CN103213657A - Ship draft amount detection system and detection method thereof - Google Patents
Ship draft amount detection system and detection method thereof Download PDFInfo
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- CN103213657A CN103213657A CN 201310152924 CN201310152924A CN103213657A CN 103213657 A CN103213657 A CN 103213657A CN 201310152924 CN201310152924 CN 201310152924 CN 201310152924 A CN201310152924 A CN 201310152924A CN 103213657 A CN103213657 A CN 103213657A
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- detecting gate
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- hawser
- sensing subsystem
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Abstract
The invention discloses a ship draft amount detection system and a detection method thereof. The system comprises floating bodies, winding devices, cables, a detection door, an ultrasonic wave sensor array, floating body position sensing sub systems, cable angle sensing sub systems, data collection transmission units and an error compensation and data processing unit. The floating bodies are fixed on a water surface through an anchor chain, the detection door passes through the winding devices to be suspended on the floating bodies through the cables, an underwater depth of the detection door is adjusted through the winding devices, the winding devices are installed above gravity centers of the floating bodies on two sides, and placing positions of the floating bodies are selected according to detection needs. The detection door is installed on the movable floating bodies to enable the draft amount detection system to be convenient to install and maintain without relying on a fixed basic facility, and the ship draft amount detection system has no particular requirements for installation positions and can be moved according to a water level condition of a channel and actual requirements. The ship draft amount detection system can conduct error compensation on a posture of the detection door of a ship draft depth through swinging angles and length data of the cables.
Description
Technical field
The present invention relates to a kind of drauht amount detection technique, particularly a kind of drauht amount detection systems and method of inspection thereof.
Background technology
Drauht amount detecting gate adopts the single beam array of ultrasonic sensors to measure, sensor array is arranged in detecting gate under water, detecting gate is realized by the hard-wired mode in two ends, and by hard-wired synchro-lift system adjustment height, measure the draft amount of navigation boats and ships by ultrasonic ranging, realize that boats and ships full automaticity draft amount detects.Existing drauht amount detecting gate adopts hard-wired form, and promptly the two ends of detecting gate must be installed on the existing Infrastructure, as ship lock, floating embankment, guide wall etc.This form has following shortcoming:
1, hard-wired drauht amount detecting gate need be in waterway construction Infrastructure, and cost is very high;
2, be equipped with specific (special) requirements for the installation position: the navigation channel is too narrow, hinders boat when checkout facility is safeguarded easily, the too wide too deeply then constructional difficulties in navigation channel, and influence navigation safety;
3, only installation site constantly changes with the navigation channel change of level, promptly fixedly mounts checking system and might can not use because hindering boat in low water season;
4, maintenance difficulty can only be overhauled in the original place, and restriction factor is many.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the present invention will design that a kind of construction cost is low, to be easy to installation, maintenance convenient, can adjust the drauht amount detection systems and the method for inspection thereof of installation site according to the navigation channel change of level.
To achieve these goals, technical scheme of the present invention is as follows: a kind of drauht amount detection systems, comprise buoyancy aid, winding plant, hawser, detecting gate, array of ultrasonic sensors, the position of floating body sensing subsystem, the rope angle sensing subsystem, data acquisition transmission unit and error compensation and data processing unit, described buoyancy aid is fixed in the water surface by anchor chain, described detecting gate uses cable suspended on buoyancy aid through winding plant, adjust the detecting gate degree of depth under water by winding plant, winding plant is installed on the center of gravity top of both sides buoyancy aid, and the buoyancy aid riding position is selected according to detecting needs;
Described array of ultrasonic sensors is installed under water on the detecting gate with arrangement mode, measures the range information of detecting gate and tested boats and ships under water; Described position of floating body sensing subsystem is installed on the hawser end points top of two buoyancy aids, measures the position coordinate that hangs the hawser end points of detecting gate on the buoyancy aid of both sides; Described rope angle sensing subsystem is installed on the hawser of detecting gate two ends, measures the angle of detecting gate two ends hawser swing; Described data acquisition transmission unit is installed on the buoyancy aid, is responsible for gathering and transmission array of ultrasonic sensors, position of floating body sensing subsystem and rope angle sensing subsystem take off data; Described error compensation and data processing unit are PC on the bank, mainly carry out Error Compensation Algorithm; Described array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem and error compensation are connected with the data acquisition transmission unit respectively with data processing unit through data line or Radio Transmission Technology.
