CN103231787A - Ultrasonic wave detection method for draught depth of ship - Google Patents
Ultrasonic wave detection method for draught depth of ship Download PDFInfo
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- CN103231787A CN103231787A CN201310136610XA CN201310136610A CN103231787A CN 103231787 A CN103231787 A CN 103231787A CN 201310136610X A CN201310136610X A CN 201310136610XA CN 201310136610 A CN201310136610 A CN 201310136610A CN 103231787 A CN103231787 A CN 103231787A
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- detection door
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Abstract
The invention discloses an ultrasonic wave detection method for draught depth of a ship. The method includes: transforming a detection door; performing depth error compensation calculation; and performing angle error compensation calculation. Ultrasonic wave distance sensors facing to the water surface and ultrasonic wave distance sensors facing to the water bottom are respectively and evenly installed on the upper side and the lower side of the detection door, even if the detection door fluctuates severely, errors of measured values X and Y are respectively delta 1 and delta 2, wherein delta 1= -delta 2, and the draught depth Z of the ship is: (L-(X+ delta 1)-(Y+ delta 2))=(L-X-Y), so that errors caused by the vertical fluctuation of the detection door can be offset. An angle sensor is vertically installed on the detection door in an upward mode, when the ship to be detected passes through the above portion of the detection door, the deflection angle theta of the detection door can be detected, when the measured value of the draught depth is Z, the revised draught depth S=Z*cos(theta), and through revision on the angle errors, errors caused by lateral shaking of the detection door can be overcome.
Description
Technical field
The present invention relates to the ultrasonic detection method of a kind of detection technique of shipping draft, particularly a kind of shipping draft.
Background technology
Acoustic wave frequency is higher than the super sonic that is of 20kHz.Super sonic is decayed very little in liquid, solid, and penetrating capacity is strong, and particularly to the light proof solid, ultrasonic wave energy penetrates tens meters thickness, and can access the acoustic energy of comparatively concentrating.Just because of such huge advantage, ultrasonic measuring distance technology field such as target acquisition and location identification has under water obtained using widely.
In order to ensure the safe in operation in river navigation boats and ships and navigation channel, need under water shipping draft to be monitored and early warning in real time.Existing shipping draft monitoring system is the vertical dimension of measuring between the water surface and the hull bottom.Mounting means as shown in Figure 1, the buoyancy aid at sensor array detecting gate two ends is two ships.Principle of work is: establishing detecting gate is H apart from the water surface, and upwards the distance of sensor measurement is X.Then under current pulsation-free situation, the shipping draft that record is (H-X), and can learn the draft of boats and ships according to these data, is strictly on guard against overload, superelevation problem.
The shortcoming of said method is: employed buoyancy aid is two ships, and is to be arranged on the very long Steel Structure Installation door bracket with the single beam array of ultrasonic sensors, and the two ends of support respectively are fixed on the pontoon.This may bring two kinds of measured errors:
First kind of error: steel structure support itself has certain elasticity, because the influence of the fluctuation of the current of inside, navigation channel and gravity effect, causes installing the sinking that may have to a certain degree, then causes the draft distortion that measures.
Second kind of error: when the both sides pontoon rocked with current in water, it is different that two low differences of heights cause installing the door height, also can influence the judgement for the ship's navigation state, has certain hidden danger.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the present invention will design and a kind ofly can overcome that detecting gate fluctuates up and down and double swerve influences the ultrasonic detection method of the shipping draft of accuracy of detection.
To achieve these goals, technical scheme of the present invention is as follows: a kind of ultrasonic detection method of shipping draft may further comprise the steps:
A, repacking detecting gate
To the water surface and water-bed ultrasonic distance sensor, two is one group up and down at each even attachment face of the both sides up and down of detecting gate, and M organizes altogether, and every group is on the same perpendicular line; The super sonic angular transducer is installed on detecting gate vertically upward;
B, depth error compensation are calculated
If the total depth of river is L, towards the ultrasonic transduter of the water surface apart from hull bottom X+ δ
1, towards the water-bed Y+ δ of the ultrasonic distance sensor distance at the bottom
2, wherein: X is value, the δ that detecting gate records towards the ultrasonic distance sensor of the water surface when steady
1The error that records towards the ultrasonic distance sensor of the water surface when fluctuating for detecting gate, Y is value, the δ that detecting gate records towards the ultrasonic distance sensor at the bottom when steady
2The error that records towards the ultrasonic distance sensor at the bottom when fluctuating for detecting gate, then shipping draft Z is
Z=(L-(X+δ
1)-(Y+δ
2))
C, angular error compensation are calculated
If the angular deviation that the super sonic angular transducer records is θ, the draft observed reading is Z, and then revised draft S is
S＝Z*cosθ。
Compared with prior art, the present invention has following beneficial effect:
1, each has evenly been installed towards the water surface and water-bed ultrasonic distance sensor in the both sides up and down of detecting gate in the present invention, even detecting gate when fluctuation ratio is violent up and down, the X that records and the error of Y are respectively δ
1And δ
2, but because δ
1=-δ
2, then shipping draft Z is (L-(X+ δ
1)-(Y+ δ
2))=(L-X-Y), just in time repaired the error that fluctuates and bring up and down of detecting gate.
