5;
C5: center alarm unit is reported to the police according to failure message, carries out C6;
C6: centralized control unit according to failure message, floating drydock state primary data and floating drydock state processing data to monitoring node sending controling instruction;
C7: center alarm unit carries out the warning of monitor node communication failure.
CN201210429698.XA 2012-10-31 2012-10-31 System for monitoring free state and anchoring state of floating docks Active CN102915019B (en)

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