A kind of method of inspection of drauht amount detection systems may further comprise the steps:
A, installation and measuring door
Selecting the buoyancy aid riding position, buoyancy aid is fixed in the water surface with anchor chain, winding plant is installed on the center of gravity top of both sides buoyancy aid, is that the hawser of L hangs on the buoyancy aid through winding plant with detecting gate length, and by the winding plant adjustment detecting gate degree of depth under water;
B, structure position of floating body sensing subsystem
The position of floating body sensing subsystem adopts RTK real time dynamic differential method location technology, and detecting gate two ends hawser end points position coordinate is measured, and described RTK is the abbreviation of the English Real-timekinematic of real-time and dynamic, and concrete construction step is as follows:
B1, the fixed position R point of known coordinate is installed the GPS receiver as base station in the RTK chain data coverage on the coast, the RTK location receiver is installed as rover station respectively above two buoyancy aid hawser end points;
B2, base station form the differential corrections amount by chain data together with its GPS observed value and known coordinate information and send rover station to, rover station not only receives the differential corrections amount by chain data, also to gather its GPS observed value, and observed value carried out the real time differential correcting process, exact solution is calculated rover station three-dimensional coordinate positioning result; Determine the coordinate figure of two hawser end points of suspension detecting gate;
C, structure rope angle sensing subsystem
The rope angle sensing subsystem adopts angular transducer, difference setting angle sensor on the hawser of detecting gate two ends, and when detecting gate with the stormy waves motion skew took place, angular transducer was measured the angle that detecting gate two ends hawser is swung;
D, error compensation and data handing
Error compensation and data processing unit cable end point coordinate value and the hawser pendulum angle data to receiving are by the tilt angle theta of detecting gate mounting structure geometric relationship calculating detecting gate; If tilt angle theta is less than θ
0, then change step D1, otherwise change step D2; Described θ
0Be 2-4 °;
The distance that D1, error compensation and data processing unit are measured itself and the water surface by ultrasonic transduter is demarcated its degree of depth, obtains degree of depth calibration value array [H
1, H
2..., H
M], represent the predetermined depth of ultrasonic transduter; When tested boats and ships arrived, the ultrasonic transduter take off data was observed reading dot matrix [X
1, X
2..., X
M], represent the distance of ultrasonic transduter and tested bottom of ship, i.e. drauht amount testing result; Change step D3;
D2, error compensation and data processing unit with the cable end point coordinate value that receives and hawser pendulum angle data by detecting gate mounting structure geometric relationship to the degree of depth of detecting gate under water with and tilt angle theta carry out the real time calibration value of being compensated array [δ
1, δ
2..., δ
M], by the compensation value array to ultrasonic transduter degree of depth calibration value array [H
1, H
2..., H
M] compensate and draw ultrasonic transduter actual grade value array
Actual grade value array and ultrasonic transduter are apart from synchro measure value dot matrix [X
1, X
2..., X
M] difference be drauht amount testing result after the compensation;
D3, output drauht amount testing result.
Compared with prior art, advantage of the present invention is as follows:
1, because the present invention is installed in detecting gate movably on the buoyancy aid, it is convenient to make that the draft amount checking system is installed maintenance, is no longer dependent on fixing Infrastructure, and the installation site is not had specific (special) requirements, can move according to navigation channel water level situation and actual demand.
2, position of floating body sensing subsystem of the present invention can provide the three-dimensional coordinate of detecting gate two ends cable suspended end points in real time accurately, and speed is fast, and error is little, satisfies the requirement of real-Time Compensation; Angular transducer can detect the hawser pendulum angle exactly; By pendulum angle and necessary length data, just can carry out error compensation to shipping draft detecting gate attitude.
3, the present invention has solved the influence of stormy waves to portable drauht measurement amount by error compensation, effectively raises the accuracy of result of a measurement, has reduced erroneous judgement, has guaranteed the safe in operation in navigation channel, has improved navigation efficient.
Description of drawings
The present invention has accompanying drawing 6 width of cloth, wherein:
Fig. 1 is portable drauht amount detection systems scheme drawing.
Fig. 2 is portable drauht amount detection systems data logic diagram.
Fig. 3 is the detecting gate section-drawing.
Fig. 4 is detecting gate attitude compensation scheme drawing.
Fig. 5 sets and the data sink scheme drawing for the RTK positioning reference station.
Fig. 6 is a hawser pendulum angle scheme drawing.
