CN108189980A - The position and attitude method for real-time measurement and measuring system of a kind of landing pier ship - Google Patents
The position and attitude method for real-time measurement and measuring system of a kind of landing pier ship Download PDFInfo
- Publication number
- CN108189980A CN108189980A CN201810113399.2A CN201810113399A CN108189980A CN 108189980 A CN108189980 A CN 108189980A CN 201810113399 A CN201810113399 A CN 201810113399A CN 108189980 A CN108189980 A CN 108189980A
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- China
- Prior art keywords
- ship
- radio
- base station
- attitude
- data
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Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of position and attitude method for real-time measurement applied to harbour dock vessels, the measuring method on the heel post of wharf crane sea by setting at least three radio-positioning base station, at least one radio location-tag is set on the nearly land side gun wale for the ship that reaches port, the displacement data between each label and each base station is obtained in real time, and conversion obtains the attitude of ship data of each label position on ship.The present invention can effectively be measured vessel position posture, be solved conventional method measurement and be easily disturbed and the incomplete problem of attitude of ship data in real time by Radio Measurement method.
Description
Technical field
Present invention relates particularly to attitude of ship measures in real time during unloading operation on the ship stopped in harbour.
Background technology
With the development of the social economy, the cargo handling capacity of large pier is increasing, the operating efficiency of harbour is increasingly
Height, automation and it is unattended be development trend, when ship pulls in shore operation ship attitude parameter detection for automate code
It is particularly important for head, with the variation of oceanic tide and the variation of loading vessel goods weight and by outside ocean current, monsoon etc.
Power influences, and the height of hull, ship inclination angle, ship horizontal position necessarily change, and the prior art generally uses laser
Range measurement principle obtains this kind of data, but is easily interfered by various environmental factors, it is impossible to and it realizes and accurately, in real time, accurately measures,
This longtime running to the handling facilities of harbour, there are considerable safety threats.
Invention content
The purpose of the present invention is to solve defects in the prior art, provide one kind and can effectively monitor in real time and stop
The measuring method of the attitude of ship to go to dock.
In order to achieve the above object, the present invention provides a kind of position and attitudes applied to harbour dock vessels to measure in real time
Method, the measuring method on the heel post of wharf crane sea by setting at least three radio-positioning base station, in the ship that reaches port
Nearly land side gun wale on set at least one radio location-tag, obtain the displacement number between each label and each base station in real time
According to conversion obtains the attitude of ship data of each label position on ship.
Further, radio-positioning base station is coplanar, and the angle of the plane and bottom surface is in 90 ° ± 5 °.
Wherein, attitude of ship data include ship side from sea level altitude data, each label position of ship side relative to crane
Along harbour bank data in the front-back direction.
Further, attitude of ship data further include ship inclination angle；The ship inclination angle is by the following method
It obtains：The radio location-tag being arranged on the nearly land side gun wale for the ship that reaches port is at least 2, is changed according to each label data
Calculate the angle of inclination for obtaining ship.
Measuring method of the present invention, with stevedoring control system real-time communication, carries out harbour after attitude of ship data are obtained
Management of cargo handling.
Further, radio location-tag one of them be set at ship Hatch Opening position, it is high to monitor ship Hatch Opening in real time
Degrees of data, and crane control system real-time communication judge crane hanger into needing the position to reduce speed now before CD outlet.
The present invention also provides a kind of position and attitude real-time measurement system applied to harbour dock vessels, including being arranged on
At least three radio-positioning base station on the heel post of wharf crane sea is arranged on the nearly land side gun wale for the ship that reaches port
At least one radio location-tag, the interchanger for being arranged on crane electronic equipment room, computer；The radio-positioning mark
Label are connected with radio-positioning base station communication；The radio-positioning base station is connected by interchanger with computer communication；It is described
Computer is connected by communication with crane control system.
Further, each radio-positioning base station is coplanar, and the angle of the plane and bottom surface is in 90 ° ± 5 °.
Further, radio location-tag is equipped with two or more, one of them is set at ship Hatch Opening position；Radio
Label is positioned to adsorb on the ship side of ship land side by magnetic handle.
Further, radio-positioning base station is four, and it is high from the ground to be respectively arranged on crane sea side left column, right column
At 7 meters, 20 meters.
The present invention has the following advantages compared with prior art：
The present invention can effectively be measured vessel position posture, be solved conventional method and measured easily in real time by Radio Measurement method
It is disturbed and the incomplete problem of attitude of ship data.
Description of the drawings
Fig. 1 is the structure diagram of measuring system of the present invention；
Fig. 2 is the side view of measuring system in Fig. 1；
Fig. 3 is the structure diagram of radio location-tag in Fig. 2；
Fig. 4 is the schematic diagram at Ship ' angle of inclination.
In figure, 1,2,3,4- radio-positionings base station, 5- radio location-tags, 51- magnetism handles, 52- labels installation
Box, 6- cranes, 7- ships.
Specific embodiment
Illustrate technical scheme of the present invention with reference to illustrating and passing through specific embodiment.
As shown in Figure 1,4 radio-positioning base stations are arranged on the extra large heel post of crane 6, respectively at 7 meters of left column
Radio-positioning base station 2 at radio-positioning base station 1,20 meters of left column, radio-positioning base station 3, right column at 7 meters of right column
Radio-positioning base station 4 at 20 meters, the arrangement of this 4 base stations form a vertical plane approximately perpendicular to bank（The plane
Angle with bottom surface is in the range of 85 ° -95 °）.Positioning can be realized for 3 in the minimum number of base station, and this programme is carries
High position precision employs 4 stylobate stations.Radio location-tag 5 is set on the nearly land side gun wale of the ship 7 of landing pier.
