CN107600357B - A high-precision tilt-swept ship draft detection system and its working method - Google Patents

A high-precision tilt-swept ship draft detection system and its working method Download PDF

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CN107600357B
CN107600357B CN201710813310.9A CN201710813310A CN107600357B CN 107600357 B CN107600357 B CN 107600357B CN 201710813310 A CN201710813310 A CN 201710813310A CN 107600357 B CN107600357 B CN 107600357B
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interface board
sensor interface
water pressure
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CN107600357A (en
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熊木地
于兆辉
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Dalian Maritime University
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Dalian Maritime University
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Abstract

The invention discloses a high-precision upward-sweeping ship draught detection system and a working method thereof. The invention adopts a plurality of sensor interface boards for data acquisition, and the synchronous sampling control board for synchronous acquisition control, so that the construction of the sensor array is more convenient, and the problem that the rapid synchronous acquisition can not be realized under the condition of excessive sensor quantity is solved. Because the ultrasonic sensor and the water pressure sensor are used for synchronous data acquisition, the water pressure sensor performs curve fitting, and the state of the detection support is modeled, the problem of error caused by deformation of the detection support is solved, and the detection precision is improved.

Description

A kind of high-precision, which is faced upward, sweeps formula drauht detection system and its working method
Technical field
The present invention relates to drauht detection techniques, in particular to one kind, which is faced upward, sweeps drauht detection system.
Background technique
As the super drinking water phenomenon of inland navigation craft is increasing, the safety of inland river navigation ship is caused serious hidden Suffer from, particularly important is also become to the detection of the super drinking water of ship.It is existing face upward sweep formula drinking water detection system be by building one packet The array for including multiple ultrasonic distance-measuring sensors is installed in underwater detection support, by obtain sensor data into Row data processing obtains the data such as corresponding shipping draft.The method only meets in the case where number of sensors is less, When inland river width is to certain situation, to guarantee that measurement accuracy needs to install dozens or even hundreds of ultrasonic sensor, at this time Since number of sensors is excessive, the collection period of data is greatly increased, so that the period of drauht detection increases, is seriously affected Its detection accuracy.
Summary of the invention
In order to solve the above problem, the present invention will propose the height that a kind of acquisition speed is fast, multiple sensors synchronism is good Precision, which is faced upward, sweeps formula drauht detection system and its working method.
To achieve the goals above, technical scheme is as follows:
A kind of high-precision, which is faced upward, sweeps formula drauht detection system, including ultrasonic sensor modules, hydraulic pressure sensor module, Obliquity sensor module, synchronous sampling control module, ultrasonic sensor interface plate module, hydraulic pressure sensor interface plate module, Obliquity sensor interface plate module, data processing module and display module；The data processing module is transmitted by data Line is sensed with synchronous sampling control module, ultrasonic sensor interface plate module, hydraulic pressure sensor interface plate module, inclination angle respectively Device interface plate module and display module are connected；The ultrasonic sensor interface plate module and ultrasonic sensor modules It is connected, ultrasonic sensor modules are made of N number of ultrasonic sensor, and N number of ultrasonic sensor is perpendicular to horizontal plane direction Be arranged in a row and be uniformly mounted in detection support, for measure detection support to hull bottom distance；The hydraulic pressure sensor connects Oralia module is connected with hydraulic pressure sensor module, and hydraulic pressure sensor module is made of M+1 hydraulic pressure sensor, M+1 hydraulic pressure Sensor is uniformly mounted in detection support, for measuring the depth of detection support each position；The obliquity sensor interface Plate module is connected with obliquity sensor module, and obliquity sensor module is made of 3 obliquity sensors, 3 obliquity sensors It is mounted on left side, centre, right positions in detection support, for measuring the tilt angle of detection support and horizontal plane；It is described Synchronous sampling control module respectively with ultrasonic sensor interface plate module, obliquity sensor interface plate module, hydraulic pressure sense Device interface plate module is connected, and synchronous sampling control module is made of synchronous sampling control plate, and synchronous sampling control plate receives number According to processing module send control instruction, then to ultrasonic sensor interface plate module, hydraulic pressure sensor interface plate module, incline Angle transducer interface plate module send start data sampling control signal, control each sensor according to synchronized sampling timing into Row sampling operation, to guarantee that underwater sensor is able to carry out orderly measurement work and returned data；The data processing Module is industrial computer, handles each sensing data received, calculates shipping draft；The display mould Block is by Industrial Computer Control, for showing shipping draft and detection support real-time status.