Among the figure: 1, buoyancy aid, 2, winding plant, 3, hawser, 4, detecting gate, 5, array of ultrasonic sensors, 6, the position of floating body sensing subsystem, 7, the rope angle sensing subsystem, 8, the data acquisition transmission unit, 9, error compensation and data processing unit.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated:
A kind of portable drauht amount detection systems mainly is made up of buoyancy aid 1, winding plant 2, hawser 3, detecting gate 4, array of ultrasonic sensors 5, position of floating body sensing subsystem 6, rope angle sensing subsystem 7, data acquisition transmission unit 8 and error compensation and data processing unit 9, shown in Fig. 1-2.Array of ultrasonic sensors 5 is installed on the detecting gate 4, and detecting gate 4 is exactly an erecting frame, and its two ends are that the hawser 3 of L is suspended under water by two winding plants 2 that predetermined depth is the position of H by length.Two winding plants 2 are separately fixed at the center-of-gravity position top of two buoyancy aids 1.
Figure 3 shows that detecting gate 4 section-drawings.M ultrasonic transduter is installed on the detecting gate 4, and the distance between adjacent two sensors is N.When not having tested ship to arrive, by the distance of the ultrasonic transduter measurement water surface its degree of depth is demarcated under the quiescence, obtain degree of depth calibration value array [H
1, H
2..., H
M].When tested boats and ships arrived, the ultrasonic transduter take off data was [X
1, X
2..., X
M].Under the static stress balance state, the three dimensional space coordinate of both sides winding plant 2 hawsers 3 end points is X
1, Y
1, Z
1, X
2, Y
2, Z
2, the ultrasonic transduter degree of depth under water is calibration value array [H
1, H
2..., H
M], by H
i-X
iI=1,2 ..., M can detect the drauht amount.
When stormy waves was big, buoyancy aid 1 and detecting gate 4 can produce with water movement and wave or move, and the degree of depth of ultrasonic transduter no longer is H, need compensate according to the attitude of detecting gate 4, as shown in Figure 4.Concrete operations are as follows:
The RTK receiver rover station that the base station of S1, correct position is set up in the RTK chain data coverage on the coast known coordinate is installed on buoyancy aid 1 sends in real time locatees the difference correction, the real time differential correction that rover station provides according to the locating data and the base station of own GPS receiver realizes the accurate location in real time to winding plant 2.Fig. 5 provides the RTK positioning reference station and sets and the data sink scheme drawing.By the RTK location receiver can be real-time three-dimensional coordinate (the X of measurement hawser 3 end points
1', Y
1', Z
1'), (X'
2, Y
2', Z'
2), when buoyancy aid 1 produces mobile with wave or tilts, can measure the distance, delta Z that winding plant 2 vertical direction move
1=Z
1-Z
1', Δ Z
2=Z'
2-Z
2
S2, can measure hawser 3 and XOZ plane included angle α and hawser 3 and YOZ plane included angle β by the angular transducer of installing on the hawser 3, hawser 3 move angle scheme drawings as shown in Figure 6.Because the length of hawser 3 is always L, then winding plant 2 is to the vertical distance L'=Lcos α cos β of detecting gate 4.
S3, by hawser 3 end points changes in coordinates value Δ Z
1, Δ Z
2And pendulum angle α, β, α, the β of hawser 3 degree of depth of calibrating detecting gate 4 under water with and tilt angle theta.
