CN106428454B - It is a kind of to face upward the deflection compensation method for sweeping formula drauht detecting system - Google Patents
It is a kind of to face upward the deflection compensation method for sweeping formula drauht detecting system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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Abstract
The deflection compensation method of formula drauht detecting system of sweeping is faced upward the invention discloses a kind of, the detecting system includes array of ultrasonic sensors, automatic lifting module, underwater pressure sensor module, display module, data acquisition transmission module and data processing module；The deflection compensation method, includes the following steps：Build automatic lifting module；Build array of ultrasonic sensors；Build underwater pressure sensor module；Data processing module carries out analysis calculating；Display module shows result of calculation.Array of ultrasonic sensors is mounted on the detection door bracket of rigid structural, and due to the influence of gravity, detection door middle section may have a degree of sinking.The present invention has been fully considered the deflection of detection door, has been compensated processing to detection draft error, data is made to be more clear simply, substantially increase measurement accuracy using deflection compensation algorithm.The present invention improves the stability of entire drinking water detecting system, and is conducive to the maintenance used in the future.
Description
Technical field
The present invention relates to the drinking water detection fields of tested ship, particularly a kind of to face upward the inspection for sweeping formula drauht detecting system
Survey method.
Background technology
In recent years, with the raising of navigable technique, Yangtze River shipping amount is in the trend of average annual growth, and its cargo transport exists
The developing status of Chinese national economy is higher and higher.Thus it is guaranteed that the Changjiang river transport is unobstructed and safety is most important.It is existing to face upward
Sweeping formula drinking water detecting system can realize that disembarkation detects using the drinking water detecting system based on ultrasonic sensor being fixedly mounted, though
Right real-time is relatively good, but constantly changes when with Various Seasonal water velocity, and detection door generates amount of deflection, system can be brought to miss
Difference.The measurement accuracy and accuracy of data are influenced, obtained experimental data and the value for being actually subjected to measure have a certain distance, unfavorable
In the further research of experiment.
Invention content
To solve the above problem of the existing technology, the present invention to design it is a kind of can improve accuracy of detection face upward the formula of sweeping
The deflection compensation method of drauht detecting system.
To achieve these goals, technical scheme is as follows：A kind of face upward sweeps scratching for formula drauht detecting system
Compensation method is spent, the detecting system includes array of ultrasonic sensors, automatic lifting module, underwater pressure sensor mould
Block, display module, data acquisition transmission module and data processing module, the array of ultrasonic sensors are installed on detection door
On, for measuring the distance of detection door and tested ship；The automatic lifting module be mounted on navigation channel both sides on the bank from
Dynamic elevator, for adjusting the position of detection door in water；The underwater pressure sensor module is mounted on detection door
Pressure sensor, for monitoring SEA LEVEL VARIATION in real time；The display module is to provide corresponding interpersonal interactive interface, convenient
From test position, the local tested ship of staff's viewing absorbs water situation in real time farther out；The data processing module passes through
Data line is connect with data acquisition transmission module, for array of ultrasonic sensors and underwater pressure sensor module transfer are come
Data handled, calculate tested shipping draft；
The deflection compensation method, includes the following steps：
A, automatic lifting module is built；
Escalator is mounted on navigation channel both sides on the bank, forms automatic lifting module；By escalator and detection
Door is connected together with hawser, and the position of detection door in water is adjusted by escalator according to SEA LEVEL VARIATION；
B, array of ultrasonic sensors is built；
The M ultrasonic sensors towards the water surface of installation on detection door, form array of ultrasonic sensors, if adjacent two
The distance between a ultrasonic sensor is N, then i-th of ultrasonic sensor and the distance of detection door left end position are：
Si=N (i-1) i=1,2 ..., M
Detecting door total length is
S=(M-1) N
C, underwater pressure sensor module is built；