Further, the number N of the ultrasonic sensor is determined according to the width of sense channel, and N is the multiple of M Number.
Further, the number N of the ultrasonic sensor is 30 to 100.
A kind of high-precision faces upward the working method for sweeping formula drauht detection system, comprising the following steps:
A, distance of the ultrasonic sensor modules detection detection support to bottom of ship；
Ultrasonic sensor modules are made of N number of ultrasonic sensor, are arranged in a row uniform installation perpendicular to water surface direction In detection support, from being numbered 1 to N on the left of detection support, the distance that ultrasonic sensor measures is ultrasonic sensor L1To LN, then the detection support distance that the ultrasonic sensor of xth rice position measures since left side is Lx；
B, the depth under water of hydraulic pressure sensor module detection detection support；
Hydraulic pressure sensor module is uniformly mounted in detection support by M+1 hydraulic pressure sensor and is constituted, super at interval of N/M Sonic sensor installs a hydraulic pressure sensor, and hydraulic pressure sensor is from being numbered 1 to M+1 on the left of detection support, hydraulic pressure sensing The depth that device measures is X1To XM+1, the depth of detection support xth rice position since left side is Xx, by measure one group of data (i, Xi) carry out sectional straight line fitting, i=1,2 ... M+1, if fitting a straight line formula are as follows:
X=f (x)=a+bx,
Measured each XiValue and each estimated value f (x of fitting a straight linei)=a+bxiThe quadratic sum of difference are as follows:
S=∑ [Xi-f(xi)]2=∑ [Xi-(a+bxi)]2,
Have accordingly:
Thus it solves:
Obtaining the depth at detection support x is Xx=f (x)=a+bx.
C, obliquity sensor module detects the underwater bending situation of detection support；
Obliquity sensor module is by being separately mounted to the left side of detection support, 3 obliquity sensor structures of centre, right side At the angle of detection support and horizontal plane that obliquity sensor measures is θ1、θ2、θ3, data by display module real-time display, For observing the underwater bending situation of detection support.
D, synchronous sampling control module synchronizes control；
Synchronous sampling control module is made of synchronous sampling control plate, synchronous sampling control plate using FPGA as core, including RS232 interface and multichannel RS485 communication interface, RS232 interface are connected with data processing module, handle for receiving data all the way The control instruction of module, multichannel RS485 communication interface respectively with ultrasonic sensor interface plate module, hydraulic pressure sensor interface board Module is connected with obliquity sensor interface plate module, for sending the control for starting synchronized sampling to each sensor interface plate module Signal processed.
E, ultrasonic sensor interface board module transfer data；
Ultrasonic sensor interface plate module is made of multiple ultrasonic sensor interface boards, and each ultrasonic sensor connects Oralia connects 10 ultrasonic sensors, and ultrasonic sensor interface board is using FPGA as core, including 4 road RS485 interfaces, wherein RS485-1 and RS485-2 is separately connected 5 ultrasonic sensors, and the control that RS485-3 is used to receive synchronous sampling control plate refers to It enables, RS485-4 is for controlling ultrasonic sensor working condition and data acquisition.
F, hydraulic pressure sensor interface board module transfer data；
Hydraulic pressure sensor interface plate module is made of hydraulic pressure sensor interface board, and hydraulic pressure sensor interface board is using FPGA as core The heart, including 3 road RS485 interfaces, wherein RS485-1 is connected with M+1 hydraulic pressure sensor, and RS485-2 is adopted for receiving to synchronize The control instruction of sample control panel, RS485-3 is for controlling hydraulic pressure sensor working condition and data acquisition.