Suppose in certain measurement process both sides winding plant 2 result of a measurement vertical shifting distance, delta Z
1=Z
1-Z
1', Δ Z
2=Z
2-Z'
2, hawser 3 measurement of angle in both sides are respectively α, β, α, β, then can draw detecting gate 4 two ends degree of depth change values by geometric relationship shown in Figure 3
ΔH
1＝L'
1+ΔZ
1-L＝ΔZ
1+L(cosα
1·cosβ
1-1)
ΔH
2＝L'
2+ΔZ
2-L＝ΔZ
2+L(cosα
2·cosβ
2-1)
M ultrasonic transduter is installed on the detecting gate 4, and the distance between adjacent two sensors is N, and detecting gate 4 total lengths are (M-1) * N.The angle of inclination of detecting gate 4 then
I ultrasonic transduter is because the depth migration amount that the fluctuation of water wave causes
δ
i＝ΔH
1-N×(i-1)×sinθ,(i＝1,2,...,M)
Calculate the real-Time Compensation value array [δ that can get the ultrasonic transduter degree of depth by said method
1, δ
2..., δ
M].Degree of depth calibration scale [H with ultrasonic transduter
1, H
2..., H
M] the real-time deep table of ultrasonic transduter after doing and can being compensated
In the actual installation process, if use many hawsers 3 to hang detecting gate 4, detecting gate 4 is because action of gravity has certain pulling force to buoyancy aid 1, and hawser 3 pendulum angle deviations are little, and that influence detecting gate 4 attitudes mainly is the vertical displacement delta Z of buoyancy aid 1
1, Δ Z
2The angle of inclination of detecting gate 4 then
The depth migration amount δ of i ultrasonic transduter
i=Δ Z
1-N * (i-1) * sin θ, (i=1,2 ..., M).The degree of depth real-Time Compensation value array [δ that obtains by above-mentioned formula
1, δ
2..., δ
M] to the degree of depth calibration scale [H of ultrasonic transduter
1, H
2..., H
M] compensate and obtain the actual grade table
Real-time deep table by the ultrasonic transduter after the compensation
With its synchronous observed reading array [X
1, X
2..., X
M] can draw real navigation drauht amount testing result.
Claims (2)
1. drauht amount detection systems, it is characterized in that: comprise buoyancy aid (1), winding plant (2), hawser (3), detecting gate (4), array of ultrasonic sensors (5), position of floating body sensing subsystem (6), rope angle sensing subsystem (7), data acquisition transmission unit (8) and error compensation and data processing unit (9), described buoyancy aid (1) is fixed in the water surface by anchor chain, described detecting gate (4) hangs on the buoyancy aid (1) with hawser (3) through winding plant (2), adjust detecting gate (4) degree of depth under water by winding plant (2), winding plant (2) is installed on the center of gravity top of both sides buoyancy aid (1), and buoyancy aid (1) riding position is selected according to detecting needs;
Described array of ultrasonic sensors (5) is installed under water on the detecting gate (4) with arrangement mode, measures the range information of detecting gate (4) and tested boats and ships under water; Described position of floating body sensing subsystem (6) is installed on hawser (3) the end points top of two buoyancy aids (1), measures the position coordinate that both sides buoyancy aids (1) are gone up hawser (3) end points that hangs detecting gate (4); Described rope angle sensing subsystem (7) is installed on detecting gate (4) the two ends hawsers (3), measures the angle of detecting gate (4) two ends hawsers (3) swing; Described data acquisition transmission unit (8) is installed on the buoyancy aid (1), is responsible for gathering and transmission array of ultrasonic sensors (5), position of floating body sensing subsystem (6) and rope angle sensing subsystem (7) take off data; Described error compensation and data processing unit (9) are PC on the bank, mainly carry out Error Compensation Algorithm; Described array of ultrasonic sensors (5), position of floating body sensing subsystem (6), rope angle sensing subsystem (7) and error compensation are connected with data acquisition transmission unit (8) respectively by data line or Radio Transmission Technology with data processing unit (9).
2. the method for inspection of a drauht amount detection systems as claimed in claim 1 is characterized in that: may further comprise the steps:
A, installation and measuring door (4)
Select buoyancy aid (1) riding position, buoyancy aid (1) is fixed in the water surface with anchor chain, winding plant (2) is installed on the center of gravity top of both sides buoyancy aid (1), is that the hawser (3) of L hangs on the buoyancy aid (1) through winding plant (2) with detecting gate (4) with length, and adjusts detecting gate (4) degree of depth under water by winding plant (2);
B, structure position of floating body sensing subsystem (6)
Position of floating body sensing subsystem (6) adopts RTK real time dynamic differential method location technology, detecting gate (4) two ends hawsers (3) endpoint location coordinate is measured, described RTK is the abbreviation of the English Real-timekinematic of real-time and dynamic, and concrete construction step is as follows:
