CN104787261B - 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 PDF

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CN104787261B
CN104787261B CN201510174254.XA CN201510174254A CN104787261B CN 104787261 B CN104787261 B CN 104787261B CN 201510174254 A CN201510174254 A CN 201510174254A CN 104787261 B CN104787261 B CN 104787261B
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吴俊�
丁甡奇
舒岳阶
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Chongqing Jiaotong University
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Abstract

一种挂舷式内河离港船舶吃水深度测量装置,由支架、两套传动装置、两个滑块、收发一体式超声波探头和接收型超声波探头组成;两个超声波探头通过支架、传动装置和滑块形成联动装置、协调运作,实现对船舶轮廓的精确扫描;本发明的有益技术效果是:提供了一种结构简单、成本较低的吃水深度检测装置,该检测装置能搭载于执法船上,随船进行机动检测,检测过程效率较高,十分适合内河航道监管。

A device for measuring draft depth of inland river departing ships on board, which is composed of a bracket, two sets of transmission devices, two sliders, a transceiver-integrated ultrasonic probe and a receiving ultrasonic probe; the two ultrasonic probes pass through the bracket, the transmission device and the slider Blocks form a linkage device and coordinate operation to realize accurate scanning of the outline of the ship; the beneficial technical effect of the present invention is to provide a draft detection device with a simple structure and low cost, which can be mounted on a law enforcement ship and The ship conducts mobile inspections, and the inspection process is more efficient, which is very suitable for the supervision of inland waterways.

Description

挂舷式内河离港船舶吃水深度测量装置及其控制方法Draught depth measuring device and control method for inland river departing ships on board

技术领域technical field

本发明涉及一种船舶吃水深度检测技术,尤其涉及一种挂舷式内河离港船舶吃水深度测量装置及其控制方法。The invention relates to a ship draft depth detection technology, in particular to an on-board type inland river departure ship draft depth measurement device and a control method thereof.

背景技术Background technique

内河航运具有占地少、运量大、能耗小、成本低等突出优点,是我国综合交通的重要组成部分。在内河航道水运能力不断发展的同时,内河船舶载重量也呈不断增加的趋势,船舶超吃水搁浅事故时有发生,不仅导致船舶损坏、航道停航,而且造成大量船舶滞留,经济损失巨大,社会影响极坏,目前国内外船舶吃水检测仍主要依靠观测船舶水尺、舱内实际丈量和人工拉尺等传统方法,这些方法不仅耗时、费力,而且容易受造假信息干扰蒙蔽,使得航道行政管理人员难以准确获取船舶吃水深度,给船舶“超吃水”行为的查处造成了很大困难,开发船舶离船吃水测量的装置,快速、准确以及客观的获取船舶“超吃水”证据,对于提高航道行政管理执法部门的执法效率具有重要意义。Inland waterway shipping has outstanding advantages such as less land occupation, large transport capacity, low energy consumption, and low cost. It is an important part of my country's comprehensive transportation. While the water transportation capacity of the inland waterway continues to develop, the load capacity of the inland waterway ships is also showing a trend of increasing. Ships overdraft and stranded accidents occur from time to time, which not only lead to damage to ships and suspension of navigation in the waterway, but also cause a large number of ships to be stranded, resulting in huge economic losses and social impact. Extremely bad. At present, domestic and foreign ship draft inspections still mainly rely on traditional methods such as observing the ship's water gauge, actual measurement in the cabin, and manual drawing. These methods are not only time-consuming and laborious, but also easily deceived by false information interference. It is difficult to accurately obtain the ship's draft depth, which has caused great difficulties in the investigation and punishment of the ship's "over-draft" behavior. The development of a device for measuring the ship's departure draft, and the rapid, accurate and objective acquisition of evidence of the ship's "over-draft" are of great importance to improve the waterway administrative management. The efficiency of law enforcement agencies is of great significance.

国内外目前尚无成熟的内河船舶吃水现场检测成套系统设备,相类似的专题研究仍处于技术研究阶段。国内外船舶吃水传统检测方法主要有以下五种:吃水线人工观测法、超声波水尺法、电子水尺法、激光水位计和压力传感器法。这些方法只能通过安装在船上的传感器进行检测,无法满足航道管理部门的离船检测要求。At present, there is no mature complete set of system equipment for on-site draft detection of inland ships at home and abroad, and similar special research is still in the technical research stage. There are mainly five traditional detection methods for ship draft at home and abroad: manual observation of the water line, ultrasonic water gauge, electronic water gauge, laser water level gauge and pressure sensor method. These methods can only be detected by sensors installed on the ship, and cannot meet the disembarkation detection requirements of the waterway management department.

