CN105752287A

CN105752287A - Ship waterline detection system and detection method

Info

Publication number: CN105752287A
Application number: CN201410772655.0A
Authority: CN
Inventors: 范勤德
Original assignee: Qingdao Qinde Rigging Hardware Co Ltd
Current assignee: Qingdao Qinde Rigging Hardware Co Ltd
Priority date: 2014-12-13
Filing date: 2014-12-13
Publication date: 2016-07-13

Abstract

The invention discloses a ship waterline detection system and detection method. The ship comprises a floating body, a winch device, a cable rope, a detection door, an ultrasonic sensor array, a floating body position sensing sub-system, a cable rope angle sensing sub-system, a data collection transmission unit and an error compensation and data processing unit, wherein the floating body is fixed on the water surface via an anchor chain; the detection door is hung on the floating body via the cable rope through the winch device; underwater depth of the detection door can be adjusted via the winch device; the winch device is installed over a gravity of the floating body on two sides; and the position of the floating body can be selected according to detection needs.

Description

A kind of drauht amount detection systems and detection method thereof

Technical field

The present invention relates to a kind of ship draught detection technique, particularly a kind of drauht amount detection systems and detection method thereof.

Background technology

Ship draught detection door adopts the measurement of simple beam array of ultrasonic sensors, sensor array is arranged in and detects door under water, detection door is realized by the hard-wired mode in two ends, and by hard-wired synchro-lift system adjustment height, the draft amount of navigation boats and ships is measured, it is achieved the full-automatic draft amount detection of boats and ships by ultrasonic ranging.Existing ship draught detection door adopts hard-wired form, and the two ends namely detecting door are necessarily mounted in existing infrastructure, such as ship lock, floating embankment, guide wall etc..This form has the disadvantages that

1, hard-wired ship draught detection door, it is necessary in waterway construction infrastructure, costly；

2, particular/special requirement is equipped with for installation position: navigation channel is too narrow, when checkout facility is safeguarded, easily hinders boat, the too wide too deep then constructional difficulties in navigation channel, and impact navigation safety；

3, most suitable installation site is continually changing with navigation channel SEA LEVEL VARIATION, and namely fixed installation detection system likely can not use because hindering boat in dry season；

4, maintenance difficulty, can only overhaul in original place, and restriction factor is many.

Summary of the invention

For solving the problems referred to above that prior art exists, the present invention to design that a kind of construction cost is low, is easily installed, easy to maintenance, can adjust drauht amount detection systems and the detection method thereof of installation site according to navigation channel SEA LEVEL VARIATION.

To achieve these goals, technical scheme is as follows: a kind of drauht amount detection systems, including buoyancy aid, winding plant, hawser, detection door, array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem, data acquisition transmission unit and error compensation and data processing unit, described buoyancy aid is fixed on the water surface by anchor chain, described detection door through winding plant cable suspended on buoyancy aid, door depth under water is detected by winding plant adjustment, winding plant is installed on above the center of gravity of both sides buoyancy aid, buoyancy aid riding position selects according to detection needs；

Described array of ultrasonic sensors is installed on arrangement mode and detects on door under water, measures the range information of detection door and tested boats and ships under water；Described position of floating body sensing subsystem is installed on above the hawser end points of two buoyancy aids, measures the position coordinates of the hawser end points hanging detection door on the buoyancy aid of both sides；Described rope angle sensing subsystem is installed on the hawser of detection door two ends, measures the angle that detection door two ends hawser swings；Described data acquisition transmission unit is installed on buoyancy aid, is responsible for gathering and transmission array of ultrasonic sensors, position of floating body sensing subsystem and rope angle sensing subsystem measurement data；Described error compensation and data processing unit are PC on the bank, are substantially carried out Error Compensation Algorithm；Described array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem and error compensation are connected with data acquisition transmission unit respectively with data processing unit through data line or Radio Transmission Technology.