B1, the fixed position R point of known coordinate is installed the GPS receiver as base station in the RTK chain data coverage on the coast, the RTK location receiver is installed as rover station respectively in two buoyancy aids (1) hawsers (3) end points top;
B2, base station form the differential corrections amount by chain data together with its GPS observed value and known coordinate information and send rover station to, rover station not only receives the differential corrections amount by chain data, also to gather its GPS observed value, and observed value carried out the real time differential correcting process, exact solution is calculated rover station three-dimensional coordinate positioning result; Determine the coordinate figure of two hawsers (3) end points of suspension detecting gate (4);
C, structure rope angle sensing subsystem (7)
Rope angle sensing subsystem (7) adopts angular transducer, go up setting angle sensor respectively at detecting gate (4) two ends hawsers (3), when detecting gate (4) with the stormy waves motion skew took place, angular transducer was measured the angle of detecting gate (4) two ends hawsers (3) swing;
D, error compensation and data handing
Error compensation and data processing unit (9) hawser (3) end points coordinate figure and hawser (3) the pendulum angle data to receiving are by the tilt angle theta of detecting gate (4) mounting structure geometric relationship calculating detecting gate (4); If tilt angle theta is less than θ
0, then change step D1, otherwise change step D2; Described θ
0Be 2-4 °;
The distance that D1, error compensation and data processing unit (9) are measured itself and the water surface by ultrasonic transduter is demarcated its degree of depth, obtains degree of depth calibration value array [H
1, H
2..., H
M], represent the predetermined depth of ultrasonic transduter; When tested boats and ships arrived, the ultrasonic transduter take off data was observed reading dot matrix [X
1, X
2..., X
M], represent the distance of ultrasonic transduter and tested bottom of ship, i.e. drauht amount testing result; Change step D3;
D2, error compensation and data processing unit (9) with hawser (3) the end points coordinate figure that receives and hawser (3) pendulum angle data by detecting gate (4) mounting structure geometric relationship to the degree of depth of detecting gate (4) under water with and tilt angle theta carry out the real time calibration value of being compensated array [δ
1, δ
2..., δ
M], by the compensation value array to ultrasonic transduter degree of depth calibration value array [H
1, H
2..., H
M] compensate and draw ultrasonic transduter actual grade value array
Actual grade value array and ultrasonic transduter are apart from synchro measure value dot matrix [X
1, X
2..., X
M] difference be drauht amount testing result after the compensation;
D3, output drauht amount testing result.
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| CN201310152924.9A CN103213657B (en) | 2013-04-27 | 2013-04-27 | A kind of drauht amount detection systems and method of inspection thereof |
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| WO2019080461A1 (en) * | 2017-10-24 | 2019-05-02 | 东莞前沿技术研究院 | Apparatus capable of correcting cable arrangement |
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| CN112389601A (en) * | 2020-10-20 | 2021-02-23 | 中船澄西船舶修造有限公司 | Ship draft measurement tool and measurement method using same |
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| JP3009830B2 (en) * | 1994-10-13 | 2000-02-14 | 株式会社カイジョー | Ship draft measurement device and draft measurement method |
| CN202138518U (en) * | 2011-04-29 | 2012-02-08 | 大连海事大学 | Water draught detection device for ship |
| CN102285431A (en) * | 2011-04-29 | 2011-12-21 | 大连海事大学 | Navigable ship draft real-time measuring device and measuring method |
| CN102730166B (en) * | 2012-06-13 | 2015-01-14 | 深圳丰泽合创光电科技有限公司 | Automatic draught monitoring system and method for river vessels |
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| CN106143829B (en) * | 2015-04-21 | 2017-11-03 | 水科远大(北京）交通设计院有限公司 | Single floating mobile disembarkation detection platform |
| CN106143828A (en) * | 2015-04-21 | 2016-11-23 | 水科远大(北京）交通设计院有限公司 | Double floating mobile disembarkation detection platform |
| CN115230896A (en) * | 2017-04-07 | 2022-10-25 | 技术资源有限公司 | Automatic draft survey |
| WO2019080461A1 (en) * | 2017-10-24 | 2019-05-02 | 东莞前沿技术研究院 | Apparatus capable of correcting cable arrangement |
| CN110717680A (en) * | 2019-10-14 | 2020-01-21 | 集美大学 | Monitoring method and system for dredging operation of dredging ship |
| CN112389601A (en) * | 2020-10-20 | 2021-02-23 | 中船澄西船舶修造有限公司 | Ship draft measurement tool and measurement method using same |
| CN113247197B (en) * | 2021-07-01 | 2022-03-15 | 金睛兽数字科技(重庆)有限公司 | Ship electronic water gauge measuring method and system |
| CN113247197A (en) * | 2021-07-01 | 2021-08-13 | 金睛兽数字科技(重庆)有限公司 | Ship electronic water gauge measuring method and system |
| CN115201832A (en) * | 2022-05-25 | 2022-10-18 | 福建省昊立建设工程有限公司 | Monitoring system and monitoring method of amphibious excavator |
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