声呐是目前已知能在水中远距离传播的最优媒介,目前国内外针对船舶吃水测量的技术主要是基于声呐探测。基于声呐探测技术的船舶吃水离船测量方法有以下几种:(1)侧壁声呐阵列固定测量法,在河岸或通航孔桥墩某一断面一侧的竖向安装大量的声呐信号发生器阵列,另一侧对应位置安装声呐信号接收器阵列,根据被船舶遮挡的声呐数量,换算得到船舶吃水深度,该方法仅能用在船闸、船闸引航道等水域宽度较窄的特殊区域,不能应用于实际天然河道内;(2)水底声呐阵列固定测量法,在河底轨道上安装大量的声呐装置,并同时将声呐信号向上垂直发射,当船舶经过时,测量轨道至水面和船舶船底的距离,相减即得船舶吃水深度,该方法仅适用于类似船闸的稳定、可控的人工环境;(3)双测深仪检测法,用两套测深仪和一个压力传感器组成船舶吃水动态检测系统,该方法安装精度要求高。前三种方法无法满足航道管理部门的离船检测要求;(4)多波束声呐侧扫测量方法是在多波束测深技术的基础上演变得来的,侧扫声呐设备理论上可以安装在执法船侧面,动态检测行进中的被检测船舶的实际吃水深度,但是易受水底回波的干扰,影响测量精度和声呐图像质量,且该设备多为进口,造价高、国内不掌握核心技术,受技术壁垒影响,进行技术开发尚有诸多困难。Sonar is currently known to be the best medium for long-distance transmission in water. At present, the technology for ship draft measurement at home and abroad is mainly based on sonar detection. There are several methods for measuring ship draft and disembarkation based on sonar detection technology: (1) fixed side wall sonar array measurement method, a large number of sonar signal generator arrays are installed vertically on one side of a certain section of a river bank or navigation hole pier, The sonar signal receiver array is installed at the corresponding position on the other side, and the draft depth of the ship is converted according to the number of sonar blocked by the ship. This method can only be used in special areas with narrow waters such as ship locks and ship lock approach channels, and cannot be applied in practice. In natural rivers; (2) The underwater sonar array fixed measurement method, a large number of sonar devices are installed on the river bottom track, and the sonar signal is launched vertically upward at the same time. When the ship passes by, the distance from the track to the water surface and the bottom of the ship is measured. The ship’s draft can be obtained by subtracting it. This method is only applicable to stable and controllable artificial environments like ship locks; (3) The double depth sounder detection method uses two sets of depth sounders and a pressure sensor to form a dynamic detection system for the ship’s draft. This method requires high installation accuracy. The first three methods cannot meet the disembarkation detection requirements of the waterway management department; (4) The multi-beam sonar side-scan measurement method is evolved on the basis of the multi-beam bathymetry technology, and the side-scan sonar equipment can theoretically be installed in law enforcement The side of the ship dynamically detects the actual draft of the detected ship in motion, but it is susceptible to interference from the bottom echo, which affects the measurement accuracy and sonar image quality. Influenced by technical barriers, there are still many difficulties in technological development.

发明内容Contents of the invention

针对船舶吃水深度检测问题,现有技术中不乏检测手段,其中,适用于装载在执法船上进行机动检测的主要是基于多波束声呐侧扫的测量装置,这种测量装置不仅技术复杂度较高,而且设备昂贵,需要依赖进口,且仅将该装置用于船舶吃水检测,其性价比不高,不适合大范围推广;For the detection of ship draft depth, there are many detection methods in the existing technology. Among them, the measurement device based on multi-beam sonar side-scan is mainly suitable for carrying on the law enforcement ship for mobile detection. This measurement device not only has high technical complexity, but also Moreover, the equipment is expensive and needs to be imported, and the device is only used for ship draft detection, which is not cost-effective and not suitable for large-scale promotion;

相比于普通的超声波发射装置,聚焦型超声波发射装置所发射的超声波信号为波束状,因此其定位精度较高,同时,聚焦型超声波发射装置的技术复杂度相对简单,成本较低,硬件装置也容易获取,并且,采用聚焦型超声波发射装置来进行扫描时,不必搭建庞大的传感器阵列,十分有望装载在执法船上,使得执法船可以随时对船舶吃水深度进行检测,于是发明人针对聚焦型超声波发射装置在船舶吃水深度检测上的应用问题进行了深入研究,在研究中发现,由于船舶外壳下端的横向宽度较窄,其上部与下端之间一般通过曲面或弧面平滑过渡,根据反射定律可知,超声波波束的入射方向和回波信号出射方向之间存在夹角,且夹角的大小与入射方向和反射面之间角度存在关系,当超声波波束以水平方向投射在船舶中部的曲面或弧面上时,回波信号不会原路返回,这就会使得传感装置无法接收到有效的回波信号,导致检测装置失效;为了解决这一问题,发明人进行了大量探索并最终提出了如下方案:Compared with ordinary ultrasonic transmitters, the ultrasonic signal emitted by the focused ultrasonic transmitter is beam-shaped, so its positioning accuracy is higher. At the same time, the technical complexity of the focused ultrasonic transmitter is relatively simple, the cost is low, and the hardware device It is also easy to obtain, and when using a focused ultrasonic emission device for scanning, it is not necessary to build a huge sensor array. The application of the launching device in the detection of the ship's draft depth has been deeply studied. In the study, it was found that because the lateral width of the lower end of the ship's shell is narrow, the upper and lower ends generally pass through a smooth transition through a curved surface or an arc surface. According to the law of reflection, it can be known that , there is an included angle between the incident direction of the ultrasonic beam and the outgoing direction of the echo signal, and the size of the included angle is related to the angle between the incident direction and the reflecting surface. When it goes up, the echo signal will not return in the same way, which will make the sensing device unable to receive the effective echo signal, resulting in the failure of the detection device; in order to solve this problem, the inventor has carried out a lot of exploration and finally proposed the following Program:

一种挂舷式内河离港船舶吃水深度测量装置,其创新在于:所述挂舷式内河离港船舶吃水深度测量装置由支架、两套传动装置、两个滑块、收发一体式超声波探头和接收型超声波探头组成;An on-board type inland river departing ship draft depth measuring device, the innovation of which is: the on-board type inland river departing ship draft depth measuring device consists of a bracket, two sets of transmission devices, two sliders, a transceiver integrated ultrasonic probe and Receiving ultrasonic probe composition;