2, the present invention's setting angle sensor vertically upward on detecting gate when tested ship during through the detecting gate top, is measured the angle θ that detecting gate departs from, and then is carried out the reparation of angular error, has overcome the error that the detecting gate double swerve brings.
Description of drawings
9 in the total accompanying drawing of the present invention, wherein:
Fig. 1 is water surface upper fixed float type sensor mounting means scheme drawing.
Fig. 2 is water-bed fixedly float type sensor mounting means scheme drawing.
Fig. 3 is detecting gate sinking scheme drawing.
Fig. 4 is detecting gate come-up scheme drawing.
Fig. 5 is when respectively installing one towards water-bed sensor by two ends and centre, detecting gate sinking scheme drawing.
Fig. 6 is when respectively installing one towards water-bed sensor by two ends and centre, detecting gate come-up scheme drawing.
Fig. 7 is when respectively installing one towards water-bed sensor by two ends, detecting gate sinking scheme drawing.
Fig. 8 is when respectively installing one towards water-bed sensor by two ends, detecting gate come-up scheme drawing.
Angular deviation scheme drawing when Fig. 9 is range finding.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.The major equipment of shipping draft checking system of the present invention is two detection ships, detecting gate and ultrasonic array, detect ship as the buoyancy aid of both sides, the present invention has increased towards the ultrasonic distance sensor of bottom, navigation channel, detecting gate is to the distance of bottom, navigation channel when obtaining data in order to measure at every turn, and installed angular transducer additional, carry out error compensation with the angular deviation that records detecting gate.The mounting means of detecting gate has two kinds, first kind: detecting gate is positioned over undersurface correct position place by the winch that is installed in two sides and hawser, and as shown in Figure 1, the effect that detecting gate is subjected to gravity may produce flexural deformation up or down.Second kind: detecting gate is fixed in the bottom, and both sides are fixed on the crane, and the detecting gate support is supported by buoyancy aid, and as shown in Figure 2, the effect that detecting gate is subjected to buoyancy and current may produce flexural deformation up or down.
Namely detect the compensation of error method that fluctuation up and down forms for first kind of error:
Be deformed into example to be bent downwardly, the draft of boats and ships should be (H-X), but the current in the navigation channel are often more rapid, and detecting gate is also along with current teetertotter; When the generation size was the error of δ, then shipping draft should be (H-(X+ δ
1)).Through above the detecting gate, when the ultrasonic distance sensor carried out DATA REASONING, detecting gate is residing may any attitude of state shown in Fig. 3-8 at tested boats and ships.The mounting means of the ultrasonic distance sensor of installing towards the bottom can have following several: towards two one group of the water surface and water-bed ultrasonic distance sensor; Ultrasonic distance sensor towards the bottom is only installed one at middle and two ends; Ultrasonic distance sensor towards the bottom is only respectively installed one at two ends.When mounting means such as Fig. 3 and Fig. 4, in the both sides up and down at detecting gate same position place a ultrasonic distance sensor is installed respectively.Recording detecting gate towards the ultrasonic distance sensor at the bottom is Y to water-bed distance, and when error existed, detecting gate became (Y+ δ to the distance at the bottom
2).When detecting gate upwards rocks, δ
2For on the occasion of; When detecting gate rocks downwards, δ
2Be negative value.And δ
2=-δ
1The account form of draft Z is:
Z=(L-(X+δ
1)-(Y+δ
2))=(L-X-Y) (1)
The present invention utilizes this error delta that draft is compensated just, and (L-X-Y) then is draft accurately so, relatively near actual value.
Be that the detecting gate double swerve forms the compensation of error method for second kind of error:
An angular transducer is installed above detecting gate vertically upward, at tested ship through above the detecting gate time, the angular deviation that angular transducer records as shown in Figure 9, the cant angle theta degree, the draft observed reading is Z, then revised draft S is
S＝Z*cosθ (2)
By above calculating, draft is more near actual value.