G, obliquity sensor interface board module transfer data；
Obliquity sensor interface plate module is made of obliquity sensor interface board, and obliquity sensor interface board is using FPGA as core The heart, including 3 road RS485 interfaces, wherein RS485-1 is connected with 3 obliquity sensors, and RS485-2 is for receiving synchronized sampling The control instruction of control panel, RS485-3 is for controlling obliquity sensor working condition and data acquisition.
H, data processing module calculates drinking water data；
Data processing module is an industrial computer, industrial computer respectively with synchronous sampling control module, ultrasonic wave Sensor interface plate module, hydraulic pressure sensor interface plate module, obliquity sensor interface plate module and display module are connected, Industrial computer sends acquisition instructions to synchronous sampling control plate, and each sensor interface plate synchronous working acquires each sensor Data, industrial computer are calculated by hydraulic pressure sensor data, the Ultrasonic Sensor Data acquired, obtain ship everywhere Absorb water data Hx, by Hx=Xx-Lx, take HxIn it is maximum value be extreme draft value.
I, display module shows draft；
The display module shows shipping draft and detection support real-time status by Industrial Computer Control.
Compared with prior art, advantages of the present invention is as follows:
1. being synchronized since the present invention carries out data acquisition using multiple sensor interface plates by synchronous sampling control plate Acquisition control, so that the building of sensor array is more convenient, and solving cannot be quick in the excessive situation of number of sensors The problem of synchronous acquisition.
2. synchronizing data acquisition since the present invention is used with ultrasonic sensor and hydraulic pressure sensor, sensed by hydraulic pressure Device data carry out curve fitting, and model to detection support state, solve and generate error because deformation occurs for detection support The problem of.
3. more intuitively being examined since the present invention detects detection support using double-shaft tilt angle sensor in real time Look into the underwater bending state of bracket, solve the problems, such as detection support under water state be difficult to it is determining.
Detailed description of the invention
Fig. 1 faces upward the flow chart for sweeping formula drauht detection system to be a kind of.
Fig. 2 is each sensor module scheme of installation of detection support.
Fig. 3 faces upward the working principle diagram for sweeping formula drauht detection system to be a kind of.
Fig. 4 faces upward the overall frame structure figure for sweeping formula drauht detection system to be a kind of.
Fig. 5 is the working principle diagram of synchronous sampling control module.
In figure: 1, data processing module, 2, synchronous sampling control module, 3, ultrasonic sensor interface plate module, 4, water Pressure sensor interface plate module, 5, obliquity sensor interface plate module, 6, ultrasonic sensor modules, 7, hydraulic pressure sensor mould Block, 8, obliquity sensor module, 9, display module, 10, detection support, 11, ultrasonic sensor, 12, hydraulic pressure sensor, 13, Obliquity sensor.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.
As shown in Figs 1-4, a kind of high-precision, which is faced upward, sweeps formula drauht detection system, including ultrasonic sensor modules 6, water Pressure sensor module 7, obliquity sensor module 8, synchronous sampling control module 2, ultrasonic sensor interface plate module 3, hydraulic pressure Sensor interface plate module 4, obliquity sensor interface plate module 5, data processing module 1 and display module 9；The data Processing module 1 is passed with synchronous sampling control module 2, ultrasonic sensor interface plate module 3, hydraulic pressure respectively by data line Sensor interface plate module 4, obliquity sensor interface plate module 5 and display module 9 are connected；The ultrasonic sensor connects Oralia module 3 is connected with ultrasonic sensor modules 6, and ultrasonic sensor modules 6 are made of N number of ultrasonic sensor 11, N A ultrasonic sensor 11 is arranged in a row perpendicular to horizontal plane direction and is uniformly mounted in detection support 10, for measuring detection branch Frame 10 arrives the distance of hull bottom；The hydraulic pressure sensor interface plate module 4 is connected with hydraulic pressure sensor module 7, hydraulic pressure sensing Device module 7 is made of M hydraulic pressure sensor 12, and M hydraulic pressure sensor 12 is uniformly mounted in detection support 10, for measuring inspection Survey the depth of 10 each position of bracket；The obliquity sensor interface plate module 5 is connected with obliquity sensor module 8, inclination angle Sensor module 8 is made of 3 obliquity sensors 13,3 obliquity sensors 13 be mounted on the left side in detection support 10, in Between, right positions, for measuring the tilt angle of detection support 10 Yu horizontal plane；The synchronous sampling control module 2 is distinguished It is connected with ultrasonic sensor interface plate module 3, obliquity sensor interface plate module 5, hydraulic pressure sensor interface plate module 4, Synchronous sampling control module 2 is made of synchronous sampling control plate, and synchronous sampling control plate receives the control that data processing module 1 is sent System instruction, then to ultrasonic sensor interface plate module 3, hydraulic pressure sensor interface plate module 4, obliquity sensor interface template die Block 5 sends the control signal for starting data sampling, controls each sensor according to synchronized sampling timing and carries out sampling operation, to protect It demonstrate,proves underwater sensor and is able to carry out orderly measurement work and returned data；The data processing module 1 is that industry calculates Machine handles each sensing data received, calculates shipping draft；The display module 9 is calculated by industry Machine control, for showing 10 real-time status of shipping draft and detection support.