所述传动装置和滑块均设置于支架的外侧面上,支架的内侧面与执法船侧舷连接;所述两套传动装置分别与两个滑块传动连接,所述传动装置能传动滑块在竖直方向上往复运动,两个滑块的运动范围相同;所述收发一体式超声波探头设置于其中一个滑块的外侧面上,所述接收型超声波探头设置于另一个滑块的外侧面上;所述收发一体式超声波探头上的超声波发射装置采用聚焦型超声波发射装置;收发一体式超声波探头和接收型超声波探头的运动轨迹同轴线。Both the transmission device and the slider are arranged on the outer surface of the support, and the inner surface of the support is connected to the side of the law enforcement ship; the two sets of transmission devices are respectively connected to the two sliders, and the transmission device can drive the slider Reciprocating in the vertical direction, the range of motion of the two sliders is the same; the transceiver-integrated ultrasonic probe is arranged on the outer surface of one of the sliders, and the receiving ultrasonic probe is arranged on the outer surface of the other slider Above; the ultrasonic emitting device on the transceiver-integrated ultrasonic probe adopts a focused ultrasonic emitting device; the motion trajectory of the transceiver-integrated ultrasonic probe and the receiving ultrasonic probe is coaxial.

本发明的原理是:船舶壳体上部的外壁基本与水平方向垂直,当超声波波束以水平方向投射在垂直区域上时,仅由收发一体式超声波探头就能获取到有效的回波信号,当扫描阶段进入船舶壳体下部的弧面区域后,由于回波信号与超声波波束信号之间存在夹角,当夹角达到一定数值后,收发一体式超声波探头就无法获取到有效回波信号了,此时,通过使收发一体式超声波探头驻停在信号跳变位置,同时控制接收型超声波探头向下移动以寻找有效回波信号,当接收型超声波探头寻找到有效回波信号后,我们就能根据超声波定位原理以及简单的几何关系,确定出反射面的位置,最终我们就能根据检测过程中记录到的反射面位置复原出船舶的外壁轮廓,进而检测出船舶的吃水深度;该方案中,既不需要搭建庞大的传感器阵列,也不需要价格高昂的进口设备,且数据处理简单、时效性好,将其设置在执法船上后,可以实现对船舶吃水深度的快速、机动检测,十分适合内河航道监管的需求。The principle of the present invention is: the outer wall of the upper part of the hull of the ship is basically perpendicular to the horizontal direction, when the ultrasonic beam is projected on the vertical area in the horizontal direction, the effective echo signal can be obtained only by the integrated ultrasonic probe of transceiver, when scanning After entering the arc surface area of the lower part of the ship’s hull, due to the angle between the echo signal and the ultrasonic beam signal, when the angle reaches a certain value, the integrated ultrasonic probe for sending and receiving cannot obtain effective echo signals. At the same time, by making the transceiver integrated ultrasonic probe stop at the signal jump position, and at the same time controlling the receiving ultrasonic probe to move down to find the effective echo signal, when the receiving ultrasonic probe finds the effective echo signal, we can according to The principle of ultrasonic positioning and simple geometric relationship determine the position of the reflecting surface, and finally we can restore the outer wall contour of the ship according to the position of the reflecting surface recorded in the detection process, and then detect the draft of the ship; in this scheme, both There is no need to build a huge sensor array or expensive imported equipment, and the data processing is simple and time-sensitive. After setting it on a law enforcement ship, it can realize fast and mobile detection of the ship's draft depth, which is very suitable for inland waterways Regulatory needs.

优选地,所述传动装置由丝杆和驱动电机组成;所述丝杆与支架上的转动支承转动连接,丝杆上端与驱动电机传动连接,丝杆中部与滑块传动连接;所述驱动电机固定于支架上。Preferably, the transmission device is composed of a screw rod and a driving motor; the screw rod is in rotation connection with the rotating support on the bracket, the upper end of the screw rod is in transmission connection with the drive motor, and the middle part of the screw rod is in transmission connection with the slider; the drive motor fixed on the bracket.

优选地,所述执法船上设置有驱动装置,所述驱动装置与支架传动连接。所述驱动装置能对支架的位置进行调节,使支架的位置灵活多变、便于收折,同时,驱动装置还能通过调节支架位置来对超声波传感器的检测范围进行整体调节,以适应不同航道的检测要求,便于执法人员现场调节检测方案;Preferably, a driving device is provided on the law enforcement boat, and the driving device is connected to the bracket in transmission. The driving device can adjust the position of the bracket, so that the position of the bracket is flexible and easy to fold. At the same time, the driving device can also adjust the detection range of the ultrasonic sensor by adjusting the position of the bracket to adapt to different waterways. Inspection requirements, to facilitate on-site adjustment of inspection programs by law enforcement officers;

为了配合前述测量装置,本发明还提出了一种挂舷式内河离港船舶吃水深度测量装置的控制方法,所涉及的硬件如前所述;具体的控制方法为:In order to cooperate with the aforementioned measuring device, the present invention also proposes a control method for the draft depth measuring device of an on-board type inland river departing ship, the hardware involved is as described above; the specific control method is:

初始状态时,收发一体式超声波探头和接收型超声波探头均位于各自的上行最大行程位置处;装置运行过程中,采用超声波测距原理,根据收发一体式超声波探头发出的超声波信号的回波信号,实时计算出当前回波信号所对应的反射面与收发一体式超声波探头之间的距离并进行记录,根据记录到的距离数据,确定每次回波信号所对应的反射面的位置,根据多次回波信号所对应的反射面的位置勾勒出被检测对象的轮廓;具体应用时,若收发一体式超声波探头收到回波信号,则根据超声波的发射时间和回波信号的接收时间计算出时间差,然后根据超声波波速计算出收发一体式超声波探头与反射面之间的距离,若接收型超声波探头收到回波信号,则根据超声波的发射时间和回波信号的接收时间计算出时间差,然后根据超声波波速计算出超声波信号的行程,然后再结合收发一体式超声波探头和接收型超声波探头的高度差,根据直角三角形三边长度关系,计算出水平方向上的直角边的长度(如图2所示,收发一体式超声波探头、接收型超声波探头和反射面三者的位置构成一直角三角形,超声波信号的行程实质上就是水平直角边与斜边的总长,收发一体式超声波探头和接收型超声波探头的高度差就是竖直角边的长度,根据沟股定理,就能计算出水平直角边的长度),从而定位出反射面位置。In the initial state, the transceiver-integrated ultrasonic probe and the receiving-type ultrasonic probe are located at their respective uplink maximum travel positions; during the operation of the device, the principle of ultrasonic distance measurement is adopted, and according to the echo signal of the ultrasonic signal sent by the transceiver-integrated ultrasonic probe, Calculate and record the distance between the reflective surface corresponding to the current echo signal and the integrated ultrasonic probe in real time, and determine the position of the reflective surface corresponding to each echo signal according to the recorded distance data. The position of the reflective surface corresponding to the signal outlines the outline of the detected object; in specific applications, if the transceiver integrated ultrasonic probe receives the echo signal, the time difference is calculated according to the emission time of the ultrasonic wave and the receiving time of the echo signal, and then Calculate the distance between the transmitting and receiving integrated ultrasonic probe and the reflecting surface according to the ultrasonic wave speed. If the receiving ultrasonic probe receives the echo signal, calculate the time difference according to the ultrasonic emission time and the receiving time of the echo signal, and then calculate the time difference according to the ultrasonic wave speed. Calculate the stroke of the ultrasonic signal, and then combine the height difference between the transceiver integrated ultrasonic probe and the receiving ultrasonic probe, and calculate the length of the right-angled side in the horizontal direction according to the length relationship of the three sides of the right-angled triangle (as shown in Figure 2, the transceiver The positions of the integrated ultrasonic probe, the receiving ultrasonic probe and the reflecting surface form a right triangle. The stroke of the ultrasonic signal is essentially the total length of the horizontal right angle side and the hypotenuse. It is the length of the vertical angle side, according to the ditch theorem, the length of the horizontal right angle side can be calculated), so as to locate the position of the reflective surface.

1)开始检测后,控制收发一体式超声波探头周期性地以水平方向向外发射超声波脉冲并实时获取超声波脉冲的回波信号,同时,传动收发一体式超声波探头匀速下移,进入步骤2);1) After starting the detection, control the transceiver-integrated ultrasonic probe to periodically emit ultrasonic pulses in the horizontal direction and obtain the echo signal of the ultrasonic pulse in real time. At the same time, drive the transceiver-integrated ultrasonic probe to move down at a constant speed and enter step 2);

2)收发一体式超声波探头下移过程中,若始终能收到回波信号,则待收发一体式超声波探头下移至下行最大行程位置处后,进入步骤6)(具体应用时,可预先设置吃水深度警戒位置,在前述操作中,收发一体式超声波探头下移至吃水深度警戒位置处时仍能收到回波信号,则说明船舶吃水深度明显已经超越吃水深度警戒位置);若收发一体式超声波探头下移至A高度时,回波信号消失,说明扫描阶段已进入船舶壳体上的弧面区域,此时就控制收发一体式超声波探头在A高度位置处驻停,进入步骤3);2) During the downward movement of the integrated transceiver ultrasonic probe, if the echo signal can always be received, then proceed to step 6 after the integrated ultrasonic probe moves downward to the maximum downstroke position Draft warning position, in the aforementioned operation, if the ultrasonic probe with integrated transmitter and receiver moves down to the warning position of draft depth and still can receive the echo signal, it means that the draft of the ship has obviously exceeded the warning position of draft depth); if the integrated transmitter and receiver When the ultrasonic probe moves down to height A, the echo signal disappears, indicating that the scanning phase has entered the arc surface area on the ship’s hull. At this time, control the transceiver integrated ultrasonic probe to stop at height A, and enter step 3);

3)启动接收型超声波探头,同时,传动接收型超声波探头下移;接收型超声波探头下移过程中,若接收型超声波探头下移至下行最大行程位置处后仍无法收到回波信号,说明要么收发一体式超声波探头的深度可能已经低于船体下端,要么船舶吃水深度已经超越吃水深度警戒位置,需结合船舶轮廓进行综合分析,则进入6);接收型超声波探头下移过程中,若接收型超声波探头下移至A高度下方的B高度位置处时收到了回波信号,说明超声波波束正投射在船舶壳体上的弧面区域,还未检测到船舶吃水最低点,则控制接收型超声波探头在B高度位置处驻停,进入步骤4);3) Start the receiving ultrasonic probe, and at the same time, drive the receiving ultrasonic probe to move down; during the downward movement of the receiving ultrasonic probe, if the receiving ultrasonic probe still cannot receive the echo signal after moving down to the maximum downstroke position, it means Either the depth of the transceiver-integrated ultrasonic probe may have been lower than the lower end of the hull, or the draft of the ship has exceeded the draft warning position, which needs to be comprehensively analyzed in conjunction with the outline of the ship, then go to 6); during the downward movement of the receiving ultrasonic probe, if the receiving When the type ultrasonic probe moves down to the position of B height below the A height, it receives an echo signal, indicating that the ultrasonic beam is projecting on the arc area on the ship's hull, and the lowest point of the ship's draft has not been detected, then control the receiving type ultrasonic probe. The probe stops at the B height position, go to step 4);

