CN106153015A - The manufacturing system of cutter suction dredger construction location 3D landform under water - Google Patents
The manufacturing system of cutter suction dredger construction location 3D landform under water Download PDFInfo
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- CN106153015A CN106153015A CN201510196267.7A CN201510196267A CN106153015A CN 106153015 A CN106153015 A CN 106153015A CN 201510196267 A CN201510196267 A CN 201510196267A CN 106153015 A CN106153015 A CN 106153015A
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- span structure
- crane span
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- logic controller
- gps
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The manufacturing system of cutter suction dredger construction location 3D landform under water, the crane span structure position system constituted including a set of crane span structure equipment and Programmable Logic Controller, the vessel position system that the GPS beacon machine of a set of acquisition Ship GPS position and tide gauge are constituted with control computer, a set of calculating reamer geodetic coordinates and data handling system and graphic hotsopt display system composition, the erection bridge angular transducer on crane span structure of setting up data model；On compass deck, two diverse locations install GPS beacon machine, it is characterized in that crane span structure angular transducer connects through the detection signal input part of signal cable and crane span structure position system；The signal input part of crane span structure position system is connected with the acquisition system of programmable logic controller (PLC)；Described GPS beacon machine is connected by data transmission link with controlling computer；The acquisition system of Programmable Logic Controller and control computer are connected by gateway and data handling system；Data handling system is connected by gateway and graphic display system.
Description
Technical field
The invention belongs to waterway dredging application system, the system of 3D landform under water is especially provided for cutter suction dredger construction.
Background technology
Currently used more advanced water-depth measurement equipment is multibeam sounding system, its distinguishing feature is energy primary emission and receives string wave beam, in the case of the controlling factors such as measurement ship's speed are proper, multibeam echosounder can carry out the face depth measurement of all standing to a region, improve the working performance that surveying vessel is measured, provide convenience for water-depth measurement.But owing to multibeam sounding system needs to be carried out water-depth measurement by multi-sensor cooperation, observation is many, source of error is the most, and (such as location and the delay of depth measurement, sea-floor relief affects, weather condition, the mounting means of instrument, dredging processing method, the error that depth of water screening principle etc. produces), the accuracy of parametric measurement and the severe degree of working environment, affect the quality of depth measurement result the most to a great extent, thus have influence on the accurate display of water-bed landform.
Traditional underwater topography display uses surveying vessel measurement result to make, and does not have real time effect, and the sea-floor relief that the error owing to producing during surveying vessel measurement causes the most latter made underwater topography and strand to inhale when ship is formally constructed exists larger difference.
It is mounted with that beam transmitting receives transducer array (sonar probe) on existing advanced cutter suction dredger, multibeam signals control processes electronic system, the DGPS differential satellite alignment system (GPS beacon machine) of geodetic coordinates is provided, there is provided strand inhale stem to gyro compass, strand is provided to inhale ship rolling, pitching, the sensor of the attitude datas such as sedimentation.Multibeam sounding system uses extensive angle and multichannel directional reception technology, it is thus achieved that high density vertically hung scroll formula submarine topography data under water.Transmitting transducer arrays is utilized to launch the sound wave that wide sector covers to seabed, utilize reception transducer array that sound wave is carried out narrow beam reception, the irradiation footprint to sea-floor relief is formed by launching, receive the orthogonality pointed to sector, these footprints are carried out appropriate process, once detect the water depth value of the measured points, seabed of up to a hundred in just providing the vertical plane vertical with course, measure the size of submarine target, shape and height change along the one fixed width of course line, depict the three-dimensional feature of sea-floor relief.Rolling deviation that during measurement, present in multiple-beam system installation process, lateral angles and regulation of longitudinal angle cause and pitching deviation, the navigation delay caused during boat trip and gyro compass deviation, the change of tidal level (reference datum), the change of Seawater sound velocity structure all can cause the displacement of measuring point, thus have influence on sounding survey precision, cause the distortion of seabed form.
