CN104890825A - Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope - Google Patents
Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope Download PDFInfo
- Publication number
- CN104890825A CN104890825A CN201510278368.9A CN201510278368A CN104890825A CN 104890825 A CN104890825 A CN 104890825A CN 201510278368 A CN201510278368 A CN 201510278368A CN 104890825 A CN104890825 A CN 104890825A
- Authority
- CN
- China
- Prior art keywords
- beacon vessel
- impurities
- foreign material
- accumulation
- control center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention provides a detecting and accumulation discharging method of the accumulation amount of sundry fastened on a mooring rope. The system is composed of two large portions, the first portion is a device on a beacon vessel and is responsible for obtaining the inclined angle of the beacon vessel and pictures of accumulated objects tied on the mooring rope, receiving and sending of wireless data and execution of sundry removing motion; the second portion is a control center portion and is responsible for receiving and displaying the vessel body inclined angle sent by the beacon vessel and the pictures of the accumulated objects tied on the mooring rope, generating a manual sundry removing command and receiving and displaying automatic or manual sundry removing finish marks. The method can monitor the amount of the sundry tied on the mooring rope of the beacon vessel, and the automatic or manual manner can be adopted to remove the sundry tied on the mooring rope; the system is adopted, and therefore the floating accumulation objects tied on the mooring rope of the beacon vessel are not required to be manually cleared away, stability of the beacon vessel and channel indicating safety can be improved, manual labor is reduced, labor intensity is reduced, and the channel maintenance cost is saved.
Description
Technical field
The present invention relates to a kind of detection of the foreign material burden that cleats and unload accumulation method, belonging to rivers channel maintenance apparatus field.
Background technology
For ensureing inland navigation vessels safety, beacon vessel can be settled in the both sides of cruiseway, to define sideline, navigation channel.Containing a large amount of weeds, branch and foreign material in the rivers of navigation channel, downstream and under.When running into the hawser for fixed seamark ship, can hang on hawser, after a period of time, on hawser, foreign material get more and more, and weight is increasing, when reaching constant weight, can, by heavy for beacon vessel pressure, beacon vessel function can not be played.Traditional way is that staff regularly steers a ship to go on each beacon vessel and manually clears up foreign material, as a kind of deposit clearing device that Chinese patent " CN 201633019U " (navigation mark deposit ridding machines hand) is mentioned, this method has a lot of drawback, such as: waste of manpower; The safety of staff is difficult to obtain guarantee; Work place staff in navigation channel can not understand beacon vessel weeds burden in time, causes to clear up foreign material in time.The cleat research of removal of impurities of current beacon vessel mainly concentrates on install slewing arrangement or baffle plate additional on hawser, basic thought prevents the foreign material such as weeds to be deposited on hawser exactly, as a kind of slewing arrangement that Chinese patent " CN 201554016U " slewing arrangement of foreign material (the automatic clear flag ship cleat) is mentioned, and a kind of deposit unloading device based on the long-pending sheet of gear that Chinese patent " CN 101870336A " (deposit unloading device) is mentioned.Because water surface foreign matter out-of-shape, not of uniform size, situation is complicated, has foreign material unavoidably and is blocked by device, its function can not be played.After device blocking, staff can not go and find out what's going in time.Therefore, in the urgent need to a kind of actv. beacon vessel cleat foreign material amount detection with unload accumulation method.
Summary of the invention
The detection that the invention provides a kind of foreign material burden that cleats with unload accumulation method, traditional beacon vessel can be overcome and to cleat many deficiencies of labor cleaning's method that foreign material accumulate, the real-time detection realizing foreign material burden with unload accumulation.
The detection of a kind of foreign material burden that cleats of the present invention with unload accumulation method, be made up of two large divisions, Part I is the device on beacon vessel, and it is made up of control unit, obliquity sensor, camera, motor driving, electrical motor, transmission device, hobboing cutter, wireless transmitter, water speed sensor, storage battery, solar powered unit etc.Part II is control center.
