CN104787261A - Ship-side-hanging inland river departure ship draft measurement device and control method thereof - Google Patents
Ship-side-hanging inland river departure ship draft measurement device and control method thereof Download PDFInfo
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Abstract
A ship-side-hanging inland river departure ship draft measurement device is composed of a support, two transmission devices, two sliding blocks, a receiving and transmitting integrated ultrasonic probe and a receiving type ultrasonic probe. The two ultrasonic probes form a linkage device and coordinated operation through the support, the transmission devices and the sliding blocks, and therefore the outline of a ship is accurately scanned. The ship-side-hanging inland river departure ship draft measurement device has the advantages of being simple in structure, low in cost, capable of being carried on a law enforcement ship and performing maneuvering detection along with the ship, high in detection efficiency and quite suitable for monitoring inland waterways.
Description
Technical field
The present invention relates to a kind of shipping draft detection technique, particularly relate to a kind of extension side of a ship formula inland river departure from port shipping draft measurement mechanism and control method thereof.
Background technology
River navigation have occupation of land less, the outstanding advantages such as freight volume is large, energy consumption is little, cost is low, be the important component part of China's comprehensive traffic.While cruiseway water transport ability development, inland navigation craft load carrying ability is also in ever-increasing trend, boats and ships super drinking water grounding accident happens occasionally, not only cause boat damage, suspend in navigation channel, and cause a large amount of ship detention, economic loss is huge, social influence is extremely bad, drauht detects still main dependence observation shipping depth gauge both at home and abroad at present, physical measurement and manually draw the orthodox methods such as chi in cabin, these methods are not only consuming time, effort, and easily hoodwink by the interference of fraud information, channel administration personnel are made to be difficult to Obtaining Accurate shipping draft, very large difficulty is caused to the investigation of boats and ships " super drinking water " behavior, the device that the drinking water of exploitation boats and ships disembark is measured, fast, accurately and objectively obtain boats and ships " super drinking water " evidence, significant for the law enforcement efficiency improving channel administration law enforcement agency.
There is no ripe inland navigation craft drinking water Site Detection integrated system equipment both at home and abroad at present, similar monographic study is still in the technical study stage.Domestic and international drauht traditional detection method mainly contains following five kinds: floating line artificial observation method, super sonic water gauge method, electric water gauge method, laser water-level gauge and pressure sensor method.These methods can only be detected by the sensor installed aboard ship, cannot meet the disembark testing requirement of sea-route management department.
Sonar is the current known optimum medium can propagated in water medium and long distance, and the domestic and international technology measured for drauht is mainly based on sonar contact at present.Drauht disembark method of measurement based on sonar contact technology has following several: (1) sidewall sonar array fixation measuring method, at the Sonar Signal generator array that the vertical installation of riverbank or navigable bridge pier a certain section side is a large amount of, opposite side correspondence position installs Sonar Signal receiver array, according to the sonar quantity of being blocked by boats and ships, conversion obtains shipping draft, the method only can be used in the narrower Special Areas of the waters such as ship lock, leading fairway of the dock width, can not be applied in actual natural river course; (2) water-bed sonar array fixation measuring method, a large amount of sonar equipments installed by river bed track, and simultaneously by Sonar Signal upwards vertical launch, when boats and ships are through out-of-date, measure the distance of track to the water surface and boats and ships hull bottom, subtract each other and obtain shipping draft, the method is only applicable to stable, the controlled artificial environment of similar ship lock; (3) two echosounder detection method, with two cover echosounders and a pressure sensor composition drauht dynamic detection system, the method setting accuracy requires high.First three methods cannot meet the disembark testing requirement of sea-route management department; (4) method of measurement is swept in multibeam sonar side is show on the basis of multibeam echosounding technology to become, side-scan sonar equipment can be arranged on law enforcement shipboard face in theory, detection of dynamic advance in the real draft degree of depth of detected boats and ships, but be subject to the interference of water-bed echo, affect survey precision and sonar picture quality, and this equipment mostly is import, cost is high, domestic does not grasp core technology, by Effect of Technique Barriers, carry on technical development and still have many difficulties.
