CN109178234A - A kind of ship freeboard measuring system and its measurement method - Google Patents
A kind of ship freeboard measuring system and its measurement method Download PDFInfo
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- CN109178234A CN109178234A CN201810951652.1A CN201810951652A CN109178234A CN 109178234 A CN109178234 A CN 109178234A CN 201810951652 A CN201810951652 A CN 201810951652A CN 109178234 A CN109178234 A CN 109178234A
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- laser
- laser radar
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- steering engine
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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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
Abstract
The invention discloses a kind of ship freeboard measuring system and its measurement methods, the ship freeboard measuring system includes steering engine, laser radar, water-level gauge and MCU controller, wherein the steering engine is fixed on bridge bottom, the laser radar is fixed on the steering engine and rotates with steering engine, the water-level gauge is fixed on bank and is placed in the water surface hereinafter, MCU controller is used to control steering engine rotates and receive data that laser radar and water-level gauge measure and the data are transmitted to remote server and carry out processing analysis；The advantage of the invention is that, the method of integrated use laser radar and water-level gauge measurement in a closed series, while real-time monitoring water level, it can also precise measurement ship freeboard, monitor the overload problems of ship, the measurement method environment influences smaller simultaneously, can keep certain precision under night and various weathers.
Description
Technical field
The present invention relates to a kind of measuring systems, more particularly, to a kind of ship freeboard measuring system and its measurement side
Method.
Background technique
The measurement of spot ship freeboard mostly uses image processing techniques greatly, is taken pictures using camera to ship, so
The photo of shooting is transmitted to server progress image procossing again afterwards and obtains freeboard.The technology is more crucial there is two
Defect, one is the shooting of camera is affected by environment larger, can not provide in some environments can image procossing photo,
The second is the data possible error obtained after image procossing is larger, it is unable to get more accurate data.
Summary of the invention
Object of the present invention is to: a kind of ship freeboard measuring system and its measurement method, integrated use laser thunder are provided
Up to the method with water-level gauge measurement in a closed series, while real-time monitoring water level, additionally it is possible to precise measurement ship freeboard, monitoring ship
The overload problems of oceangoing ship, while measurement method environment influence is smaller, can keep certain precision under night and various weathers.
The technical scheme is that a kind of ship freeboard measuring system, including steering engine, laser radar, water-level gauge
With MCU controller, wherein the steering engine is fixed on bridge bottom, the laser radar is fixed on the steering engine and turns with steering engine
Dynamic, the water-level gauge is fixed on bank and is placed in the water surface hereinafter, MCU controller rotates for controlling steering engine and receives laser radar
The data measured with water-level gauge.
It as a preferred technical solution, further include remote server, which is used for and the MCU controller number
Processing analysis is carried out according to connection, and to the data received.
The measurement method of ship freeboard measuring system as described above, includes the following steps:
Assuming that the vertical distance of laser radar and boat deck is h1；The vertical distance of laser radar and water-level gauge is h2；Water
What position measured is h3 away from water surface distance water-level gauge height；
MCU controller controls steering engine rotation, and the laser for driving laser radar to emit is penetrated on a ship 's, is measured at this time sharp
The linear distance of optical radar and boat deck is L；It is θ that MCU controller, which controls steering engine rotation angle degree,；The freeboard of Ship '
H4, formula are as follows:
Formula 1:h1=Lcos (θ)；
Formula 2:h4=h2-h3-h1=h2-h3-Lcos (θ).
The calculation method of laser radar and the vertical distance h1 of boat deck are as follows as a preferred technical solution:
Assuming that laser radar carries out m lateral laser scanning in shipping agency in, each laser sweeps away n on a ship 's
On a laser reflection point, m*n laser reflection point a in the region of boat deck is obtainedk,j, wherein 1≤k≤m, 1≤j≤n, laser thunder
Up to laser reflection point ak,jVertical distance be h1k,j；
Assuming that the echo strength that laser radar receives is K, and it is K that echo strength threshold value, which is arranged,0, laser radar scanning
When, as echo strength K < K0When, determine that the laser of laser radar transmitting at this time is penetrated on the water surface, when laser radar scanning to ship
The separation a on deck and the water surfacek,1When, echo strength instant value K >=K0To get arrive separation ak,1Straight line away from laser radar away from
From for Lk1, and laser radar and separation a are calculated by formula 1k,1Vertical distance h1k,1, threshold value σ is concurrently set, whenIt determines n laser reflection point on a ship 's when a laser is swept away, in shipping agency in, carries out m cross
To get the m*n laser reflection point a into boat deck region after to laser scanningk,j, while obtaining laser reflection point ak,jWith laser
The linear distance h1 of radark,j；Finally by formula 4:Average value h1 is obtained, brings the h1 into public affairs
Formula 2 is to get the freeboard h4 for arriving ship.