Further, the number N of the ultrasonic sensor 11 is determined according to the width of sense channel, and N is the whole of M Multiple.
Further, the number N of the ultrasonic sensor 11 is 30 to 100.
As quarrelled shown in 1-5, a kind of high-precision faces upward the working method for sweeping formula drauht detection system, comprising the following steps:
A, ultrasonic sensor modules 6 detect the distance that detection support 10 arrives bottom of ship；
Ultrasonic sensor modules 6 are made of N number of ultrasonic sensor 11, are arranged in a row uniform peace perpendicular to water surface direction In detection support 10, ultrasonic sensor 11 is numbered 1 to N on the left of detection support 10, and ultrasonic sensor 11 is surveyed The distance obtained is L1To LN, then the distance that the ultrasonic sensor 11 of xth rice position measures since left side of detection support 10 be Lx；
B, hydraulic pressure sensor module 7 detects the depth under water of detection support 10；
Hydraulic pressure sensor module 7 is uniformly mounted in detection support 10 by M hydraulic pressure sensor 12 and is constituted, at interval of N/M A ultrasonic sensor 11 installs a hydraulic pressure sensor 12, and hydraulic pressure sensor 12 is numbered 1 to M on the left of detection support 10 + 1, the depth that hydraulic pressure sensor 12 measures is X1To XM+1, the depth of the xth rice position since left side of detection support 10 is Xx, by Measure one group of data (i, Xi) carry out sectional straight line fitting, i=1,2 ... M+1, if fitting a straight line formula are as follows:
X=f (x)=a+bx,
Measured each XiValue and each estimated value f (x of fitting a straight linei)=a+bxiThe quadratic sum of difference are as follows:
S=∑ [Xi-f(xi)]2=∑ [Xi-(a+bxi)]2,
Have accordingly:
Thus it solves:
Obtaining the depth at detection support 10x is Xx=f (x)=a+bx.
C, obliquity sensor module 8 detects the underwater bending situation of detection support 10；
Obliquity sensor module 8 is by being separately mounted to the left side of detection support 10,3 obliquity sensors of centre, right side 13 are constituted, and the angle of detection support 10 and horizontal plane that obliquity sensor 13 measures is θ1、θ2、θ3, data pass through display module 9 Real-time display, for observing the underwater bending situation of detection support 10.
D, synchronous sampling control module 2 synchronizes control；
Synchronous sampling control module 2 is made of synchronous sampling control plate, synchronous sampling control plate using FPGA as core, including RS232 interface and multichannel RS485 communication interface, RS232 interface are connected with data processing module 1, locate for receiving data all the way The control instruction of module 1 is managed, multichannel RS485 communication interface connects with ultrasonic sensor interface plate module 3, hydraulic pressure sensor respectively Oralia module 4 is connected with obliquity sensor interface plate module 5, adopts for starting to synchronize to the transmission of each sensor interface plate module The control signal of sample.