Summary of the invention
For shipping draft test problems, detection means is no lack of in prior art, wherein, be applicable to be loaded in law enforcement ship carries out motor-driven detection mainly based on the measurement mechanism that multibeam sonar side is swept, not only technical sophistication degree is higher for this measurement mechanism, and apparatus expensive, need dependence on import, and only this device being used for drauht detection, its cost performance is not high, is not suitable for promoting on a large scale;
Compared to common ultrasonic transmission device, the ultrasonic signal that focus type ultrasonic transmission device is launched is wave beam shape, therefore its positioning precision is higher, simultaneously, the technical sophistication degree of focus type ultrasonic transmission device is relatively simple, cost is lower, hardware unit also easily obtains, and, when adopting focus type ultrasonic transmission device to scan, huge sensor array need not be built, extremely be expected to be loaded on law enforcement ship, law enforcement ship can be detected shipping draft at any time, so contriver conducts in-depth research for the application problem of focus type ultrasonic transmission device on shipping draft detects, find under study for action, because the transverse width of ship housing lower end is narrower, generally seamlessly transitted by curved surface or cambered surface between its top and lower end, according to law of reflection, angle is there is between the incident direction of ultrasound beamformer and echoed signal exit direction, and the size of angle and between incident direction and reflecting surface angle there is relation, when ultrasound beamformer to be incident upon with horizontal direction in curved surface in the middle part of boats and ships or cambered surface, echoed signal can not return on former road, this will make sensing device cannot receive actv. echoed signal, detecting device is caused to lose efficacy, in order to address this problem, inventors performed a large amount of exploration and also finally proposing following scheme:
A kind of extension side of a ship formula inland river departure from port shipping draft measurement mechanism, its innovation is: described extension side of a ship formula inland river departure from port shipping draft measurement mechanism is made up of support, two cover drivings device, two slide blocks, transmitting-receiving integrated ultrasonic probe and receiving type ultrasonic probes;
Described driving device and slide block are all arranged on the lateral surface of support, and the medial surface of support is connected with the law enforcement shipboard side of a ship; Described two cover drivings device are in transmission connection with two slide blocks respectively, described driving device energy driving block in the vertical direction crank motion, and the range of movement of two slide blocks is identical; On the lateral surface of a described transmitting-receiving integrated ultrasonic probe slide block disposed therein, described receiving type ultrasonic probe is arranged on the lateral surface of another slide block; Ultrasonic transmission device on described transmitting-receiving integrated ultrasonic probe adopts focus type ultrasonic transmission device; The path of motion coaxial line of transmitting-receiving integrated ultrasonic probe and receiving type ultrasonic probe.
Principle of the present invention is: the outer wall of boats and ships housing upper is basic vertical with horizontal direction, when ultrasound beamformer is incident upon in vertical area with horizontal direction, only just can get actv. echoed signal by transmitting-receiving integrated ultrasonic probe, after sweep phase enters the cambered surface region of boats and ships lower housing portion, owing to there is angle between echoed signal and ultrasound beamformer signal, after angle reaches certain numerical value, transmitting-receiving integrated ultrasonic probe just cannot get effective echoed signal, now, by making transmitting-receiving integrated ultrasonic probe parked at signal jump position, control receiving type ultrasonic probe to move down to find effective echoed signal simultaneously, after receiving type ultrasonic probe searches out effective echoed signal, we just can according to super sonic positioning principle and simple geometric relationship, determine the position of reflecting surface, finally we just can restore according to the reflection line position be recorded in testing process the outer wall profile of boats and ships, and then detect the draft of boats and ships, in the program, neither need to build huge sensor array, also do not need the import equipment that price is high, and data processing is simple, ageing good, be arranged on after on law enforcement ship, quick, the motor-driven detection to shipping draft can be realized, the demand of very applicable cruiseway supervision.