The invention has the advantages that
1. and ship freeboard measuring system of the present invention and its measurement method, integrated use laser radar and water-level gauge group
The method for closing measurement, while real-time monitoring water level, additionally it is possible to which precise measurement ship freeboard, the overload for monitoring ship are asked
Topic, while measurement method environment influence is smaller, can keep certain precision under night and various weathers.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is ship freeboard measuring system schematic diagram of the present invention；
Fig. 2 is the measuring method flow chart of ship freeboard measuring system of the present invention；
Fig. 3 is ship freeboard measuring system structural front view of the present invention；
Fig. 4 is ship freeboard measuring system structure top view of the present invention；
Fig. 5 is the laser reflection point schematic diagram of ship freeboard of the present invention measurement；
Wherein: 1 steering engine, 2 laser radars, 3 water-level gauges, 4 bridges, 5 banks, 6 boat decks, 7 waters surface.
Specific embodiment
Embodiment: referring to Fig.1, shown in Fig. 3, Fig. 4, a kind of ship freeboard measuring system, including steering engine 1, laser thunder
Up to 2, water-level gauge 3, MCU controller and remote server, wherein steering engine 1 is fixed on 4 bottom of bridge, and laser radar 2 is fixed on rudder
It is rotated on machine 1 and with steering engine 1, water-level gauge 3 is fixed on bank 5 and is placed in the water surface 7 hereinafter, MCU controller is for controlling the rotation of steering engine 1
Turn and receive the data that laser radar 2 and water-level gauge 3 measure and the data are transmitted to remote server and carries out processing analysis.
The measurement method of ship freeboard measuring system as described above, referring to shown in Fig. 2, Fig. 5, including walks as follows
It is rapid:
Assuming that the vertical distance of laser radar 2 and boat deck 6 is h1；Laser radar 2 and the vertical distance of water-level gauge 3 are
h2；Water-level gauge 3 measure away from the water surface 7 apart from water-level gauge height be h3；
MCU controller controls steering engine 1 and rotates, and the laser for driving laser radar 2 to emit is penetrated on boat deck 6, is surveyed at this time
The linear distance for obtaining laser radar 2 and boat deck 6 is L；It is θ that MCU controller, which controls steering engine 1 to rotate angle,；Ship ' is done
Side of a ship height h4, formula are as follows:
Formula 1:h1=Lcos (θ)；
Formula 2:h4=h2-h3-h1=h2-h3-Lcos (θ).
Wherein laser radar 2 and the calculation method of the vertical distance h1 of boat deck 6 are specific as follows:
Assuming that laser radar 2 carries out m lateral laser scanning in shipping agency in, each laser is swept away on boat deck 6
On n laser reflection point, m*n laser reflection point a in 6 region of boat deck is obtainedk,j, wherein 1≤k≤m, 1≤j≤n, laser
Radar 2 and laser reflection point ak,jVertical distance be h1k,j；
Assuming that the echo strength that laser radar 2 receives is K, and it is K that echo strength threshold value, which is arranged,0, the scanning of laser radar 2
When, as echo strength K < K0When, the laser for determining that laser radar 2 emits at this time is penetrated on the water surface, when the scanning of laser radar 2 is arrived
The separation a of boat deck 6 and the water surface 7k,1When, echo strength instant value K >=K0To get arrive separation ak,1Away from laser radar 2
Linear distance is Lk1, and laser radar 2 and separation a are calculated by formula 1k,1Vertical distance h1k,1, concurrently set threshold
Value σ, whenDetermine n laser reflection point when a laser is swept away on boat deck 6, in shipping agency in, into
To get the m*n laser reflection point a into 6 region of boat deck after row m times lateral laser scanningk,j, while obtaining laser reflection point
ak,jWith the linear distance h1 of laser radar 2k,j；Finally by formula 4:Average value h1 is obtained, it will
The h1 brings formula 2 into get the freeboard h4 of ship is arrived.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (4)
1. a kind of ship freeboard measuring system, which is characterized in that controlled including steering engine, laser radar, water-level gauge and MCU
Device, wherein the steering engine is fixed on bridge bottom, the laser radar is fixed on the steering engine and rotates with steering engine, the water
Position meter is fixed on bank and is placed in the water surface hereinafter, MCU controller rotates for controlling steering engine and receives laser radar and water-level gauge
The data measured.
2. ship freeboard measuring system according to claim 1, which is characterized in that it further include remote server, it should
Remote server carries out processing analysis to the data received for connecting with the MCU controller data.