E, ultrasonic sensor interface plate module 3 transmits data；
Ultrasonic sensor interface plate module 3 is made of multiple ultrasonic sensor interface boards, each ultrasonic sensor Interface board connects 10 ultrasonic sensors 11, and ultrasonic sensor interface board is using FPGA as core, including 4 road RS485 interfaces, Wherein RS485-1 and RS485-2 is separately connected 5 ultrasonic sensors 11, and RS485-3 is for receiving synchronous sampling control plate Control instruction, RS485-4 is for controlling 11 working condition of ultrasonic sensor and data acquisition.
F, hydraulic pressure sensor interface plate module 4 transmits data；
Hydraulic pressure sensor interface plate module 4 is made of hydraulic pressure sensor interface board, and hydraulic pressure sensor interface board is with FPGA Core, including 3 road RS485 interfaces, wherein RS485-1 is connected with M+1 hydraulic pressure sensor 12, and RS485-2 is same for receiving The control instruction of controlling of sampling plate is walked, RS485-3 is for controlling 12 working condition of hydraulic pressure sensor and data acquisition.
G, obliquity sensor interface plate module 5 transmits data；
Obliquity sensor interface plate module 5 is made of obliquity sensor interface board, and obliquity sensor interface board is with FPGA Core, including 3 road RS485 interfaces, wherein RS485-1 is connected with 3 obliquity sensors 13, and RS485-2 is for receiving synchronization The control instruction of controlling of sampling plate, RS485-3 is for controlling 13 working condition of obliquity sensor and data acquisition.
H, data processing module 1 calculates drinking water data；
Data processing module 1 is an industrial computer, industrial computer respectively with synchronous sampling control module 2, ultrasound Wave sensor interface plate module 3, hydraulic pressure sensor interface plate module 4, obliquity sensor interface plate module 5 and display module 9 It is connected, industrial computer sends acquisition instructions to synchronous sampling control plate, and each sensor interface plate synchronous working acquires each biography The data of sensor, industrial computer are calculated by 12 data of hydraulic pressure sensor, 11 data of ultrasonic sensor acquired, are obtained The drinking water data H of ship everywherex, by Hx=Xx-Lx, take HxIn it is maximum value be extreme draft value.
I, display module 9 shows draft；
The display module 9 shows shipping draft and 10 real-time status of detection support by Industrial Computer Control.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes Become, is classified as protection scope of the present invention.

Claims (3)

1.一种高精度仰扫式船舶吃水检测系统，其特征在于：包括超声波传感器模块(6)、水压传感器模块(7)、倾角传感器模块(8)、同步采样控制模块(2)、超声波传感器接口板模块(3)、水压传感器接口板模块(4)、倾角传感器接口板模块(5)、数据处理模块(1)以及显示模块(9)；所述的数据处理模块(1)通过数据传输线分别与同步采样控制模块(2)、超声波传感器接口板模块(3)、水压传感器接口板模块(4)、倾角传感器接口板模块(5)以及显示模块(9)相连接；所述的超声波传感器接口板模块(3)与超声波传感器模块(6)相连接，超声波传感器模块(6)由N个超声波传感器(11)组成，N个超声波传感器(11)垂直于水平面方向排成一排均匀安装在检测支架(10)上，用来测量检测支架(10)到船底的距离；所述的水压传感器接口板模块(4)与水压传感器模块(7)相连接，水压传感器模块(7)由M+1个水压传感器(12)组成，M+1个水压传感器(12)均匀安装在检测支架(10)上，用来测量检测支架(10)各位置的深度；所述的倾角传感器接口板模块(5)与倾角传感器模块(8)相连接，倾角传感器模块(8)由3个倾角传感器(13)组成，3个倾角传感器(13)安装在检测支架(10)上的左侧、中间、右侧位置，用来测量检测支架(10)与水平面的倾斜角度；所述的同步采样控制模块(2)分别与超声波传感器接口板模块(3)、倾角传感器接口板模块(5)、水压传感器接口板模块(4)相连接，同步采样控制模块(2)由同步采样控制板构成，同步采样控制板接收数据处理模块(1)发送的控制指令，然后向超声波传感器接口板模块(3)、水压传感器接口板模块(4)、倾角传感器接口板模块(5)发送开始数据采样的控制信号，控制各个传感器按照同步采样时序进行采样工作，以保证水下的传感器能够进行有序的测量工作并返回数据；所述的数据处理模块(1)为工业计算机，对收到的各传感器数据进行处理，计算出船舶吃水深度；所述的显示模块(9)由工业计算机控制，用于显示船舶吃水深度和检测支架(10)实时状态；1. a high-precision upside-sweeping ship draft detection system, is characterized in