Claims (1)
1. the ultrasonic detection method of a shipping draft is characterized in that: may further comprise the steps:
A, repacking detecting gate
To the water surface and water-bed ultrasonic distance sensor, two is one group up and down at each even attachment face of the both sides up and down of detecting gate, and M organizes altogether, and every group is on the same perpendicular line; The super sonic angular transducer is installed on detecting gate vertically upward;
B, depth error compensation are calculated
If the total depth of river is L, towards the ultrasonic transduter of the water surface apart from hull bottom X+ δ
1, towards the water-bed Y+ δ of the ultrasonic distance sensor distance at the bottom
2, wherein: X is value, the δ that detecting gate records towards the ultrasonic distance sensor of the water surface when steady
1The error that records towards the ultrasonic distance sensor of the water surface when fluctuating for detecting gate, Y is value, the δ that detecting gate records towards the ultrasonic distance sensor at the bottom when steady
2The error that records towards the ultrasonic distance sensor at the bottom when fluctuating for detecting gate, then shipping draft Z is
Z=(L-(X+δ
1)-(Y+δ
2))；
C, angular error compensation are calculated
If the angular deviation that the super sonic angular transducer records is θ, the draft observed reading is Z, and then revised draft S is
S＝Z*cosθ。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310136610.XA CN103231787B (en) | 2013-04-17 | 2013-04-17 | A kind of ultrasonic detection method of shipping draft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310136610.XA CN103231787B (en) | 2013-04-17 | 2013-04-17 | A kind of ultrasonic detection method of shipping draft |
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| Publication Number | Publication Date |
|---|---|
| CN103231787A true CN103231787A (en) | 2013-08-07 |
| CN103231787B CN103231787B (en) | 2015-08-12 |
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ID=48879882
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| CN201310136610.XA Active CN103231787B (en) | 2013-04-17 | 2013-04-17 | A kind of ultrasonic detection method of shipping draft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913746A (en) * | 2014-04-25 | 2014-07-09 | 大连海事大学 | Ship draught ultralimit detection system and method |
| CN109733549A (en) * | 2019-03-22 | 2019-05-10 | 大连海事大学 | It is a kind of that formula drauht detection system and method are swept based on facing upward for flexible framework support |
Citations (8)
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|---|---|---|---|---|
| JP2007333530A (en) * | 2006-06-14 | 2007-12-27 | National Maritime Research Institute | Draft or like measuring device of hull |
| CN201989930U (en) * | 2011-01-10 | 2011-09-28 | 天津海洋数码科技有限公司 | Ship draft detection apparatus |
| KR20110115234A (en) * | 2010-04-15 | 2011-10-21 | 한국해양연구원 | Draft measurement device of model ship in towing tank |
| CN102285431A (en) * | 2011-04-29 | 2011-12-21 | 大连海事大学 | Navigable ship draft real-time measuring device and measuring method |
| CN202138518U (en) * | 2011-04-29 | 2012-02-08 | 大连海事大学 | Water draught detection device for ship |
| KR20120068304A (en) * | 2010-12-17 | 2012-06-27 | 대우조선해양 주식회사 | Apparatus and method for measuring the draft line of ship using camera |
| CN102730166A (en) * | 2012-06-13 | 2012-10-17 | 深圳丰泽合创光电科技有限公司 | Automatic draught monitoring system and method for river vessels |
| CN202499262U (en) * | 2012-03-01 | 2012-10-24 | 上海海事大学 | Ship draft real-time detecting system based on ultrasonic sensors |
-
2013
- 2013-04-17 CN CN201310136610.XA patent/CN103231787B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007333530A (en) * | 2006-06-14 | 2007-12-27 | National Maritime Research Institute | Draft or like measuring device of hull |
| KR20110115234A (en) * | 2010-04-15 | 2011-10-21 | 한국해양연구원 | Draft measurement device of model ship in towing tank |
| KR20120068304A (en) * | 2010-12-17 | 2012-06-27 | 대우조선해양 주식회사 | Apparatus and method for measuring the draft line of ship using camera |
| CN201989930U (en) * | 2011-01-10 | 2011-09-28 | 天津海洋数码科技有限公司 | Ship draft detection apparatus |
| CN102285431A (en) * | 2011-04-29 | 2011-12-21 | 大连海事大学 | Navigable ship draft real-time measuring device and measuring method |
| CN202138518U (en) * | 2011-04-29 | 2012-02-08 | 大连海事大学 | Water draught detection device for ship |
| CN202499262U (en) * | 2012-03-01 | 2012-10-24 | 上海海事大学 | Ship draft real-time detecting system based on ultrasonic sensors |
| CN102730166A (en) * | 2012-06-13 | 2012-10-17 | 深圳丰泽合创光电科技有限公司 | Automatic draught monitoring system and method for river vessels |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913746A (en) * | 2014-04-25 | 2014-07-09 | 大连海事大学 | Ship draught ultralimit detection system and method |
| CN109733549A (en) * | 2019-03-22 | 2019-05-10 | 大连海事大学 | It is a kind of that formula drauht detection system and method are swept based on facing upward for flexible framework support |
| CN109733549B (en) * | 2019-03-22 | 2024-01-05 | 大连海事大学 | Upward sweeping type ship draft detection system and method based on flexible framework support |
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|---|---|
| CN103231787B (en) | 2015-08-12 |
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