Summary of the invention
The present invention needs the problem solved to be to provide a kind of job site in varied situations, gets rid of multibeam sounding system detecting error, is directly generated the manufacturing system of 3D landform under water by cutter suction dredger reamer construction location.
Technical scheme includes a set of crane span structure equipment and is positioned at the crane span structure position system that the Programmable Logic Controller of dredging control station is constituted, the vessel position system that the GPS beacon machine of a set of acquisition Ship GPS position and the tide gauge of tidal signal are constituted with control computer, a set of calculating reamer geodetic coordinates and set up the data handling system of data model and be positioned at the graphic hotsopt display system composition of dredging control station, crane span structure is provided with the crane span structure angular transducer measuring crane span structure angle；On compass deck, two diverse locations are provided with the GPS beacon machine detecting vessel position, install the tide gauge aboard ship detecting tidal level, it is characterized in that described crane span structure angular transducer connects through the detection signal input part of signal cable and crane span structure position system；The signal input part of crane span structure position system is connected with the acquisition system of the programmable logic controller (PLC) (PLC) being positioned at dredging control station；Described GPS beacon machine is connected by data transmission link with controlling computer；Acquisition system and the control computer of the Programmable Logic Controller of dredging control station are connected by gateway and data handling system；Data handling system is connected by gateway and graphic display system.
The Advantageous Effects of the present invention: Direct3D technology can be applied to generate 3D topography under water by calculating the geodetic coordinates of reamer based on technique scheme.In strand inhales ship work progress, the angle change calculations of crane span structure angular transducer going out the actual grade of reamer, the design parameter in conjunction with crane span structure can calculate reamer depth；Based in vessel position system two the GPS beacon machines being arranged on diverse location, it is thus achieved that the geodetic coordinates of GPS beacon machine and hull place coordinate system are relative to the deviation angle of earth coordinates；It is arranged on the particular location (i.e. GPS is in the parameter of hull coordinate system) of hull by GPS, i.e. can calculate the particular location (position in hull coordinate system) of reamer according to the design parameter of hull erection bridge；Position in the deviation angle calculated before finally combining and hull coordinate system is by calculating conversion to earth coordinates the geodetic coordinates that calculates reamer.Geodetic coordinates at reamer construction location is converted to orderly array of values and represents ground elevation, set up digital terrain model (DEM), the present invention represents with the point of mathematical definition the elevation change of underwater topography, utilizes the geodetic coordinates of reamer to set up digital terrain model (DEM).In the present invention, main employing multi-resolution models simplifies technology (LOD) generation landform grid, it is input to landform grid information in 3D drawing DLL (Direct3D) draw, and the color value on degree of depth CLUT is composed in the threedimensional model being made up of digital terrain model (DEM) data.The present invention directly uses reamer position to set up underwater digit relief model, can effectively reduce and use the data distortion caused due to water sports in multibeam sounding system, the echo impact that water body foreign body produces, the data distortion that sound wave secondary reflection causes, the data distortion that extreme terrain causes under water, Sound speed profile uses the problem that the factors such as the error in data that different empirical model causes cause, it is possible to reduce the multibeam sounding system later stage needs to carry out data process thus the further data distortion problem that causes.Degree of depth CLUT is utilized to render by the difference of the height of vertex position in grid, digital terrain model (DEM) is used to make computer can describe relief representation by the resolution of different levels, use multi-resolution models to simplify technology (LOD) and generate landform grid, can show more complicated underwater topography in real time with less room and time is more accurate under specific resolution, minimizing data processing time realization strand is inhaled underwater topography in ship work progress and is shown in real time.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention.