Principle of work: obliquity sensor measures the inclination angle between beacon vessel and horizontal surface in real time, by the many groups inclination data gathered, carry out asking for averaging operation, and use the water speed of water speed sensor measurement to go to revise inclination angle, and inclination data is sent to control center, demonstrate inclination data in the heart in the controlling.For guaranteeing that inclination data is reliable, adopting camera regularly to take pictures to hawser foreign material, passing back to control center, go and find out what's going on for staff.Under automated manner, when inclination angle is greater than certain threshold value, the control unit on beacon vessel produces clear assorted signal, is rotated by motor drive circuit driving motor, and the deceleration increasing through transmission device is turned round, and drives the rotation of hobboing cutter, removes foreign material.At removing foreign material simultaneously, real-time judge hull inclination angle, when being less than certain value, representing that removing completes, hobboing cutter is stopped operating.After removing completes, the feedback signal completed to control center's passback automatic removing foreign material by the wireless transmitter of beacon vessel, the automatic impurity removing that control center shows this beacon vessel completes mark; Under manual mode, the staff of control center is according to hull inclination data, manually weed a garden according to actual needs, detailed process is that staff clicks corresponding beacon vessel " manually clear assorted " button, this orders by passing through local wireless transmit receive unit by control center, this order is sent on the wireless transmitter of corresponding beacon vessel, and then control unit obtains order, order is sent to actuating unit, electrical motor rotates, thus make hobboing cutter removal of impurities, judge whether that the process removed is identical with automated manner.After removal of impurities completes, the feedback signal completed to control center's passback manual removing foreign material by the wireless transmitter of beacon vessel, control center shows the manual removal of impurities of this beacon vessel and completes mark; The staff of control center, according to hull inclination angle and the residue photo of wireless transmitter passback, analyzes corresponding beacon vessel foreign material burden and beacon vessel situation, staff can be sent to steer a ship cleaning.
The method of inspection of foreign material burden: when not gathering foreign material on cleating, due to the effect of water, beacon vessel keeps certain angle.When there being accumulation on cleating, due to the Action of Gravity Field of accumulation and the impact effect of water, beacon vessel side is sunk, and now hull and horizontal surface produce certain inclination angle, and the size at this inclination angle and accumulation weight and water speed have certain relation.So, adopt obliquity sensor to measure the inclination angle of hull and horizontal surface in real time.Because the water surface has the spray, beacon vessel can swing thereupon, produces interference, and then affect the judgement of foreign material weight to the precision at the inclination angle of measuring.Therefore a kind of actv. data processing method is necessary.The present invention adopts the method for mean filter, by the many groups inclination data gathered, carries out asking for averaging operation.Mean filter method is simple, and can ensure the reliability that foreign material burden judges.In addition, adopt water flow velocity tachogenerator, measure water speed.Because water velocity determines the impulsive force of water to ship and foreign material, this will affect the precision of measurement.So, use this amount of water speed, hull inclination angle is revised.For guaranteeing that inclination data is reliable, adopting camera regularly to take pictures to hawser foreign material, passing back to control center, go and find out what's going on for staff.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is overall system architecture figure of the present invention.
Fig. 2 is the control flow chart of beacon vessel part of the present invention.
Fig. 3 is the control flow chart of control center of the present invention.
Fig. 4 is the receive interruption diagram of circuit of control center of the present invention.
Fig. 5 is the constructional drawing of device on beacon vessel of the present invention.
Fig. 6 is the schematic diagram of the foreign material burden method of inspection that cleats of the present invention.
Detailed description of the invention
The invention provides a kind of detection of the foreign material burden that cleats and unload accumulation method, below in conjunction with accompanying drawing, embodiment being described in detail.
As shown in Figure 1, form a kind of detection of the foreign material burden that cleats and unload the device of accumulation method, comprise two large divisions, Part I is the device on beacon vessel, and Part II is control center.
As shown in Figure 3, the device on beacon vessel is made up of solar powered unit 1, storage battery 2, obliquity sensor 3, wireless transmitter 4, control unit 5, motor driving 6, electrical motor 7, transmission device 8, camera 9, water speed sensor 10, hobboing cutter 11 etc.