4)控制收发一体式超声波探头继续下移,若收发一体式超声波探头下移至下行最大行程位置处后,接收型超声波探头仍能接收到回波信号,说明收发一体式超声波探头前一次驻停时的高度与与吃水警戒位置十分接近(虽然超声波波束十分集中,但在小范围内,仍然具备超声波的发散特性,在反射面角度、位置变化不大的情况下,收发一体式超声波探头小幅移动后,回波信号仍然能被接收型超声波探头探测到),且船舶吃水深度已逼近或超越吃水警戒位置,需要由执法人员根据船舶轮廓作进一步确认,因此进入步骤6);收发一体式超声波探头下移过程中,若收发一体式超声波探头下移至A高度下方的C高度位置处时,回波信号消失,说明船舶壳体上的弧面走向还在进一步变化,因此控制收发一体式超声波探头在C高度位置处驻停,进入步骤5);4) Control the transceiver-integrated ultrasonic probe to continue to move down. If the transceiver-integrated ultrasonic probe moves down to the maximum downstroke position, the receiving-type ultrasonic probe can still receive the echo signal, indicating that the transceiver-integrated ultrasonic probe stopped the previous time. The height at that time is very close to the draft warning position (although the ultrasonic beam is very concentrated, it still has the divergence characteristics of ultrasonic waves in a small range. When the angle and position of the reflecting surface do not change much, the integrated ultrasonic probe for sending and receiving moves slightly After that, the echo signal can still be detected by the receiving ultrasonic probe), and the draft of the ship has approached or exceeded the draft warning position, which needs to be further confirmed by law enforcement personnel according to the outline of the ship, so go to step 6); In the process of moving down, if the ultrasonic probe with integrated transceiver moves down to the position of height C below height A, the echo signal disappears, indicating that the direction of the arc surface on the ship’s hull is still changing, so control the integrated ultrasonic probe with transceiver Park at height C, go to step 5);

5)控制接收型超声波探头继续下移,接收型超声波探头下移过程中,若接收型超声波探头下移至下行最大行程位置处后仍无法收到回波信号,说明要么收发一体式超声波探头的高度已经低于船舶下端,要么船舶吃水深度已超越吃水警戒深度,需要结合船舶轮廓进行综合分析,因此进入6);接收型超声波探头下移过程中,若接收型超声波探头下移至C高度下方的D高度位置处时收到了回波信号,说明还未检测到船舶吃水深度的最低点,则控制接收型超声波探头在D高度位置处驻停,返回步骤4);5) Control the receiving ultrasonic probe to continue to move down. During the downward movement of the receiving ultrasonic probe, if the receiving ultrasonic probe still cannot receive the echo signal after moving down to the maximum downstroke position, it means that either the sending and receiving integrated ultrasonic probe is The height is already lower than the lower end of the ship, or the draft of the ship has exceeded the draft warning depth, which needs to be comprehensively analyzed in conjunction with the ship’s outline, so go to 6); during the downward movement of the receiving ultrasonic probe, if the receiving ultrasonic probe moves down to below the C height When the echo signal is received at the D height position, it means that the lowest point of the ship’s draft has not been detected, then control the receiving ultrasonic probe to stop at the D height position, and return to step 4);

6)检测过程结束,控制收发一体式超声波探头和接收型超声波探头关闭并复位;将被检测对象的轮廓绘制成图像,由操作人员肉眼识别被检测对象的轮廓是否符合船舶外形特点,若被检测对象的轮廓符合船舶外形特点,则被检测对象的轮廓上的最低点即为船舶吃水深度,若被检测对象的轮廓不符合船舶外形特点,则询问操作员是否需要重新进行检测,若需要重新进行检测则返回步骤1)。6) At the end of the detection process, control the sending and receiving integrated ultrasonic probe and the receiving ultrasonic probe to turn off and reset; draw the outline of the detected object into an image, and let the operator visually identify whether the outline of the detected object conforms to the shape of the ship. If the contour of the object conforms to the shape of the ship, the lowest point on the contour of the detected object is the draft of the ship. If the contour of the detected object does not conform to the shape of the ship, ask the operator whether it is necessary to perform the detection again. detection returns to step 1).

本发明的有益技术效果是:提供了一种结构简单、成本较低的吃水深度检测装置,该检测装置能搭载于执法船上,随船进行机动检测,检测过程效率较高,十分适合内河航道监管。The beneficial technical effects of the present invention are: a draft detection device with simple structure and low cost is provided, the detection device can be carried on a law enforcement ship, and can be carried out maneuvering detection along with the ship, the detection process has high efficiency, and is very suitable for the supervision of inland waterways .