Preferably, described driving device is made up of screw mandrel and drive motor; Rotating support on described screw mandrel and support is rotationally connected, and screw mandrel upper end and drive motor are in transmission connection, and are in transmission connection in the middle part of screw mandrel with slide block; Described drive motor is fixed on support.
Preferably, described law enforcement ship is provided with actuating device, and described actuating device and support are in transmission connection.Described actuating device can regulate the position of support, make the position of support flexible and changeable, be convenient to folding, simultaneously, actuating device is also by regulating backing positions to carry out integrally-regulated to the detection range of ultrasonic transduter, to adapt to the testing requirement in different navigation channel, be convenient to law enfrocement official's Field adjustment detection scheme;
In order to coordinate aforementioned measuring appliance, the invention allows for a kind of control method of hanging side of a ship formula inland river departure from port shipping draft measurement mechanism, involved hardware as previously mentioned; Concrete control method is:
During initial condition, transmitting-receiving integrated ultrasonic probe and receiving type ultrasonic probe are all positioned at respective up maximum travel position place, in plant running process, adopt ultrasonic ranging principle, according to the echoed signal of the ultrasonic signal that transmitting-receiving integrated ultrasonic probe sends, the distance calculated in real time between reflecting surface corresponding to current echoed signal and transmitting-receiving integrated ultrasonic probe is gone forward side by side line item, according to the range data be recorded to, determine the position of the reflecting surface corresponding to each echoed signal, the profile of detected object is sketched the contours of in the position of the reflecting surface corresponding to multiecho signal, during embody rule, if transmitting-receiving integrated ultrasonic probe receives echoed signal, then calculate the time difference according to the time of reception of hypracoustic launch time and echoed signal, then the distance between transmitting-receiving integrated ultrasonic probe and reflecting surface is calculated according to ultrasonic velocity, if receiving type ultrasonic probe receives echoed signal, then calculate the time difference according to the time of reception of hypracoustic launch time and echoed signal, then the stroke of ultrasonic signal is calculated according to ultrasonic velocity, and then in conjunction with the diff-H of transmitting-receiving integrated ultrasonic probe and receiving type ultrasonic probe, according to right-angled triangle three edge lengths relation, calculate the length of the square edge in horizontal direction (as shown in Figure 2, transmitting-receiving integrated ultrasonic probe, the position of receiving type ultrasonic probe and reflecting surface three forms a right-angled triangle, the stroke of ultrasonic signal is exactly in fact the overall length of level right angle limit and hypotenuse, the diff-H of transmitting-receiving integrated ultrasonic probe and receiving type ultrasonic probe is exactly the length of the vertical arm of angle, according to ditch stock theorem, just can calculate the length on level right angle limit), thus orient reflection line position.