that: comprise ultrasonic sensor module (6), water pressure sensor module (7), inclination sensor module (8), synchronous sampling control module (2), ultrasonic wave A sensor interface board module (3), a water pressure sensor interface board module (4), an inclination sensor interface board module (5), a data processing module (1) and a display module (9); the data processing module (1) is provided by The data transmission line is respectively connected with the synchronous sampling control module (2), the ultrasonic sensor interface board module (3), the water pressure sensor interface board module (4), the inclination sensor interface board module (5) and the display module (9); the The ultrasonic sensor interface board module (3) is connected with the ultrasonic sensor module (6), the ultrasonic sensor module (6) is composed of N ultrasonic sensors (11), and the N ultrasonic sensors (11) are arranged in a row perpendicular to the horizontal plane direction The water pressure sensor interface board module (4) is connected with the water pressure sensor module (7), and the water pressure sensor module (7) It is composed of M+1 water pressure sensors (12), and M+1 water pressure sensors (12) are evenly installed on the detection bracket (10) to measure the depth of each position of the detection bracket (10); The inclination sensor interface board module (5) is connected with the inclination sensor module (8), the inclination sensor module (8) is composed of three inclination sensors (13), and the three inclination sensors (13) are installed on the detection bracket (10) The left, middle and right positions on the upper part of the sensor are used to measure the inclination angle between the detection bracket (10) and the horizontal plane; the synchronous sampling control module (2) is respectively connected with the ultrasonic sensor interface board module (3) and the inclination sensor interface board The module (5) is connected with the water pressure sensor interface board module (4), the synchronous sampling control module (2) is composed of a synchronous sampling control board, and the synchronous sampling control board receives the control instructions sent by the data processing module (1), and then sends the ultrasonic wave The sensor interface board module (3), the water pressure sensor interface board module (4), and the inclination sensor interface board module (5) send a control signal for starting data sampling, and control each sensor to perform sampling work according to a synchronous sampling sequence to ensure underwater The sensor can perform orderly measurement work and return data; the data processing module (1) is an industrial computer, which processes the data received from each sensor to calculate the draft depth of the ship; the display module (9) is composed of Industrial computer control for displaying the ship's draft and the real-time status of the detection bracket (10); 所述的超声波传感器(11)的个数N根据检测通道的宽度确定，且N为M的整倍数。The number N of the ultrasonic sensors (11) is determined according to the width of the detection channel, and N is an integral multiple of M. 2.根据权利要求1所述的一种高精度仰扫式船舶吃水检测系统，其特征在于：所述的超声波传感器(11)的个数N为30至100个。2 . The high-precision top-sweep ship draft detection system according to claim 1 , wherein the number N of the ultrasonic sensors ( 11 ) is 30 to 100. 3 . 3.