附图说明Description of drawings

图1、本发明的原理示意图一(图中所示情况,是测量装置正在对船舶壳体上的垂直区域进行扫描);Fig. 1, schematic diagram of the principle of the present invention one (the situation shown in the figure is that the measuring device is scanning the vertical area on the hull of the ship);

图2、本发明的原理示意图二(图中所示情况,是测量装置正在对船舶壳体上的弧面区域进行扫描);Fig. 2, schematic diagram 2 of the principle of the present invention (the situation shown in the figure is that the measuring device is scanning the arc area on the hull of the ship);

图3、挂舷式内河离港船舶吃水深度测量装置的一种结构示例;Figure 3. A structural example of the draft depth measurement device for inland river departure ships on board;

图中各个标记所对应的名称分别为:支架1、滑块2、收发一体式超声波探头3、接收型超声波探头4、丝杆5、驱动电机6、执法船7、被检测船8。The names corresponding to each mark in the figure are: Bracket 1, Slider 2, Transceiver Integrated Ultrasonic Probe 3, Receiving Ultrasonic Probe 4, Screw Mandrel 5, Driving Motor 6, Law Enforcement Boat 7, and Detected Ship 8.

具体实施方式detailed description

一种挂舷式内河离港船舶吃水深度测量装置,其创新在于:所述挂舷式内河离港船舶吃水深度测量装置由支架1、两套传动装置、两个滑块2、收发一体式超声波探头3和接收型超声波探头4组成;An on-board type inland river departure ship draft depth measurement device, the innovation of which is: the on-board type inland river departure ship draft depth measurement device consists of a bracket 1, two sets of transmission devices, two sliders 2, and an integrated ultrasonic transmission and reception device. The probe 3 and the receiving ultrasonic probe 4 are composed;

所述传动装置和滑块2均设置于支架1的外侧面上,支架1的内侧面与执法船侧舷连接;所述两套传动装置分别与两个滑块2传动连接,所述传动装置能传动滑块2在竖直方向上往复运动,两个滑块2的运动范围相同;所述收发一体式超声波探头3设置于其中一个滑块2的外侧面上,所述接收型超声波探头4设置于另一个滑块2的外侧面上;所述收发一体式超声波探头3上的超声波发射装置采用聚焦型超声波发射装置;收发一体式超声波探头3和接收型超声波探头4的运动轨迹同轴线。The transmission device and the slider 2 are all arranged on the outer surface of the support 1, and the inner surface of the support 1 is connected with the side of the law enforcement ship; the two sets of transmission devices are respectively connected to the two sliders 2, and the transmission device It can drive the slider 2 to reciprocate in the vertical direction, and the range of motion of the two sliders 2 is the same; the transceiver integrated ultrasonic probe 3 is arranged on the outer surface of one of the sliders 2, and the receiving ultrasonic probe 4 It is arranged on the outer surface of another slider 2; the ultrasonic transmitting device on the described transceiver integrated ultrasonic probe 3 adopts a focused ultrasonic transmitting device; .

进一步地,所述传动装置由丝杆5和驱动电机6组成;所述丝杆5与支架1上的转动支承转动连接,丝杆5上端与驱动电机6传动连接,丝杆5中部与滑块2传动连接;所述驱动电机6固定于支架1上。Further, the transmission device is composed of a screw mandrel 5 and a drive motor 6; the screw mandrel 5 is rotatably connected with the rotating support on the bracket 1, the upper end of the screw mandrel 5 is connected with the drive motor 6, and the middle part of the screw mandrel 5 is connected with the slider 2 transmission connection; the drive motor 6 is fixed on the bracket 1.

进一步地,所述执法船上设置有驱动装置,所述驱动装置与支架1传动连接。Further, a driving device is provided on the law enforcement ship, and the driving device is connected to the bracket 1 in transmission.

一种挂舷式内河离港船舶吃水深度测量装置的控制方法,所涉及的硬件包括:所述挂舷式内河离港船舶吃水深度测量装置由支架1、两套传动装置、两个滑块2、收发一体式超声波探头3和接收型超声波探头4组成;A method for controlling the draft depth measurement device of an on-board type inland river departure ship, the hardware involved includes: the on-board type inland river departure ship draft depth measurement device consists of a bracket 1, two sets of transmission devices, and two sliders 2 , Composed of a transceiver-integrated ultrasonic probe 3 and a receiving ultrasonic probe 4;

所述传动装置和滑块2均设置于支架1的外侧面上,支架1的内侧面与执法船侧舷连接;所述两套传动装置分别与两个滑块2传动连接,所述传动装置能传动滑块2在竖直方向上往复运动,两个滑块2的运动范围相同;所述收发一体式超声波探头3设置于其中一个滑块2的外侧面上,所述接收型超声波探头4设置于另一个滑块2的外侧面上;所述收发一体式超声波探头3上的超声波发射装置采用聚焦型超声波发射装置;收发一体式超声波探头3和接收型超声波探头4的运动轨迹同轴线。The transmission device and the slider 2 are all arranged on the outer surface of the support 1, and the inner surface of the support 1 is connected with the side of the law enforcement ship; the two sets of transmission devices are respectively connected to the two sliders 2, and the transmission device It can drive the slider 2 to reciprocate in the vertical direction, and the range of motion of the two sliders 2 is the same; the transceiver integrated ultrasonic probe 3 is arranged on the outer surface of one of the sliders 2, and the receiving ultrasonic probe 4 It is arranged on the outer surface of another slider 2; the ultrasonic transmitting device on the described transceiver integrated ultrasonic probe 3 adopts a focused ultrasonic transmitting device; .