1) after starting detection, control transmitting-receiving integrated ultrasonic probe and periodically outwards launch ultrasonic pulse with horizontal direction and the echoed signal of Real-time Obtaining ultrasonic pulse, meanwhile, the transmitting-receiving integrated ultrasonic probe of transmission at the uniform velocity moves down, and enters step 2);
2) in transmitting-receiving integrated ultrasonic probe folding process, if can echoed signal be received all the time, then be displaced downwardly to behind descending maximum travel position place until transmitting-receiving integrated ultrasonic probe, enter step 6) (during embody rule, draft alert locations can be pre-set, in aforementioned operation, when transmitting-receiving integrated ultrasonic probe is displaced downwardly to draft alert locations place, still can receive echoed signal, then illustrate that shipping draft has obviously surmounted draft alert locations); If when transmitting-receiving integrated ultrasonic probe is displaced downwardly to A height, echoed signal disappears, and illustrates that sweep phase has entered the cambered surface region on boats and ships housing, now just controls transmitting-receiving integrated ultrasonic probe parked at A height and position place, enter step 3);
3) start receiving type ultrasonic probe, meanwhile, transmission receiving type ultrasonic probe moves down; In the folding process of receiving type ultrasonic probe, if receiving type ultrasonic probe still cannot receive echoed signal after being displaced downwardly to descending maximum travel position place, to illustrate or the degree of depth of transmitting-receiving integrated ultrasonic probe may lower than hull lower end, shipping draft has surmounted draft alert locations, comprehensively need analyze in conjunction with boats and ships profile, then enter 6); In the folding process of receiving type ultrasonic probe, if receiving type ultrasonic probe have received echoed signal when being displaced downwardly to the B height and position place below A height, illustrate that ultrasound beamformer is just being incident upon the cambered surface region on boats and ships housing, drauht nadir also do not detected, then control receiving type ultrasonic probe parked at B height and position place, enter step 4);
4) control transmitting-receiving integrated ultrasonic probe to continue to move down, if after transmitting-receiving integrated ultrasonic probe is displaced downwardly to descending maximum travel position place, receiving type ultrasonic probe still can receive echoed signal, height when to illustrate before transmitting-receiving integrated ultrasonic probe once parked with drinking water alert locations very close to (although ultrasound beamformer is very concentrated, but among a small circle, still hypracoustic divergence characterization is possessed, at reflecting face, when change in location is little, after transmitting-receiving integrated ultrasonic probe slightly moves, echoed signal still can be received type ultrasonic probe and detect), and shipping draft has approached or has surmounted drinking water alert locations, need to be done to confirm further according to boats and ships profile by law enfrocement official, therefore step 6) is entered, in transmitting-receiving integrated ultrasonic probe folding process, if when transmitting-receiving integrated ultrasonic probe is displaced downwardly to the C height and position place below A height, echoed signal disappears, illustrate that the cambered surface on boats and ships housing is moved towards also in further change, therefore control transmitting-receiving integrated ultrasonic probe parked at C height and position place, enter step 5),
5) control receiving type ultrasonic probe to continue to move down, in the folding process of receiving type ultrasonic probe, if receiving type ultrasonic probe still cannot receive echoed signal after being displaced downwardly to descending maximum travel position place, illustrate otherwise the height of transmitting-receiving integrated ultrasonic probe lower than boats and ships lower end, shipping draft has surmounted the drinking water warning degree of depth, need comprehensively to analyze in conjunction with boats and ships profile, therefore enter 6); In the folding process of receiving type ultrasonic probe, if receiving type ultrasonic probe have received echoed signal when being displaced downwardly to the D height and position place below C height, nadir shipping draft also not detected is described, then controls receiving type ultrasonic probe parked at D height and position place, return step 4);
6) testing process terminates, and controls transmitting-receiving integrated ultrasonic probe and receiving type ultrasonic probe is closed and resets; By the profile drafting pattern picture of detected object, boats and ships profile feature whether is met by the profile of operating personal naked eyes identification detected object, if the profile of detected object meets boats and ships profile feature, nadir on the profile of then detected object is shipping draft, if the profile of detected object does not meet boats and ships profile feature, then demand operating person is the need of re-starting detection, if desired re-starts detection and then returns step 1).
Advantageous Effects of the present invention is: provide simple, the lower-cost draft detecting device of a kind of structure, and this detecting device can be equipped on law enforcement ship, and carry out motor-driven detection with ship, testing process efficiency is higher, very applicable cruiseway supervision.
Accompanying drawing explanation
Fig. 1, principle schematic of the present invention (situation shown in figure is that measurement mechanism scans the vertical area on boats and ships housing);
Fig. 2, principle schematic of the present invention two (situation shown in figure is that measurement mechanism scans the cambered surface region on boats and ships housing);
A kind of topology example of Fig. 3, extension side of a ship formula inland river departure from port shipping draft measurement mechanism;
In figure, each title corresponding to mark is respectively: support 1, slide block 2, transmitting-receiving integrated ultrasonic probe 3, receiving type ultrasonic probe 4, screw mandrel 5, drive motor 6, law enforcement ship 7, detected ship 8.