一种高精度仰扫式船舶吃水检测系统的工作方法，其特征在于：包括以下步骤：3. a working method of a high-precision upside-sweep ship draft detection system, is characterized in that: comprise the following steps: A、超声波传感器模块(6)检测检测支架(10)到船舶底部的距离；A. The ultrasonic sensor module (6) detects the distance from the detection bracket (10) to the bottom of the ship; 超声波传感器模块(6)由N个超声波传感器(11)组成，垂直于水面方向排成一排均匀安装在检测支架(10)上，超声波传感器(11)从检测支架(10)左侧开始编号1至N，超声波传感器(11)测得的距离为L1至LN，则检测支架(10)从左侧开始第x米位置的超声波传感器(11)测得的距离为Lx；The ultrasonic sensor module (6) is composed of N ultrasonic sensors (11), which are arranged in a row perpendicular to the water surface and are evenly installed on the detection bracket (10). The ultrasonic sensors (11) are numbered 1 from the left side of the detection bracket (10). To N, the distance measured by the ultrasonic sensor (11) is L 1 to L N , then the distance measured by the ultrasonic sensor (11) at the x-th meter position from the left side of the detection bracket (10) is L x ; B、水压传感器模块(7)检测检测支架(10)的水下深度；B. The water pressure sensor module (7) detects the underwater depth of the detection bracket (10); 水压传感器模块(7)由M+1个水压传感器(12)均匀安装在检测支架(10)上构成，每间隔N/M个超声波传感器(11)安装一个水压传感器(12)，水压传感器(12)从检测支架(10)左侧开始编号1至M+1，水压传感器(12)测得的深度为X1至XM+1，检测支架(10)从左侧开始第x米位置的深度为Xx，由测得一组数据(i,Xi)进行分段直线拟合，i＝1,2…M+1，设拟合直线公式为：The water pressure sensor module (7) is composed of M+1 water pressure sensors (12) evenly installed on the detection bracket (10), and a water pressure sensor (12) is installed at every interval of N/M ultrasonic sensors (11). The pressure sensor (12) is numbered 1 to M+1 from the left side of the detection bracket (10), the depth measured by the water pressure sensor (12) is X 1 to X M+1 , and the detection bracket (10) starts from the left side of the number 1 to M+1. The depth of the x-meter position is X x , and a piecewise straight line fitting is performed from a set of measured data (i, X i ), i=1, 2...M+1, and the fitting straight line formula is: X＝f(x)＝a+bx,X=f(x)=a+bx, 所测得各Xi值与拟合直线各估计值f(xi)＝a+bxi差值的平方和为：The sum of the squares of the differences between the measured values of X i and the estimated values of the fitted straight line f(x i )=a+bx i is: S＝∑[Xi-f(xi)]2＝∑[Xi-(a+bxi)]2，S=∑[X i -f(x i )] 2 =∑[X i -(a+bx i )] 2 , 据此有：Accordingly there are: 由此解得：This solves: 即得到检测支架(10)x处的深度为Xx＝f(x)＝a+bx；That is, the depth at the detection bracket (10) x is obtained as X x =f(x)=a+bx; C、倾角传感器模块(8)检测检测支架(10)在水下的弯曲情况；C. The inclination sensor module (8) detects the bending condition of the detection bracket (10) under water; 倾角传感器模块(8)由分别安装在检测支架(10)的左侧、中间、右侧的3个倾角传感器(13)构成，倾角传感器(13)测得的检测支架(10)与水平面的夹角为θ1、θ2、θ3，数据通过显示模块(9)实时显示，用来观察检测支架(10)在水下的弯曲情况；The inclination sensor module (8) is composed of three inclination sensors (13) respectively installed on the left side, the middle and the right side of the detection bracket (10). The angles are θ 1 , θ 2 , θ 3 , and the data is displayed in real time through the display module (9), which is used to observe the bending condition of the detection bracket (10) under water; D、同步采样控制模块(2)进行同步控制；D. The synchronous sampling control module (2) performs synchronous control; 同步采样控制模块(2)由同步采样控制板构成，同步采样控制板以FPGA为核心，包括一路RS232接口和多路RS485通信接口，RS232接口与数据处理模块(1)相连，用于接收数据处理模块(1)的控制指令，多路RS485通信接口分别与超声波传感器接口板模块(3)、水压传感器接口板模块(4)和倾角传感器接口板模块(5)相连接，用于向各传感器接口板模块发送开始同步采样的控制信号；The synchronous sampling control module (2) is composed of a synchronous sampling control board. The synchronous sampling control board takes FPGA as the core and includes one RS232 interface and multiple RS485 communication interfaces. The RS232 interface is connected with the data processing module (1) and is used for receiving data processing. The control command of the module (1), the multi-channel RS485 communication interface is respectively connected with the ultrasonic sensor interface board module (3), the water pressure sensor interface board module (4) and the inclination sensor interface board module (5), and is used to send