其创新在于:按如下方法对挂舷式内河离港船舶吃水深度测量装置进行控制:Its innovation lies in: controlling the draft depth measuring device of the on-board type inland river departing ship according to the following method:

初始状态时,收发一体式超声波探头3和接收型超声波探头4均位于各自的上行最大行程位置处;装置运行过程中,采用超声波测距原理,根据收发一体式超声波探头3发出的超声波信号的回波信号,实时计算出当前回波信号所对应的反射面与收发一体式超声波探头3之间的距离并进行记录,根据记录到的距离数据,确定每次回波信号所对应的反射面的位置,根据多次回波信号所对应的反射面的位置勾勒出被检测对象的轮廓;In the initial state, the transceiver-integrated ultrasonic probe 3 and the receiving-type ultrasonic probe 4 are located at their respective uplink maximum stroke positions; during the operation of the device, the principle of ultrasonic distance measurement is adopted, and according to the echo of the ultrasonic signal sent by the transceiver-integrated ultrasonic probe 3 wave signal, calculate and record the distance between the reflecting surface corresponding to the current echo signal and the integrated ultrasonic probe 3 for sending and receiving in real time, and determine the position of the reflecting surface corresponding to each echo signal according to the recorded distance data, Outline the outline of the detected object according to the position of the reflective surface corresponding to the multiple echo signals;

1)开始检测后,控制收发一体式超声波探头3周期性地以水平方向发射超声波脉冲并实时获取超声波脉冲的回波信号,同时,传动收发一体式超声波探头3匀速下移,进入步骤2);1) After starting the detection, control the transceiver integrated ultrasonic probe 3 to periodically transmit ultrasonic pulses in the horizontal direction and obtain the echo signals of the ultrasonic pulses in real time, at the same time, drive the transceiver integrated ultrasonic probe 3 to move down at a constant speed, and enter step 2);

2)收发一体式超声波探头3下移过程中,若始终能收到回波信号,则待收发一体式超声波探头3下移至下行最大行程位置处后,进入步骤6);若收发一体式超声波探头3下移至A高度时,回波信号消失,则控制收发一体式超声波探头3在A高度位置处驻停,进入步骤3);2) During the downward movement of the transceiver integrated ultrasonic probe 3, if the echo signal can always be received, proceed to step 6 after the transceiver integrated ultrasonic probe 3 moves down to the maximum downstroke position; if the transceiver integrated ultrasonic probe 3 When the probe 3 moves down to the height A, the echo signal disappears, then control the transceiver integrated ultrasonic probe 3 to stop at the height A, and enter step 3);

3)启动接收型超声波探头4,同时,传动接收型超声波探头4下移;接收型超声波探头4下移过程中,若接收型超声波探头4下移至下行最大行程位置处后仍无法收到回波信号,则进入6);接收型超声波探头4下移过程中,若接收型超声波探头4下移至A高度下方的B高度位置处时收到了回波信号,则控制接收型超声波探头4在B高度位置处驻停,进入步骤4);3) Start the receiving type ultrasonic probe 4, and at the same time, drive the receiving type ultrasonic probe 4 to move down; during the downward movement of the receiving type ultrasonic probe 4, if the receiving type ultrasonic probe 4 moves down to the position of the maximum downward stroke, the return cannot be received. wave signal, then enter 6); during the downward movement of the receiving type ultrasonic probe 4, if the receiving type ultrasonic probe 4 moves down to the B height position below the A height and receives an echo signal, then the receiving type ultrasonic probe 4 is controlled at Park at height B, go to step 4);

4)控制收发一体式超声波探头3继续下移,若收发一体式超声波探头3下移至下行最大行程位置处后,接收型超声波探头4仍能接收到回波信号,则进入步骤6);收发一体式超声波探头3下移过程中,若收发一体式超声波探头3下移至A高度下方的C高度位置处时,回波信号消失,则控制收发一体式超声波探头3在C高度位置处驻停,进入步骤5);4) Control the transceiver-integrated ultrasonic probe 3 to continue to move down. If the receiving-type ultrasonic probe 4 can still receive the echo signal after the transceiver-integrated ultrasonic probe 3 moves down to the position of the maximum downstroke, go to step 6); During the downward movement of the integrated ultrasonic probe 3, if the integrated ultrasonic probe 3 for transmitting and receiving moves down to the height C below the height A, the echo signal disappears, and the integrated ultrasonic probe 3 for transmitting and receiving is controlled to stop at the height C , go to step 5);

5)控制接收型超声波探头4继续下移,接收型超声波探头4下移过程中,若接收型超声波探头4下移至下行最大行程位置处后仍无法收到回波信号,则进入6);接收型超声波探头4下移过程中,若接收型超声波探头4下移至C高度下方的D高度位置处时收到了回波信号,则控制接收型超声波探头4在D高度位置处驻停,返回步骤4);5) Control the receiving ultrasonic probe 4 to continue to move down. During the downward movement of the receiving ultrasonic probe 4, if the receiving ultrasonic probe 4 cannot receive the echo signal after moving down to the position of the maximum downstroke, go to 6); During the downward movement of the receiving type ultrasonic probe 4, if the receiving type ultrasonic probe 4 moves down to the D height position below the C height and receives an echo signal, the receiving type ultrasonic probe 4 is controlled to stop at the D height position and return step 4);

6)检测过程结束,控制收发一体式超声波探头3和接收型超声波探头4关闭并复位;将被检测对象的轮廓绘制成图像,由操作人员识别被检测对象的轮廓是否符合船舶外形特点,若被检测对象的轮廓符合船舶外形特点,则被检测对象的轮廓上的最低点即为船舶吃水深度,若被检测对象的轮廓不符合船舶外形特点,则询问操作员是否需要重新进行检测,若需要重新进行检测则返回步骤1)。6) At the end of the detection process, control the transceiver-integrated ultrasonic probe 3 and the receiving ultrasonic probe 4 to turn off and reset; draw the outline of the detected object into an image, and let the operator identify whether the outline of the detected object conforms to the shape of the ship. If the outline of the detected object conforms to the shape of the ship, the lowest point on the outline of the detected object is the ship’s draft. To detect, return to step 1).