Detailed description of the invention
A kind of extension side of a ship formula inland river departure from port shipping draft measurement mechanism, its innovation is: described extension side of a ship formula inland river departure from port shipping draft measurement mechanism overlaps driving device by support 1, two, two slide blocks 2, transmitting-receiving integrated ultrasonic probe 3 and receiving type ultrasonic probes 4 form;
Described driving device and slide block 2 are all arranged on the lateral surface of support 1, and the medial surface of support 1 is connected with the law enforcement shipboard side of a ship; Described two cover drivings device are in transmission connection with two slide blocks 2 respectively, described driving device energy driving block 2 in the vertical direction crank motion, and the range of movement of two slide blocks 2 is identical; On the lateral surface of described transmitting-receiving integrated ultrasonic probe 3 slide block 2 disposed therein, described receiving type ultrasonic probe 4 is arranged on the lateral surface of another slide block 2; Ultrasonic transmission device on described transmitting-receiving integrated ultrasonic probe 3 adopts focus type ultrasonic transmission device; The path of motion coaxial line of transmitting-receiving integrated ultrasonic probe 3 and receiving type ultrasonic probe 4.
Further, described driving device is made up of screw mandrel 5 and drive motor 6; Described screw mandrel 5 is rotationally connected with the rotating support on support 1, and screw mandrel 5 upper end and drive motor 6 are in transmission connection, and are in transmission connection in the middle part of screw mandrel 5 with slide block 2; Described drive motor 6 is fixed on support 1.
Further, described law enforcement ship is provided with actuating device, described actuating device and support 1 are in transmission connection.
Hang a control method for side of a ship formula inland river departure from port shipping draft measurement mechanism, involved hardware comprises: described extension side of a ship formula inland river departure from port shipping draft measurement mechanism overlaps driving device by support 1, two, two slide blocks 2, transmitting-receiving integrated ultrasonic probe 3 and receiving type ultrasonic probes 4 form;
Described driving device and slide block 2 are all arranged on the lateral surface of support 1, and the medial surface of support 1 is connected with the law enforcement shipboard side of a ship; Described two cover drivings device are in transmission connection with two slide blocks 2 respectively, described driving device energy driving block 2 in the vertical direction crank motion, and the range of movement of two slide blocks 2 is identical; On the lateral surface of described transmitting-receiving integrated ultrasonic probe 3 slide block 2 disposed therein, described receiving type ultrasonic probe 4 is arranged on the lateral surface of another slide block 2; Ultrasonic transmission device on described transmitting-receiving integrated ultrasonic probe 3 adopts focus type ultrasonic transmission device; The path of motion coaxial line of transmitting-receiving integrated ultrasonic probe 3 and receiving type ultrasonic probe 4.