the information to each sensor. The interface board module sends a control signal to start synchronous sampling; E、超声波传感器接口板模块(3)传输数据；E. The ultrasonic sensor interface board module (3) transmits data; 超声波传感器接口板模块(3)由多个超声波传感器接口板组成，每个超声波传感器接口板连接10个超声波传感器(11)，超声波传感器接口板以FPGA为核心，包括4路RS485接口，其中RS485-1和RS485-2分别连接5个超声波传感器(11)，RS485-3用于接收同步采样控制板的控制指令，RS485-4用于控制超声波传感器(11)工作状态和数据采集；The ultrasonic sensor interface board module (3) is composed of a plurality of ultrasonic sensor interface boards, each ultrasonic sensor interface board is connected to 10 ultrasonic sensors (11). 1 and RS485-2 are respectively connected to 5 ultrasonic sensors (11), RS485-3 is used to receive the control instructions of the synchronous sampling control board, and RS485-4 is used to control the working state and data acquisition of the ultrasonic sensor (11); F、水压传感器接口板模块(4)传输数据；F. The water pressure sensor interface board module (4) transmits data; 水压传感器接口板模块(4)由水压传感器接口板构成，水压传感器接口板以FPGA为核心，包括3路RS485接口，其中RS485-1与M+1个水压传感器(12)相连接，RS485-2用于接收同步采样控制板的控制指令，RS485-3用于控制水压传感器(12)工作状态和数据采集；The water pressure sensor interface board module (4) is composed of a water pressure sensor interface board. The water pressure sensor interface board takes FPGA as the core and includes 3 RS485 interfaces, of which RS485-1 is connected with M+1 water pressure sensors (12). , RS485-2 is used to receive the control instructions of the synchronous sampling control board, and RS485-3 is used to control the working state and data acquisition of the water pressure sensor (12); G、倾角传感器接口板模块(5)传输数据；G. The inclination sensor interface board module (5) transmits data; 倾角传感器接口板模块(5)由倾角传感器接口板构成，倾角传感器接口板以FPGA为核心，包括3路RS485接口，其中RS485-1与3个倾角传感器(13)相连接，RS485-2用于接收同步采样控制板的控制指令，RS485-3用于控制倾角传感器(13)工作状态和数据采集；The inclination sensor interface board module (5) is composed of an inclination sensor interface board. The inclination sensor interface board takes FPGA as the core and includes 3 RS485 interfaces, of which RS485-1 is connected with the three inclination sensors (13), and RS485-2 is used for Receive the control command of the synchronous sampling control board, and RS485-3 is used to control the working state and data acquisition of the inclination sensor (13); H、数据处理模块(1)计算吃水数据；H. The data processing module (1) calculates the draft data; 数据处理模块(1)是一台工业计算机，工业计算机分别与同步采样控制模块(2)、超声波传感器接口板模块(3)、水压传感器接口板模块(4)、倾角传感器接口板模块(5)以及显示模块(9)相连接，工业计算机向同步采样控制板发送采集指令，各传感器接口板同步工作，采集各传感器的数据，工业计算机通过采集的水压传感器(12)数据、超声波传感器(11)数据进行计算，得船舶各处的吃水数据Hx，由Hx＝Xx-Lx，取Hx中最大的值即为船舶最大吃水值；The data processing module (1) is an industrial computer, and the industrial computer is respectively connected with a synchronous sampling control module (2), an ultrasonic sensor interface board module (3), a water pressure sensor interface board module (4), and an inclination sensor interface board module (5). ) and the display module (9) are connected, the industrial computer sends acquisition instructions to the synchronous sampling control board, each sensor interface board works synchronously, and collects the data of each sensor, the industrial computer passes the collected water pressure sensor (12) data, ultrasonic sensor ( 11) Calculate the data to obtain the draught data H x at various places of the ship. From H x =X x -L x , the maximum value in H x is taken as the maximum draught value of the ship; I、显示模块(9)显示吃水深度；1. Display module (9) displays draft; 所述的显示模块(9)由工业计算机控制显示船舶吃水深度和检测支架(10)实时状态。The display module (9) is controlled by an industrial computer to display the draft depth of the ship and the real-time state of the detection bracket (10).
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