As shown in accompanying drawing 5,6, by the inclination angle theta of obliquity sensor 3 instrumentation ship and horizontal surface, by the many groups inclination data gathered, carry out asking for averaging operation, and the water speed using water speed sensor 10 to measure goes to revise inclination angle, and by wireless transmitter 4, inclination data is sent to control center, display inclination data.Adopt camera 9 pairs of hawser foreign material regularly to take pictures simultaneously, pass back to control center by wireless transmitter, go and find out what's going on for staff.Under automated manner, when foreign material weight is greater than certain threshold value, the control unit 5 on beacon vessel produces assorted clearly signal, is rotated by motor drive circuit 6 driving motor 7, deceleration increasing through transmission device 8 is turned round, drive hobboing cutter 11 to rotate, remove foreign material, at removing foreign material simultaneously, real-time judge hull inclination angle, when being less than certain value, representing that removing completes, hobboing cutter 11 is stopped operating.After removing completes, the feedback signal completed to control center's passback automatic removing foreign material by the wireless transmitter 4 of beacon vessel, the automatic impurity removing that control center demonstrates this beacon vessel completes mark; Under manual mode, the staff of control center is according to the inclination data that control center shows and impurities accumulation photo, manually weed a garden according to actual needs, detailed process is that staff clicks corresponding beacon vessel " manually clear assorted " button, this order is sent on the wireless transmitter 4 of corresponding beacon vessel by control center, and then control unit 5 obtains order, order is sent to actuating unit, electrical motor rotates, thus make hobboing cutter removal of impurities, judge whether that the process removed is identical with automated manner.After removal of impurities completes, the feedback signal completed to control center's passback manual removing foreign material by the wireless transmitter 4 of beacon vessel, the manual removal of impurities that control center demonstrates this beacon vessel completes mark; The staff of control center, according to hull inclination angle and the residue photo of wireless transmitter passback, analyzes corresponding beacon vessel foreign material burden and beacon vessel situation, staff can be sent to steer a ship cleaning.
The method of inspection of foreign material burden: as shown in Figure 6, when hawser not gathering foreign material 12, due to the effect of water, beacon vessel keeps certain angle.When hawser there being accumulation 12, due to the Action of Gravity Field of accumulation and the impact effect of water, beacon vessel side is sunk, and now hull and horizontal surface produce certain inclination angle theta, and the size of this inclination angle theta and accumulation weight and water speed have certain relation.So, adopt obliquity sensor to measure the inclination angle of hull and horizontal surface in real time.Because the water surface has the spray, beacon vessel can swing thereupon, produces interference, and then affect the judgement of foreign material weight to the precision at the inclination angle of measuring.Therefore a kind of actv. data processing method is necessary.The present invention adopts the method for mean filter, by the many groups inclination data gathered, carries out asking for averaging operation.Mean filter method is simple, and can ensure the reliability that foreign material burden judges.In addition, water flow velocity tachogenerator 10 is adopted to measure water speed.Because water velocity determines that water is to the impulsive force of ship, this will affect the precision of measurement.So, use this amount of water speed, foreign material burden is revised.For guaranteeing that inclination data is reliable, adopting camera 9 pairs of hawser foreign material regularly to take pictures, passing back to control center, go and find out what's going on for staff.
Claims (5)
1. the detection of the foreign material burden that cleats with unload an accumulation method, comprise two parts, Part I is the device on beacon vessel, and Part II is control center;
Device on described beacon vessel is used for acquisition, the teletransmission of beacon vessel angle of inclination and the accumulation photo that cleats, and receives remote manual removal of impurities order and produces removal of impurities action, returning removal of impurities manually or automatically and complete mark;
Described control center for the hull angle of inclination data that receive, show beacon vessel and send with cleat accumulation photo;
Produce manual removal of impurities order; Receive and show automatic or manual removal of impurities and complete mark.