Its innovation is: control extension side of a ship formula inland river departure from port shipping draft measurement mechanism as follows:
During initial condition, transmitting-receiving integrated ultrasonic probe 3 and receiving type ultrasonic probe 4 are all positioned at respective up maximum travel position place; In plant running process, adopt ultrasonic ranging principle, according to the echoed signal of the ultrasonic signal that transmitting-receiving integrated ultrasonic probe 3 sends, the distance calculated in real time between reflecting surface corresponding to current echoed signal and transmitting-receiving integrated ultrasonic probe 3 is gone forward side by side line item, according to the range data be recorded to, determine the position of the reflecting surface corresponding to each echoed signal, the profile of detected object is sketched the contours of in the position of the reflecting surface corresponding to multiecho signal;
1) after starting detection, control transmitting-receiving integrated ultrasonic probe 3 and periodically launch ultrasonic pulse and the echoed signal of Real-time Obtaining ultrasonic pulse with horizontal direction, meanwhile, the transmitting-receiving integrated ultrasonic probe 3 of transmission at the uniform velocity moves down, and enters step 2);
2) in the folding process of transmitting-receiving integrated ultrasonic probe 3, if can echoed signal be received all the time, be then displaced downwardly to behind descending maximum travel position place until transmitting-receiving integrated ultrasonic probe 3, enter step 6); If when transmitting-receiving integrated ultrasonic probe 3 is displaced downwardly to A height, echoed signal disappears, then control transmitting-receiving integrated ultrasonic probe 3 parked at A height and position place, enter step 3);
3) start receiving type ultrasonic probe 4, meanwhile, transmission receiving type ultrasonic probe 4 moves down; In receiving type ultrasonic probe 4 folding process, if receiving type ultrasonic probe 4 still cannot receive echoed signal after being displaced downwardly to descending maximum travel position place, then enter 6); In receiving type ultrasonic probe 4 folding process, if having received echoed signal during receiving type ultrasonic probe 4 is displaced downwardly to below A height B height and position place, then control receiving type ultrasonic probe 4 parked at B height and position place, enter step 4);
4) receiving type ultrasonic probe 4 controls transmitting-receiving integrated ultrasonic probe 3 to continue to move down, if after transmitting-receiving integrated ultrasonic probe 3 is displaced downwardly to descending maximum travel position place, still can receive echoed signal, then enter step 6); In the folding process of transmitting-receiving integrated ultrasonic probe 3, if when transmitting-receiving integrated ultrasonic probe 3 is displaced downwardly to the C height and position place below A height, echoed signal disappears, then control transmitting-receiving integrated ultrasonic probe 3 parked at C height and position place, enter step 5);
5) control receiving type ultrasonic probe 4 to continue to move down, in receiving type ultrasonic probe 4 folding process, if receiving type ultrasonic probe 4 still cannot receive echoed signal after being displaced downwardly to descending maximum travel position place, then enter 6); In receiving type ultrasonic probe 4 folding process, if having received echoed signal during receiving type ultrasonic probe 4 is displaced downwardly to below C height D height and position place, then control receiving type ultrasonic probe 4 parked at D height and position place, return step 4);
6) testing process terminates, and controls transmitting-receiving integrated ultrasonic probe 3 and receiving type ultrasonic probe 4 is closed and resets; By the profile drafting pattern picture of detected object, boats and ships profile feature whether is met by the profile of operating personal identification detected object, if the profile of detected object meets boats and ships profile feature, nadir on the profile of then detected object is shipping draft, if the profile of detected object does not meet boats and ships profile feature, then demand operating person is the need of re-starting detection, if desired re-starts detection and then returns step 1).
Claims (4)
1. hang a side of a ship formula inland river departure from port shipping draft measurement mechanism, it is characterized in that: described extension side of a ship formula inland river departure from port shipping draft measurement mechanism is made up of support (1), two cover drivings device, two slide blocks (2), transmitting-receiving integrated ultrasonic probe (3) and receiving type ultrasonic probes (4);
Described driving device and slide block (2) are all arranged on the lateral surface of support (1), and the medial surface of support (1) is connected with the law enforcement shipboard side of a ship; Described two cover drivings device are in transmission connection with two slide blocks (2) respectively, described driving device energy driving block (2) in the vertical direction crank motion, and the range of movement of two slide blocks (2) is identical; On the lateral surface of described transmitting-receiving integrated ultrasonic probe (3) slide block (2) disposed therein, described receiving type ultrasonic probe (4) is arranged on the lateral surface of another slide block (2); Ultrasonic transmission device on described transmitting-receiving integrated ultrasonic probe (3) adopts focus type ultrasonic transmission device; The path of motion coaxial line of transmitting-receiving integrated ultrasonic probe (3) and receiving type ultrasonic probe (4).