Claims (1)

1. a kind of control method hanging side of a ship formula inland river departure from port shipping draft measurement apparatus, involved hardware includes: described Hang side of a ship formula inland river departure from port shipping draft measurement apparatus by support (1), two sets of actuating devices, two slide blocks (2), transceivers Formula ultrasound probe (3) and reception type ultrasound probe (4) composition;
Described actuating device and slide block (2) may be contained within the lateral surface of support (1), the medial surface of support (1) with law enforcement shipboard The side of a ship connects;Described two sets of actuating devices are in transmission connection with two slide blocks (2) respectively, and described actuating device energy driving block (2) exists Move back and forth on vertical direction, the range of movement of two slide blocks (2) is identical;Described transmitting-receiving integrated ultrasound probe (3) setting On the lateral surface of one of slide block (2), described reception type ultrasound probe (4) is arranged at the outside of another slide block (2) On face;Ultrasonic transmission device on described transmitting-receiving integrated ultrasound probe (3) adopts focus type ultrasonic transmission device;Receive Send out the movement locus coaxial line of integral type ultrasound probe (3) and reception type ultrasound probe (4);
It is characterized in that: as follows departure from port shipping draft measurement apparatus in extension side of a ship formula inland river are controlled:
During original state, transmitting-receiving integrated ultrasound probe (3) and reception type ultrasound probe (4) be respectively positioned on respective up At big travel position;During plant running, using ultrasonic ranging principle, sent out according to transmitting-receiving integrated ultrasound probe (3) The echo-signal of the ultrasonic signal going out, the reflecting surface calculating in real time corresponding to current echo-signal is ultrasonic with transmitting-receiving integrated The distance between ripple probe (3) is simultaneously recorded, and according to the range data that recorded, determines anti-corresponding to each echo-signal Penetrate the position in face, the profile of detected object is sketched the contours of in the position of the reflecting surface according to corresponding to multiecho signal;
1), after starting detection, transmitting-receiving integrated ultrasound probe (3) is controlled periodically to launch ultrasonic pulse with horizontal direction And in real time obtain ultrasonic pulse echo-signal, meanwhile, be driven transmitting-receiving integrated ultrasound probe (3) at the uniform velocity move down, enter Step 2);
2) in the folding process of transmitting-receiving integrated ultrasound probe (3), if echo-signal can be received all the time, treat transmitting-receiving integrated super After sonic probe (3) is displaced downwardly at descending maximum travel position, enter step 6);If under transmitting-receiving integrated ultrasound probe (3) When moving to a height, echo-signal disappears, then control transmitting-receiving integrated ultrasound probe (3) parked at a height and position, enters Step 3);
3) start reception type ultrasound probe (4), meanwhile, transmission reception type ultrasound probe (4) moves down;Reception type ultrasound wave is visited In head (4) folding process, if reception type ultrasound probe (4) still cannot receive echo after being displaced downwardly at descending maximum travel position Signal, then enter 6);In reception type ultrasound probe (4) folding process, if reception type ultrasound probe (4) is displaced downwardly to a height Have received echo-signal when at the b height and position of lower section, then control reception type ultrasound probe (4) parked at b height and position, Enter step 4);
4) control transmitting-receiving integrated ultrasound probe (3) continue to move down, if transmitting-receiving integrated ultrasound probe (3) be displaced downwardly to descending After at maximum travel position, reception type ultrasound probe (4) remains to receive echo-signal, then enter step 6);Transceiver In formula ultrasound probe (3) folding process, if transmitting-receiving integrated ultrasound probe (3) is displaced downwardly to the c height and position below a height During place, echo-signal disappears, then control transmitting-receiving integrated ultrasound probe (3) parked at c height and position, enters step 5);
5) reception type ultrasound probe (4) is controlled to continue to move down, in reception type ultrasound probe (4) folding process, if reception type Ultrasound probe (4) still cannot receive echo-signal after being displaced downwardly at descending maximum travel position, then enter 6);Reception type is ultrasonic In ripple probe (4) folding process, if having received when reception type ultrasound probe (4) is displaced downwardly at the d height and position below c height Echo-signal, then control reception type ultrasound probe (4) parked at d height and position, return to step 4);
6) detection process terminates, and controls transmitting-receiving integrated ultrasound probe (3) and reception type ultrasound probe (4) to close and multiple Position;By the profile drafting pattern picture of detected object, whether met outside ship by the profile that operator identify detected object Shape feature, if the profile of detected object meets ship profile feature, the minimum point on the profile of detected object is ship Oceangoing ship draft, if the profile of detected object does not meet ship profile feature, inquiry operator is the need of re-starting Detection, if desired re-starts detection then return to step 1).
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