2. the foreign material burden that cleats according to claim 1 detection with unload accumulation method, it is characterized in that the device on described beacon vessel comprises: drivings of control unit, obliquity sensor, camera, motor, electrical motor, transmission device, hobboing cutter, wireless transmitter, water fast sensor, storage battery, solar powered unit.
3. the foreign material burden that cleats according to claim 1 detection with unload accumulation method, it is characterized in that: described control center by wireless transmitter, manual removal of impurities action produce platform, data show with push platform forms.
4. the foreign material burden that cleats according to claim 1 detection with unload accumulation method, it is characterized in that: in the method, wireless transmitter on beacon vessel sends beacon vessel angle of inclination to control center and regularly returns hawser accumulation photo, shows this beacon vessel angle of inclination and photo by control center; Under manual mode, control center produces manual removal of impurities order, by local wireless transmit receive unit, via wireless network, this order is sent on the wireless transmitter of corresponding beacon vessel, control unit on beacon vessel produces removal of impurities order, rotated by motor-drive circuit driving motor, via transmission device, drive hobboing cutter rotates, and removes the foreign material on cleating, after removal of impurities completes, control unit sends manual removal of impurities by wireless transmitter to control center and completes marking signal, and shows the manual removal of impurities of this beacon vessel in the controlling in the heart and complete mark; Under automated manner, when detecting that the foreign material burden that cleats reaches threshold value, control unit on beacon vessel produces clear assorted order, rotated by motor-drive circuit driving motor, via transmission device, drive hobboing cutter to rotate, remove the foreign material on cleating, after removal of impurities completes, control unit sends automatic impurity removing by wireless transmitter to control center and completes marking signal, and shows this beacon vessel automatic impurity removing in the controlling in the heart and complete mark.
5. the device on beacon vessel according to claim 2, it is characterized in that: the method for inspection of the foreign material burden that cleats, by detecting the size of beacon vessel and horizontal surface inclination angle, can understand the impurities accumulation situation that cleats, the present invention adopts the method for mean filter, by the many groups inclination data gathered, carry out asking for average, in addition, adopt water flow velocity tachogenerator, measurement water speed, revises inclination angle; For guaranteeing that inclination data is reliable, adopting camera regularly to take pictures to hawser foreign material, passing back to control center, go and find out what's going on for staff.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510278368.9A CN104890825A (en) | 2015-05-27 | 2015-05-27 | Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510278368.9A CN104890825A (en) | 2015-05-27 | 2015-05-27 | Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104890825A true CN104890825A (en) | 2015-09-09 |
Family
ID=54023903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510278368.9A Pending CN104890825A (en) | 2015-05-27 | 2015-05-27 | Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104890825A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329446A (en) * | 2017-07-12 | 2017-11-07 | 长江重庆航运工程勘察设计院 | A kind of channel buoy cable takeup thing monitor processing method |
| CN107476269A (en) * | 2017-09-12 | 2017-12-15 | 重庆大学 | A kind of inland river buoy anchor hawser debris rotates obstruction and remove device automatically |
| CN107476268A (en) * | 2017-09-12 | 2017-12-15 | 重庆大学 | A kind of preposition floating vessel type inland waterway navigation aids wirerope debris is removed automatically and warning device |
| CN111591400A (en) * | 2020-05-27 | 2020-08-28 | 陕西欧卡电子智能科技有限公司 | Water surface garbage autonomous collection method and system |