2. extension side of a ship formula inland river departure from port shipping draft measurement mechanism according to claim 1, is characterized in that: described driving device is made up of screw mandrel (5) and drive motor (6); Described screw mandrel (5) is rotationally connected with the rotating support on support (1), and screw mandrel (5) upper end and drive motor (6) are in transmission connection, and screw mandrel (5) middle part is in transmission connection with slide block (2); Described drive motor (6) is fixed on support (1).
3. extension side of a ship formula inland river departure from port shipping draft measurement mechanism according to claim 1, it is characterized in that: described law enforcement ship is provided with actuating device, described actuating device and support (1) are in transmission connection.
4. hang a control method for side of a ship formula inland river departure from port shipping draft measurement mechanism, involved hardware comprises: described extension side of a ship formula inland river departure from port shipping draft measurement mechanism is made up of support (1), two cover drivings device, two slide blocks (2), transmitting-receiving integrated ultrasonic probe (3) and receiving type ultrasonic probes (4);
Described driving device and slide block (2) are all arranged on the lateral surface of support (1), and the medial surface of support (1) is connected with the law enforcement shipboard side of a ship; Described two cover drivings device are in transmission connection with two slide blocks (2) respectively, described driving device energy driving block (2) in the vertical direction crank motion, and the range of movement of two slide blocks (2) is identical; On the lateral surface of described transmitting-receiving integrated ultrasonic probe (3) slide block (2) disposed therein, described receiving type ultrasonic probe (4) is arranged on the lateral surface of another slide block (2); Ultrasonic transmission device on described transmitting-receiving integrated ultrasonic probe (3) adopts focus type ultrasonic transmission device; The path of motion coaxial line of transmitting-receiving integrated ultrasonic probe (3) and receiving type ultrasonic probe (4);
It is characterized in that: as follows extension side of a ship formula inland river departure from port shipping draft measurement mechanism is controlled:
During initial condition, transmitting-receiving integrated ultrasonic probe (3) and receiving type ultrasonic probe (4) are all positioned at respective up maximum travel position place; In plant running process, adopt ultrasonic ranging principle, according to the echoed signal of the ultrasonic signal that transmitting-receiving integrated ultrasonic probe (3) sends, the distance calculated in real time between reflecting surface corresponding to current echoed signal and transmitting-receiving integrated ultrasonic probe (3) is gone forward side by side line item, according to the range data be recorded to, determine the position of the reflecting surface corresponding to each echoed signal, the profile of detected object is sketched the contours of in the position of the reflecting surface corresponding to multiecho signal;
1) after starting detection, control transmitting-receiving integrated ultrasonic probe (3) and periodically launch ultrasonic pulse and the echoed signal of Real-time Obtaining ultrasonic pulse with horizontal direction, meanwhile, the transmitting-receiving integrated ultrasonic probe of transmission (3) at the uniform velocity moves down, and enters step 2);
2) in transmitting-receiving integrated ultrasonic probe (3) folding process, if can echoed signal be received all the time, be then displaced downwardly to behind descending maximum travel position place until transmitting-receiving integrated ultrasonic probe (3), enter step 6); If when transmitting-receiving integrated ultrasonic probe (3) is displaced downwardly to A height, echoed signal disappears, then control transmitting-receiving integrated ultrasonic probe (3) parked at A height and position place, enter step 3);