The detection method of a kind of drauht amount detection systems, comprises the following steps:

A, installation detection door

Select buoyancy aid riding position, buoyancy aid anchor chain is fixed on the water surface, winding plant is installed on above the center of gravity of both sides buoyancy aid, the hawser that detection door length is L is hung on buoyancy aid through winding plant, and by the winding plant adjustment detection door degree of depth under water；

B, structure position of floating body sensing subsystem

Position of floating body sensing subsystem adopts RTK real time dynamic differential method location technology, and to the hawser end points position coordinates measurement of detection door two ends, described RTK is the abbreviation of the English Real-timekinematic of Real-time and Dynamic, and concrete construction step is as follows:

In B1, on the coast RTK Data-Link coverage, the fixed position reference point of known coordinate installs GPS as base station, is respectively mounted RTK location receiver as rover station above two buoyancy aid hawser end points；

Its GPS observation is formed differential corrections amount together with known coordinate information by Data-Link and sends rover station to by B2, base station, rover station divides correction not only by data link astigmat, also to gather its GPS observation, and observation is carried out real time differential correcting process, accurately calculate rover station three-dimensional coordinate positioning result；Determine the coordinate figure of the two hawser end points hanging detection door；

C, structure rope angle sensing subsystem

Rope angle sensing subsystem adopts angular transducer, is respectively mounted angular transducer on the hawser of detection door two ends, and when detecting door, with stormy waves motion, skew occurring, the angle that detection door two ends hawser swings measured by angular transducer；

D, error compensation and data process

Cable end point coordinates value to receiving of error compensation and data processing unit and hawser pendulum angle data, calculate the tilt angle theta of detection door by detecting door mounting structure geometrical relationship；If tilt angle theta is less than θ 0, then go to step D1, otherwise go to step D2；Described θ 0 is 2-4 °；

D1, error compensation and data processing unit are measured its distance with the water surface by ultrasonic sensor and its degree of depth are demarcated, obtain degree of depth calibration value array [H1, H2 ..., HM], represent the predetermined depth of ultrasonic sensor；When there being tested boats and ships to arrive, ultrasonic sensor measurement data be measured value dot matrix [X1, X2 ..., XM], represent the distance of ultrasonic sensor and tested bottom of ship, i.e. ship draught testing result；Go to step D3；

The degree of depth and its tilt angle theta that detect door under water are carried out real time calibration by detection door mounting structure geometrical relationship and are compensated value array [δ 1 by the cable end point coordinates value received and hawser pendulum angle data by D2, error compensation and data processing unit, δ 2, ..., δ M], by offset array to ultrasonic sensor degree of depth calibration value array [H1, H2 ..., HM] compensate and draw ultrasonic sensor actual grade value array；Actual grade value array and ultrasonic sensor distance synchronous measured value dot matrix [X1, X2 ..., XM] difference be the ship draught testing result after compensation；D3, output ship draught testing result.

Compared with prior art, advantages of the present invention is as follows:

1, owing to detection door is arranged on moveable buoyancy aid by the present invention so that drinking water amount detection systems installation and repairing is convenient, is no longer dependent on fixing infrastructure, to installation site without particular/special requirement, it is possible to move according to navigation channel water level conditions and actual demand.

2, the position of floating body sensing subsystem of the present invention can provide the three-dimensional coordinate of detection door two ends cable suspended end points in real time accurately, and speed is fast, and error is little, meets the requirement of real-Time Compensation；Angular transducer can detect hawser pendulum angle exactly；By pendulum angle and necessary length data, it is possible to shipping draft is detected door attitude and carries out error compensation.

3, the present invention solves the stormy waves impact on portable drauht measurement by error compensation, effectively raises the accuracy of measurement result, decreases erroneous judgement, it is ensured that the operation safety in navigation channel, improves shipping efficiency.

Claims

1. a drauht amount detection systems, it is characterized in that: include buoyancy aid, winding plant, hawser, detection door, array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem, data acquisition transmission unit and error compensation and data processing unit, described buoyancy aid is fixed on the water surface by anchor chain, described detection door through winding plant cable suspended on buoyancy aid, door depth under water is detected by winding plant adjustment, winding plant is installed on above the center of gravity of both sides buoyancy aid, and buoyancy aid riding position selects according to detection needs；Described array of ultrasonic sensors is installed on arrangement mode and detects on door under water, measures the range information of detection door and tested boats and ships under water；Described position of floating body sensing subsystem is installed on above the hawser end points of two buoyancy aids, measures the position coordinates of the hawser end points hanging detection door on the buoyancy aid of both sides；Described rope angle sensing subsystem is installed on the hawser of detection door two ends, measures the angle that detection door two ends hawser swings；Described data acquisition transmission unit is installed on buoyancy aid, is responsible for gathering and transmission array of ultrasonic sensors, position of floating body sensing subsystem and rope angle sensing subsystem measurement data；Described error compensation and data processing unit are PC on the bank, are substantially carried out Error Compensation Algorithm；Described array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem and error compensation are connected with data acquisition transmission unit respectively with data processing unit through data line or Radio Transmission Technology.