Detailed description of the invention
Present embodiment includes a set of crane span structure equipment and is positioned at the crane span structure position system that the Programmable Logic Controller of dredging control station is constituted, the GPS beacon machine of a set of two acquisition boats and ships diverse locations with control the vessel position system that computer is constituted, a set of calculating reamer geodetic coordinates and set up the data handling system of data model and be positioned at the graphic hotsopt display system composition of dredging control station.Being provided with the crane span structure angular transducer measuring crane span structure angle on crane span structure, crane span structure sensor is connected with the detection signal input part of crane span structure position system through signal cable；The detection signal input part of crane span structure position system is connected with the acquisition system of the Programmable Logic Controller being positioned at dredging control station；Described GPS beacon machine and tide gauge are connected by data transmission link with control computer, and two GPS beacon machines are installed on compass deck diverse location, it is thus achieved that the WGS84 coordinate of two installed positions；The remittance transmission of all information collected is carried out data process and sets up digital terrain model to data handling system by TCP gateway by data；Digital terrain model is by generating in TCP gateway transmission to graphic hotsopt display system and showing in man machine interface.
Strand is inhaled in ship work progress, uses the primary voltage (V that the crane span structure angular transducer installed on crane span structure obtains01) and output voltage (V1) calculate angle (A1), crane span structure length (L), tidal level (t), calculate reamer depth: reamer depth (hy): hy =LsinA1-t；Crane span structure angle, θ (A1) and angular transducer output voltage V1, initial voltage V01With initial angle θ0Relation: θ=K1(V1 -
V01)+θ0。
Obtain WGS84 coordinate by two the GPS beacon machines being arranged on compass deck, be geodetic coordinates by converting this Coordinate Conversion, and be plane coordinates by this Coordinate Conversion.So that between reamer and strand suction quarter piling bar, the centrage of connection is as the longitudinal axis, the transversal upper thread of afterbody of ship is transverse axis, sets up hull coordinate system, obtains GPS hull coordinate in this coordinate system by equipment installation parameter.The traversing angle of hull and the hull coordinate system deviation angle relative to plane coordinate system is calculated by the coordinate of GPS at two；In hull coordinate system, installation site according to crane span structure obtains crane span structure position in hull coordinate system, calculate the crane span structure angle change obtained according to crane span structure angular transducer simultaneously, in conjunction with hull crane span structure design parameter, calculating the crane span structure length change being projected on hull horizontal plane, the final reamer that obtains is in the position of hull coordinate system.It is the computing formula of plane coordinates finally according to hull Coordinate Conversion, it is thus achieved that the plane coordinates of reamer, is finally converted to geodetic coordinates (geodetic longitude L, geodetic latitude B and the earth elevation H).
Geodetic coordinates at reamer construction location is converted to orderly array of values ({ Vi(Xi,Yi,Zi), i=1,2,3,---n, wherein (Xi,Yi) represent the plane coordinates in this region, Zi is (Xi, Yi) corresponding elevation) represent ground elevation, set up digital terrain model (DEM), the point utilizing mathematical definition changes to the elevation representing underwater topography, digital terrain model is divided into the regular grid (sizing grid represents data precision) of 1m*1m, the earth elevation H by reamer geodetic coordinates is given to the elevation of each grid, 3m as a length of in reamer, width is 3m, every time after reamer construction, the altitude data of 3*3 grid is had to will be updated to the earth elevation H of reamer geodetic coordinates.In the present invention, (multi-resolution models simplifies technology and utilizes the visual redundancy characteristic of human eye main employing multi-resolution models simplification technology (LOD) generation landform grid, different with the complexity of the distance of distance viewpoint and atural object itself according to direction of visual lines, use level of detail to be in various degree described the different piece of terrain scene.Number of triangles to be processed is needed during the terrain rendering being greatly reduced, accelerate the real-time rendering speed of landform), it is input to landform grid information in 3D drawing DLL (Direct3D) draw, and the color value on degree of depth CLUT is composed in the threedimensional model being made up of digital terrain model (DEM) data.In graphic hotsopt display system, set up 3D environment, draw out 3D topography under water and be transferred to dredge display on the display of control station by gateway.