3) start receiving type ultrasonic probe (4), meanwhile, transmission receiving type ultrasonic probe (4) moves down; In receiving type ultrasonic probe (4) folding process, if receiving type ultrasonic probe (4) still cannot receive echoed signal after being displaced downwardly to descending maximum travel position place, then enter 6); In receiving type ultrasonic probe (4) folding process, if having received echoed signal during receiving type ultrasonic probe (4) is displaced downwardly to below A height B height and position place, then control receiving type ultrasonic probe (4) parked at B height and position place, enter step 4);
4) receiving type ultrasonic probe (4) controls transmitting-receiving integrated ultrasonic probe (3) to continue to move down, if after transmitting-receiving integrated ultrasonic probe (3) is displaced downwardly to descending maximum travel position place, still can receive echoed signal, then enter step 6); In transmitting-receiving integrated ultrasonic probe (3) folding process, if when transmitting-receiving integrated ultrasonic probe (3) is displaced downwardly to the C height and position place below A height, echoed signal disappears, then control transmitting-receiving integrated ultrasonic probe (3) parked at C height and position place, enter step 5);
5) control receiving type ultrasonic probe (4) to continue to move down, in receiving type ultrasonic probe (4) folding process, if receiving type ultrasonic probe (4) still cannot receive echoed signal after being displaced downwardly to descending maximum travel position place, then enter 6); In receiving type ultrasonic probe (4) folding process, if having received echoed signal during receiving type ultrasonic probe (4) is displaced downwardly to below C height D height and position place, then control receiving type ultrasonic probe (4) parked at D height and position place, return step 4);
6) testing process terminates, and controls transmitting-receiving integrated ultrasonic probe (3) and receiving type ultrasonic probe (4) is closed and resets; By the profile drafting pattern picture of detected object, boats and ships profile feature whether is met by the profile of operating personal identification detected object, if the profile of detected object meets boats and ships profile feature, nadir on the profile of then detected object is shipping draft, if the profile of detected object does not meet boats and ships profile feature, then demand operating person is the need of re-starting detection, if desired re-starts detection and then returns step 1).
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105270580A (en) * | 2015-10-14 | 2016-01-27 | 长江三峡通航管理局 | Shipborne side draft detecting system and detecting method |
| CN105416524A (en) * | 2015-12-09 | 2016-03-23 | 武汉理工大学 | Ship draught depth detection system and method based on single-beam side-scanning technology |
| CN105711768A (en) * | 2016-01-26 | 2016-06-29 | 武汉德尔达科技有限公司 | Ship-borne ship draught automatic detection system |
| CN106005301A (en) * | 2016-07-06 | 2016-10-12 | 河海大学 | Detecting device for ship draft and detecting method |
| CN107607956A (en) * | 2017-06-28 | 2018-01-19 | 舟山遨拓海洋工程技术有限公司 | It is a kind of to carry out drauht measuring method using multifrequency digital profile sonar technology |
| CN109283511A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of wide covering multi-beam reception basic matrix calibration method |
| CN114037375A (en) * | 2021-11-04 | 2022-02-11 | 广州港发石油化工码头有限公司 | Wharf ship draft monitoring method, device, equipment and storage medium |
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| CN105270580A (en) * | 2015-10-14 | 2016-01-27 | 长江三峡通航管理局 | Shipborne side draft detecting system and detecting method |
| CN105416524A (en) * | 2015-12-09 | 2016-03-23 | 武汉理工大学 | Ship draught depth detection system and method based on single-beam side-scanning technology |
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| CN107607956A (en) * | 2017-06-28 | 2018-01-19 | 舟山遨拓海洋工程技术有限公司 | It is a kind of to carry out drauht measuring method using multifrequency digital profile sonar technology |
| CN109283511A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of wide covering multi-beam reception basic matrix calibration method |
| CN109283511B (en) * | 2018-09-01 | 2022-07-29 | 哈尔滨工程大学 | Wide-coverage multi-beam receiving array calibration method |
| CN114037375A (en) * | 2021-11-04 | 2022-02-11 | 广州港发石油化工码头有限公司 | Wharf ship draft monitoring method, device, equipment and storage medium |
| CN114037375B (en) * | 2021-11-04 | 2022-06-28 | 广州港发石油化工码头有限公司 | Wharf ship draft monitoring method, device, equipment and storage medium |
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