P pressure sensor is installed simultaneously on detection door, if the distance between two neighboring pressure sensor is Q, then
J-th of pressure sensor and the distance of detection door left end position are
Xj=Q (j-1) j=1,2 ..., P
And N ＜ Q ＜ 2N are the measurement request met to detecting door posture, in detection door, there is a situation where amount of deflection changes
Under, if j-th of pressure sensor measure apart from water surface depth value be Hj, then the array formed is { H1,H2,H3,.....HP}。
Detection door occur amount of deflection variation after and have ship in the case of, if pressure sensor measure apart from water surface depth value
For dj, the array of composition is { d1,d2,d3,....dp, if Δ djFor pressure sensor degree of disturbing offset, then
Δdj=dj-Hj
D, data processing module carries out analysis calculating；
Due to being influenced by water level fluctuation and other factors, certain inclination can occur for detection door；Do not have in detection door first
In the case of generating amount of deflection, according to the measurement data of underwater pressure sensor, i-th of ultrasonic wave is calculated by data processing module
The distance of sensor to the water surface is hi.When detecting door generation amount of deflection variation, since array of ultrasonic sensors is real-time acquisition number
According to, thus when have ship by when, measured according to underwater pressure sensor, supersonic sensing calculated by data processing module
The actual range of device to bottom of ship is Di。
Since the distance between two neighboring ultrasonic sensor is that the distance between N, two neighboring pressure sensor is
Q, then distance ratio is N/Q, and according to similar triangle theory, i-th of ultrasonic sensor is calculated by data processing module
Detection door deflection compensation value Δ Si, then
Finally, ship real draft depth value G is calculatediFor：
Gi=Δ Si+hi-Di
E, display module shows result of calculation；
Display module by human-computer interaction interface, show drinking water in real time calculate as a result, to staff and inspection personnel with
More easily to monitor.
Compared with prior art, advantages of the present invention is as follows：
1st, array of ultrasonic sensors is mounted on the detection door bracket of rigid structural, and steel structure support has certain in itself
Flexibility, due to the influence of gravity, detection door middle section may have a degree of sinking.The prior art is not due to having
There is deflection compensation, it is impossible to which Accurate Estimation goes out the draft of ship.
The present invention has fully considered the deflection of detection door, to detecting draft error using deflection compensation algorithm
Processing is compensated, data is made to be more clear simply, substantially increase measurement accuracy.
2nd, the present invention improves the stability of entire drinking water detecting system, and is conducive to the maintenance used in the future.
Description of the drawings
The present invention 6 width of shared attached drawing, wherein：
Fig. 1 is the principle of the present invention block diagram.
Fig. 2 is to detect the door location drawing in theoretical value.
Fig. 3 is that amount of deflection variation diagram occurs for detection door in practical situations.
Fig. 4 is pressure sensor deflection compensation figure.
Fig. 5 is ultrasonic sensor deflection compensation figure.
Fig. 6 is the draft value figure of Ship '.
In figure：1st, automatic lifting module, 2, array of ultrasonic sensors, 3, underwater pressure sensor module, 4, at data
Manage module, 5, display module, 6, ship, 7, detection door, 8, data acquisition transmission module.
Specific embodiment
The present invention is further described through below in conjunction with the accompanying drawings.As shown in Figure 1, one kind, which is faced upward, sweeps the detection of formula drauht
The deflection compensation method of system, the detecting system include array of ultrasonic sensors 2, automatic lifting module 1, Underwater Pressure
Sensor assembly 3, display module 5, data acquisition transmission module 8 and data processing module 4；As shown in Fig. 2, the ultrasonic wave
Sensor array 2 is installed on detection door 7, for measuring the distance of detection door 7 and tested ship 6；The automatic lifting mould
Block 1 is the escalator mounted on navigation channel both sides on the bank, for adjusting the position of detection door 7 in water；As shown in figure 3, institute
The underwater pressure sensor module 3 stated is mounted in the pressure sensor on detection door 7, for monitoring SEA LEVEL VARIATION in real time；Institute
The display module 5 stated is to provide corresponding interpersonal interactive interface, convenient from test position local staff's viewing farther out
Tested ship 6 absorbs water situation in real time；The data processing module 4 acquires transmission module 8 with data by data line and connect, and uses
Array of ultrasonic sensors 2 and underwater pressure sensor module 3 are transmitted to the data come to handle, calculate tested ship