Claims (1)
1. the manufacturing system of cutter suction dredger construction location 3D landform under water, including a set of crane span structure equipment and the crane span structure position system of the Programmable Logic Controller composition being positioned at dredging control station, the vessel position system that the GPS beacon machine of a set of acquisition Ship GPS position and the tide gauge of tidal signal are constituted with control computer, a set of calculating reamer geodetic coordinates and set up the data handling system of data model and be positioned at the graphic hotsopt display system composition of dredging control station, crane span structure is provided with the crane span structure angular transducer measuring crane span structure angle；On compass deck, two diverse locations are provided with the GPS beacon machine detecting vessel position, install the tide gauge aboard ship detecting tidal level, it is characterized in that described crane span structure angular transducer connects through the detection signal input part of signal cable and crane span structure position system；The signal input part of crane span structure position system is connected with the acquisition system of the programmable logic controller (PLC) being positioned at dredging control station；Described GPS beacon machine is connected by data transmission link with controlling computer；Acquisition system and the control computer of the Programmable Logic Controller of dredging control station are connected by gateway and data handling system；Data handling system is connected by gateway and graphic display system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510196267.7A CN106153015A (en) | 2015-04-23 | 2015-04-23 | The manufacturing system of cutter suction dredger construction location 3D landform under water |
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| CN201510196267.7A CN106153015A (en) | 2015-04-23 | 2015-04-23 | The manufacturing system of cutter suction dredger construction location 3D landform under water |
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| CN106153015A true CN106153015A (en) | 2016-11-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926459A (en) * | 2019-10-17 | 2020-03-27 | 广州南方卫星导航仪器有限公司 | Method and equipment for processing multi-beam data and storage medium thereof |
| CN112017227A (en) * | 2020-08-27 | 2020-12-01 | 上海交通建设总承包有限公司 | Method for hybrid visualization of terrain model and tidal data generated by point cloud fusion |
Citations (4)
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| CN102174827A (en) * | 2011-03-25 | 2011-09-07 | 江苏铭科软件有限公司 | Integrated dredging monitoring system |
| EP2644781A1 (en) * | 2012-03-30 | 2013-10-02 | Ondernemingen Jan De Nul, naamloze vennootschap | Pumping means intended for being trailed by a trailing suction hopper dredger and trailing suction hopper dredger equipped with such pumping means. |
| EP2708293A1 (en) * | 2012-09-18 | 2014-03-19 | Grovawa B.V. | Method, installation and composition for the storage of contaminated material |
| CN204575072U (en) * | 2015-04-23 | 2015-08-19 | 中交疏浚技术装备国家工程研究中心有限公司 | The manufacturing system of cutter suction dredger construction location 3D landform under water |
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- 2015-04-23 CN CN201510196267.7A patent/CN106153015A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102174827A (en) * | 2011-03-25 | 2011-09-07 | 江苏铭科软件有限公司 | Integrated dredging monitoring system |
| EP2644781A1 (en) * | 2012-03-30 | 2013-10-02 | Ondernemingen Jan De Nul, naamloze vennootschap | Pumping means intended for being trailed by a trailing suction hopper dredger and trailing suction hopper dredger equipped with such pumping means. |
| EP2708293A1 (en) * | 2012-09-18 | 2014-03-19 | Grovawa B.V. | Method, installation and composition for the storage of contaminated material |
| CN204575072U (en) * | 2015-04-23 | 2015-08-19 | 中交疏浚技术装备国家工程研究中心有限公司 | The manufacturing system of cutter suction dredger construction location 3D landform under water |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926459A (en) * | 2019-10-17 | 2020-03-27 | 广州南方卫星导航仪器有限公司 | Method and equipment for processing multi-beam data and storage medium thereof |
| CN112017227A (en) * | 2020-08-27 | 2020-12-01 | 上海交通建设总承包有限公司 | Method for hybrid visualization of terrain model and tidal data generated by point cloud fusion |
| CN112017227B (en) * | 2020-08-27 | 2024-06-18 | 上海交通建设总承包有限公司 | Mixed visualization method for terrain model and tidal data generated by point cloud fusion |
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Application publication date: 20161123 |