| CN116119535A (en) * | 2023-04-17 | 2023-05-16 | 河南省黄河防爆起重机有限公司 | Bridge portal crane wire rope detection device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100806526B1 (en) * | 2007-09-04 | 2008-02-25 | 임정숙 | Scrapped collection apparatus for marine |
| CN101870336A (en) * | 2010-06-04 | 2010-10-27 | 徐浩钟 | Deposit unloading device |
| CN201633019U (en) * | 2010-01-13 | 2010-11-17 | 段富银 | Beacon deposit eliminating mechanical hand |
| CN201685991U (en) * | 2010-06-04 | 2010-12-29 | 徐浩钟 | Piled floating materials unloading device |
| CN203204407U (en) * | 2013-03-15 | 2013-09-18 | 中华人民共和国上海海事局连云港航标处 | Navigation mark telemetering and remote control system |
-
2015
- 2015-05-27 CN CN201510278368.9A patent/CN104890825A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100806526B1 (en) * | 2007-09-04 | 2008-02-25 | 임정숙 | Scrapped collection apparatus for marine |
| CN201633019U (en) * | 2010-01-13 | 2010-11-17 | 段富银 | Beacon deposit eliminating mechanical hand |
| CN101870336A (en) * | 2010-06-04 | 2010-10-27 | 徐浩钟 | Deposit unloading device |
| CN201685991U (en) * | 2010-06-04 | 2010-12-29 | 徐浩钟 | Piled floating materials unloading device |
| CN203204407U (en) * | 2013-03-15 | 2013-09-18 | 中华人民共和国上海海事局连云港航标处 | Navigation mark telemetering and remote control system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329446A (en) * | 2017-07-12 | 2017-11-07 | 长江重庆航运工程勘察设计院 | A kind of channel buoy cable takeup thing monitor processing method |
| CN107476269A (en) * | 2017-09-12 | 2017-12-15 | 重庆大学 | A kind of inland river buoy anchor hawser debris rotates obstruction and remove device automatically |
| CN107476268A (en) * | 2017-09-12 | 2017-12-15 | 重庆大学 | A kind of preposition floating vessel type inland waterway navigation aids wirerope debris is removed automatically and warning device |
| CN111591400A (en) * | 2020-05-27 | 2020-08-28 | 陕西欧卡电子智能科技有限公司 | Water surface garbage autonomous collection method and system |
| CN116119535A (en) * | 2023-04-17 | 2023-05-16 | 河南省黄河防爆起重机有限公司 | Bridge portal crane wire rope detection device |
| CN116119535B (en) * | 2023-04-17 | 2023-06-20 | 河南省黄河防爆起重机有限公司 | Bridge portal crane wire rope detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104890825A (en) | Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope | |
| CN205615676U (en) | Clean ship of intelligence surface of water | |
| KR101606037B1 (en) | Unmanned Surface Boat for Environmental Recovery | |
| CN110304209B (en) | Unmanned water floating garbage cleaning boat and control method thereof | |
| CN109501974B (en) | Water surface garbage cleaning ship | |
| CN107719593A (en) | A kind of Water surface refuse collecting boat for possessing floating type salvaging transport structure | |
| KR101655650B1 (en) | Apparatus for collecting water surface floating matters | |
| CN108860487B (en) | Intelligent water surface trash cleaning robot | |
| KR101736289B1 (en) | Oil Collection Robot | |
| KR101564876B1 (en) | Remote water quality measuring apparatus, remote water sampler system and method for operating thereof | |
| CN209441566U (en) | A kind of water plant pick-up boat | |
| CN109204723A (en) | A kind of waters floating refuse object automatic cleaning apparatus and method | |
| CN106985978A (en) | A kind of refuse fishing vessel waterborne | |
| CN206679215U (en) | A kind of refuse fishing vessel waterborne | |
| CN108266594B (en) | Automatic inspection dredging device and dredging method for pipeline robot | |
| CN102306025A (en) | Wireless remote-control automatic sampling monitoring ship | |
| CN210051765U (en) | Floating type detection equipment with protection function for marine environment monitoring | |
| CN109795630A (en) | A kind of unmanned boat for water environment detection | |
| CN203844971U (en) | Floating garbage sorting boat | |
| CN110777757B (en) | Marine garbage collection structure and collection method | |
| CN110205998B (en) | Negative pressure type garbage recycling-based landscape lake inspection and cleaning device | |
| CN109356133A (en) | Floater collection device | |
| CN208774975U (en) | A kind of waters floating refuse object automatic cleaning apparatus | |
| CN109577397B (en) | Crawler chassis left-right swinging cutter-suction type dredging robot with self-deviation correction function | |
| CN109774872A (en) | A kind of double driven type garbage on water cleaning intelligent robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150909 |