6 drafts；
The deflection compensation method, includes the following steps：
A, structure automatic lifting module 1；
Escalator is mounted on navigation channel both sides on the bank, forms automatic lifting module 1；By escalator and detection
Door 7 is connected together with hawser, and the position of detection door 7 in water is adjusted by escalator according to SEA LEVEL VARIATION；
B, array of ultrasonic sensors 2 is built；
The M ultrasonic sensors towards the water surface of installation on detection door 7, form array of ultrasonic sensors 2, if adjacent
The distance between two ultrasonic sensors are N, then i-th of ultrasonic sensor is with the distance for detecting 7 left end position of door：
Si=N (i-1) i=1,2 ..., M
Detecting 7 total length of door is
S=(M-1) N
C, structure underwater pressure sensor module 3；
P pressure sensor is installed simultaneously on detection door 7, if the distance between two neighboring pressure sensor is Q, then
J-th of pressure sensor and the distance of 7 left end position of detection door are
Xj=Q (j-1) j=1,2 ..., P
And N ＜ Q ＜ 2N are the measurement request met to detecting 7 posture of door, in detection door 7, there is a situation where amount of deflection changes
Under, if j-th of pressure sensor measure apart from water surface depth value be Hj, then the array formed is { H1,H2,H3......HP}。
Detection door 7 occur amount of deflection variation after and have ship 6 in the case of, if pressure sensor measure apart from water surface depth
It is worth for dj, the array of composition is { d1,d2,d3......dP, if Δ djFor pressure sensor degree of disturbing offset, as shown in figure 4, then
Δdj=dj-Hj
D, data processing module 4 carries out analysis calculating；
Due to being influenced by water level fluctuation and other factors, certain inclination can occur for detection door 7；Do not have in detection door 7 first
Have in the case of generating amount of deflection, according to the measurement data of underwater pressure sensor, calculated by data processing module 4 and i-th surpassed
The distance of sonic sensor to the water surface is hi.When detecting the generation amount of deflection variation of door 7, since array of ultrasonic sensors 2 is real-time
Gathered data, thus when have ship 6 by when, measured according to underwater pressure sensor, pass through data processing module 4 calculate excess of export
The actual range of sonic sensor to 6 bottom of ship is Di。
Since the distance between two neighboring ultrasonic sensor is that the distance between N, two neighboring pressure sensor is
Q, then distance ratio is N/P, and according to similar triangle theory, i-th of ultrasonic sensor is calculated by data processing module 4
7 deflection compensation value Δ S of detection doori, as shown in figure 5, then
Finally, as shown in fig. 6, calculating 6 real draft depth value G of shipiFor：
Gi=Δ Si+hi-Di
E, display module 5 shows result of calculation；
Display module 5 by human-computer interaction interface, show drinking water in real time calculate as a result, to staff and inspection personnel with
More easily to monitor.
Deflection compensation advantageous effect is further described through below by way of attached drawing：
As shown in Fig. 2, in the case of no underwater pressure sensor module 3, only ultrasonic sensor measures detection
Door 7 arrives the distance of the water surface, not comprehensive enough, entire measurement can be given to bring error, it is even more impossible to calculate deflection compensation value.
As shown in figure 3, have ship by when, ultrasonic sensor can only measure detection door 7 arrive bottom of ship distance.
In the case of not having underwater pressure sensor module 3, the distance that detection door 7 arrives the water surface can not be measured in real time, and then cannot be effective
Measurement shipping draft.
Claims (1)
1. a kind of face upward the deflection compensation method for sweeping formula drauht detecting system, the detecting system includes ultrasonic sensor
Array (2), automatic lifting module (1), underwater pressure sensor module (3), display module (5), data acquisition transmission module (8)
With data processing module (4), the array of ultrasonic sensors (2) is installed on detection door (7), and door is detected for measuring
(7) with the distance of tested ship (6)；The automatic lifting module (1) is the escalator mounted on navigation channel both sides on the bank,
For adjusting the position of detection door (7) in water；The underwater pressure sensor module (3) is mounted on detection door (7)
Pressure sensor, for monitoring SEA LEVEL VARIATION in real time；The display module (5) is to provide corresponding interpersonal interactive interface,
It is convenient from test position, the local tested ship (6) of staff's viewing absorbs water situation in real time farther out；The data processing
Module (4) acquires transmission module (8) by data line and data and connect, for pressing by array of ultrasonic sensors (2) and under water