3. a kind of measurement method of such as described in any item ship freeboard measuring systems of claim 1 to 2, feature exist
In including the following steps:
Assuming that the vertical distance of laser radar and boat deck is h1；The vertical distance of laser radar and water-level gauge is h2；Water-level gauge
Measuring is h3 away from water surface distance water-level gauge height；
MCU controller controls steering engine rotation, and the laser for driving laser radar to emit is penetrated on a ship 's, measures laser thunder at this time
Up to the linear distance of boat deck be L；It is θ that MCU controller, which controls steering engine rotation angle degree,；The freeboard h4 of Ship ',
Formula is as follows:
Formula 1:h1=Lcos (θ)；
Formula 2:h4=h2-h3-h1=h2-h3-Lcos (θ).
4. the measurement method of ship freeboard measuring system according to claim 3, which is characterized in that laser radar with
The calculation method of the vertical distance h1 of boat deck is as follows:
Assuming that laser radar carries out m lateral laser scanning in shipping agency in, each laser sweeps away n on a ship 's and swashs
In light reflection point, m*n laser reflection point a in the region of boat deck is obtainedk,j, wherein 1≤k≤m, 1≤j≤n, laser radar with
Laser reflection point ak,jVertical distance be h1k,j；
Assuming that the echo strength that laser radar receives is K, and it is K that echo strength threshold value, which is arranged,0, when laser radar scanning, when returning
Intensity of wave K < K0When, determine that the laser of laser radar transmitting at this time is penetrated on the water surface, when laser radar scanning to boat deck and water
The separation a in facek,1When, echo strength instant value K >=K0To get arrive separation ak,1Linear distance away from laser radar is Lk1,
And laser radar and separation a are calculated by formula 1k,1Vertical distance h1k,1, threshold value σ is concurrently set, whenIt determines n laser reflection point on a ship 's when a laser is swept away, in shipping agency in, carries out m cross
To get the m*n laser reflection point a into boat deck region after to laser scanningk,j, while obtaining laser reflection point ak,jWith laser
The linear distance h1 of radark,j；Finally by formula 4:Average value h1 is obtained, brings the h1 into public affairs
Formula 2 is to get the freeboard h4 for arriving ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810951652.1A CN109178234B (en) | 2018-08-21 | 2018-08-21 | Ship freeboard height measuring system and measuring method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810951652.1A CN109178234B (en) | 2018-08-21 | 2018-08-21 | Ship freeboard height measuring system and measuring method thereof |
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| CN109178234B CN109178234B (en) | 2021-05-14 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739154A (en) * | 2019-02-19 | 2019-05-10 | 南京洛普股份有限公司 | Ship based on laser measuring technology gets over line detection system and method |
| CN109917414A (en) * | 2019-03-20 | 2019-06-21 | 北京视酷伟业科技股份有限公司 | A kind of ship freeboard measurement method and system based on laser technology |
| CN110596715A (en) * | 2019-09-20 | 2019-12-20 | 中国有色金属长沙勘察设计研究院有限公司 | Intelligent waterline identification system and positioning method |
| CN111856492A (en) * | 2020-06-22 | 2020-10-30 | 北京驭光科技发展有限公司 | Dynamic ship height measuring method and device |
| CN117470107A (en) * | 2023-12-28 | 2024-01-30 | 思创数码科技股份有限公司 | Ship measurement method and system based on combination of laser scanning and radar scanning |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739154A (en) * | 2019-02-19 | 2019-05-10 | 南京洛普股份有限公司 | Ship based on laser measuring technology gets over line detection system and method |
| CN109917414A (en) * | 2019-03-20 | 2019-06-21 | 北京视酷伟业科技股份有限公司 | A kind of ship freeboard measurement method and system based on laser technology |
| CN110596715A (en) * | 2019-09-20 | 2019-12-20 | 中国有色金属长沙勘察设计研究院有限公司 | Intelligent waterline identification system and positioning method |
| CN110596715B (en) * | 2019-09-20 | 2021-07-06 | 中国有色金属长沙勘察设计研究院有限公司 | Intelligent waterline identification system and positioning method |
| CN111856492A (en) * | 2020-06-22 | 2020-10-30 | 北京驭光科技发展有限公司 | Dynamic ship height measuring method and device |
| CN111856492B (en) * | 2020-06-22 | 2021-04-23 | 北京驭光科技发展有限公司 | Dynamic ship height measuring method and device |
| CN117470107A (en) * | 2023-12-28 | 2024-01-30 | 思创数码科技股份有限公司 | Ship measurement method and system based on combination of laser scanning and radar scanning |
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| CN109178234B (en) | 2021-05-14 |
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