As shown in Fig. 2, if radio location-tag 5 is placed in the Hatch Opening height and position of ship 7, ship storehouse can be monitored in real time
Open height.
As shown in figure 3, radio location-tag is inhaled for convenience of mobile disassembly design by the magnetic handle 51 of built-in magnet
It is attached on the ship side of ship land side, and radio-positioning is fixedly mounted in the label mounting box 52 by being connected with magnetic handle 51
Label.As shown in the figure, pulling in shore with ship, radio location-tag surrounds range close to four radio-positioning base stations
Intermediate region or neighboring area.
Radio-positioning base station is powered using POE in this programme, and the exchange of crane electronic equipment room is connected by cable
On machine networking is realized with running the computer of positioning software.
As shown in figure 4, location Calculation software obtains label face perpendicular to the ground is formed in base station in real time in computer
On location data.The data obtain the attitude data of the label point ship side by reference coordinate data reduction.Attitude of ship
Data include at least：（1）Ship side is from sea level altitude data（It may include Hatch Opening height）；（2）The ship side label point relative to rise
Heavy-duty machine is along harbour bank data in the front-back direction.Pass through the conversion of at least two base station label data, you can obtain the inclination angle of ship
Degree.
Concrete example explanation：Height of the label away from ground of bow is measured as L1 in base station, height of the label away from ground of stern
It spends for L2, the difference in height of the two is △ L, the horizontal distance of two label of bow position is datum L, at this time ship direction along the coastline
Inclined angle alpha can be by being calculated：Tan α=△ L/L, α=arctan（△L/L）.
These calculate the attitude of ship data obtained and are communicated by the network interface of computer with stevedoring control system in real time,
Ship side height, back-and-forth motion data, angle of inclination etc. are transmitted to handling control system in real time, sent out to avoid unsafe operating mode
It is raw.
Claims (10)
1. a kind of position and attitude method for real-time measurement applied to harbour dock vessels, it is characterised in that：The measuring method is led to
It crosses and at least three radio-positioning base station is set on the heel post of wharf crane sea, on the nearly land side gun wale for the ship that reaches port
At least one radio location-tag is set, obtains the displacement data between each label and each base station in real time, conversion is obtained on ship
The attitude of ship data of each label position.
2. measuring method according to claim 1, it is characterised in that：The radio-positioning base station is coplanar, and this is flat
The angle of face and bottom surface is in 90 ° ± 5 °.
3. measuring method according to claim 2, it is characterised in that：The attitude of ship data include ship side from sea level
Each label position of altitude information, ship side is relative to crane along harbour bank data in the front-back direction.
4. measuring method according to claim 3, it is characterised in that：The attitude of ship data further include ship inclination angle
Degree；The ship inclination angle is prepared by the following：The radio being arranged on the nearly land side gun wale for the ship that reaches port is determined
Position label is at least 2, is converted according to each label data and obtains the angle of inclination of ship.
5. measuring method according to claim 4, it is characterised in that：The measuring method is after attitude of ship data are obtained
With stevedoring control system real-time communication, stevedoring management is carried out.
6. measuring method according to claim 5, it is characterised in that：The radio location-tag one of them be set on ship
At oceangoing ship Hatch Opening position, ship Hatch Opening altitude information is monitored in real time, with crane control system real-time communication, judges crane hanger
Into needing the position to reduce speed now before CD outlet.
7. a kind of position and attitude real-time measurement system applied to harbour dock vessels, it is characterised in that：Including being arranged on harbour
At least three radio-positioning base station on the heel post of crane sea, at least 1 be arranged on the nearly land side gun wale for the ship that reaches port
A radio location-tag, the interchanger for being arranged on crane electronic equipment room, computer；The radio location-tag and nothing
Line electricity locating base station is connected by communication；The radio-positioning base station is connected by interchanger with computer communication；The computer
It is connected by communication with crane control system.
8. measuring system according to claim 7, it is characterised in that：The radio-positioning base station is coplanar, and this is flat
The angle of face and bottom surface is in 90 ° ± 5 °.
9. measuring system according to claim 8, it is characterised in that：The radio location-tag is equipped with two or more,
One of them is set at ship Hatch Opening position；The radio location-tag adsorbs the ship in ship land side by magnetic handle
On the side of a ship.
10. measuring system according to claim 9, it is characterised in that：The radio-positioning base station is four, is set respectively
In crane sea side left column, right column it is 7 meters high from the ground, at 20 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113399.2A CN108189980B (en) | 2018-02-05 | 2018-02-05 | A kind of the position and attitude method for real-time measurement and measuring system of landing pier ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113399.2A CN108189980B (en) | 2018-02-05 | 2018-02-05 | A kind of the position and attitude method for real-time measurement and measuring system of landing pier ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189980A true CN108189980A (en) | 2018-06-22 |
| CN108189980B CN108189980B (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810113399.2A Active CN108189980B (en) | 2018-02-05 | 2018-02-05 | A kind of the position and attitude method for real-time measurement and measuring system of landing pier ship |
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| Country | Link |
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| CN (1) | CN108189980B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834918A (en) * | 2022-03-16 | 2022-08-02 | 武汉理工大学 | Anti-collision automatic grabbing and unloading method and system for grab ship unloader |
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| Publication number | Publication date |
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| CN108189980B (en) | 2019-11-05 |
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Address after: Water Pavilion Road Jiangning District moling street Nanjing City, Jiangsu province 211100 No. 1266 Patentee after: Nanjing Keyuan Intelligent Technology Group Co.,Ltd. Address before: Water Pavilion Road Jiangning District moling street Nanjing City, Jiangsu province 211100 No. 1266 Patentee before: NANJING SCIYON AUTOMATION GROUP Co.,Ltd. |
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