The data that force snesor module (3) transmission comes are handled, and calculate tested ship (6) draft；
It is characterized in that：The deflection compensation method, includes the following steps：
A, structure automatic lifting module (1)；
Escalator is mounted on navigation channel both sides on the bank, forms automatic lifting module (1)；By escalator and detection door
(7) it is connected together with hawser, the position of detection door (7) in water is adjusted by escalator according to SEA LEVEL VARIATION；
B, structure array of ultrasonic sensors (2)；
The M ultrasonic sensors towards the water surface of installation on detection door (7), form array of ultrasonic sensors (2), if adjacent
The distance between two ultrasonic sensors are N, then i-th of ultrasonic sensor and the distance of detection door (7) left end position
For：
Si=N (i-1) i=1,2 ..., M
Detecting door (7) total length is
S=(M-1) N
C, structure underwater pressure sensor module (3)；
P pressure sensor is installed simultaneously in detection door (7), if the distance between two neighboring pressure sensor is Q, then the
J pressure sensor and the distance of detection door (7) left end position are
Xj=Q (j-1) j=1,2 ..., P
And N ＜ Q ＜ 2N are the measurement request met to detecting door (7) posture, in detection door (7), there is a situation where amount of deflection changes
Under, if j-th of pressure sensor measure apart from water surface depth value be Hj, then the array formed is { H1,H2,H3,.....HP}；
Detection door (7) occur amount of deflection variation after and have ship (6) in the case of, if pressure sensor measure apart from the water surface
Depth value is dj, the array of composition is { d1,d2,d3,....dp, if Δ djFor pressure sensor degree of disturbing offset, then
Δdj=dj-Hj
D, data processing module (4) carries out analysis calculating；
Due to being influenced by water level fluctuation and other factors, certain inclination can occur for detection door (7)；Do not have in detection door (7) first
Have in the case of generating amount of deflection, according to the measurement data of underwater pressure sensor, calculated i-th by data processing module (4)
The distance of ultrasonic sensor to the water surface is hi；When detecting door (7) generation amount of deflection variation, due to array of ultrasonic sensors (2)
Real-time data collection, thus when have ship (6) by when, measured according to underwater pressure sensor, pass through data processing module
(4) actual range for calculating ultrasonic sensor to ship (6) bottom is Di；
It is Q since the distance between two neighboring ultrasonic sensor is the distance between N, two neighboring pressure sensor, then
Distance ratio is N/Q, and according to similar triangle theory, i-th ultrasonic sensor is calculated by data processing module (4)
Detect door (7) deflection compensation value Δ Si, then
Finally, ship (6) real draft depth value G is calculatediFor：
Gi=Δ Si+hi-Di
E, display module (5) shows result of calculation；
Display module (5) shows that drinking water is calculated as a result, being brought to staff and inspection personnel in real time by human-computer interaction interface
More easily monitor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610898421.XA CN106428454B (en) | 2016-10-14 | 2016-10-14 | It is a kind of to face upward the deflection compensation method for sweeping formula drauht detecting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610898421.XA CN106428454B (en) | 2016-10-14 | 2016-10-14 | It is a kind of to face upward the deflection compensation method for sweeping formula drauht detecting system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600356A (en) * | 2017-09-11 | 2018-01-19 | 大连海事大学 | A kind of face upward at a high speed sweeps formula drauht detecting system and its method of work |
| CN107600357B (en) * | 2017-09-11 | 2019-01-18 | 大连海事大学 | A kind of high-precision, which is faced upward, sweeps formula drauht detection system and its working method |
| CN109733549B (en) * | 2019-03-22 | 2024-01-05 | 大连海事大学 | Upward sweeping type ship draft detection system and method based on flexible framework support |
| CN110097631B (en) * | 2019-04-08 | 2023-01-13 | 中国长江电力股份有限公司 | Upward-scanning ship three-dimensional model construction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB190912239A (en) * | 1909-05-24 | 1910-01-20 | Frederick John Meno | Improvements in Draught Indicators for Ships |
| GB190916463A (en) * | 1909-07-14 | 1910-08-15 | Frederick George Paniz Preston | Improvements in Apparatus for Indicating the Draught or Tonnage of Ships. |
| CN103192960B (en) * | 2013-04-17 | 2015-07-29 | 大连海事大学 | The alignment method that a kind of shipping draft detects |
| CN104515994B (en) * | 2014-12-31 | 2017-01-25 | 大连海事大学 | Side-scanning ship draught overloading detection system and operation method thereof |
| CN105818941B (en) * | 2016-03-15 | 2017-10-24 | 大连海事大学 | One kind, which is faced upward, sweeps formula drinking water detecting system and its method of work |
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