CN111498042B - Intelligent ship for measuring water gauge of large ship and measuring method - Google Patents
Intelligent ship for measuring water gauge of large ship and measuring method Download PDFInfo
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- CN111498042B CN111498042B CN202010319024.9A CN202010319024A CN111498042B CN 111498042 B CN111498042 B CN 111498042B CN 202010319024 A CN202010319024 A CN 202010319024A CN 111498042 B CN111498042 B CN 111498042B
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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
- B63B71/00—Designing vessels; Predicting their performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
- B63B71/10—Designing vessels; Predicting their performance using computer simulation, e.g. finite element method [FEM] or computational fluid dynamics [CFD]
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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
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention designs an intelligent ship for measuring a water gauge of a large ship, a manufacturing method and a measuring method thereof. The device consists of a catamaran carrier of a catamaran, an upper wooden box structure, a solar panel, a propeller and other internal equipment; the intelligent ship for measuring the water gauge of the large ship is controlled by a shore-based computer through signal remote transmission, when the intelligent ship approaches the vicinity of the water gauge of the large ship, a camera on the intelligent ship is used for shooting a water gauge photo on the large ship, meanwhile, the acquisition of water gauge data is completed, and the acquired water gauge image is transmitted to the shore-based computer, so that the intelligent ship can be used as a basis for checking and storing later data. The invention is an advanced breakthrough of the prior backward water gauge measuring technology and improves the efficiency of measuring the water gauge of the large-scale ship.
Description
The technical field is as follows:
the invention relates to large ship water gauge measurement, in particular to an intelligent ship for measuring a large ship water gauge, a manufacturing method and a measuring method thereof.
Background art:
the ship water gauge weighing is the most measurement mode currently used in the bulk cargo transportation industry of ships at home and abroad, and is mainly used for weighing bulk solid commodities with low value and difficult weighing, such as coal, ore and the like. The water gauge weighing is carried out by measuring the water gauge of the ship, the density of the water area of a port, the depth of ballast water, the reserve amount of fresh water and the reserve amount of fuel twice before and after loading (unloading) the ship, and then calculating the weight of the cargo carried by the ship according to a drainage meter, a hydrostatic curve chart, a water and oil tank measuring meter, a correcting meter and the like. Compared with other metering modes, the water gauge has the advantages of low cost, simplicity in operation, short time consumption and the like, but due to the factors of the method, the technical level of observers, different represented interest parties and the like, measurement is always inconvenient.
In recent years, with the continuous development of coastal city coastline resources and the increasing demand of bulk cargo in China, the import quantity of bulk cargo is increased sharply, and the function of water gauge weighing as a weighing mode for weighing bulk cargo is increasingly prominent. However, the most important factor influencing the metering accuracy in the water gauge weighing is the reading of the value of the six draught of the ship, and the traditional method for observing the waterline mainly comprises the following four factors:
(1) manual observation
And (4) manually observing, and engaging a trained observer to observe the draft standard of the ship to obtain the actual draft value of the ship. In order to obtain accurate measurements and reduce measurement errors, separate observations and recordings are usually made by groups of people. And finally, comparing and averaging the results to obtain the final draught value. However, the value of such eyes is often subjective and presents many inconveniences, such as viewing inconvenience, high workload, low visual precision, lack of detailed data records, inability to later review proof of verification, and finding evidence of disputes. Meanwhile, observation is also limited by visibility and sea waves, and certain dangerousness exists in observation.
(2) Ultrasonic measurement
Ultrasonic refers to sound waves having a frequency greater than 20 kHz. The ultrasonic wave has higher energy accumulation, stronger penetrating power and better orientation than the common sound wave. It is widely used in life and production activities, such as speed measurement, distance measurement, detection, cleaning and the like.
The basis of ultrasonic load measurement is the principle of ultrasonic distance measurement, and the method measures the draught of the ship by taking a ship body gunwale deck as a reference. According to the principle, an intelligent water gauge detector is successfully developed by Wuhan iron and steel company and is already put into use. The device is a device for suspending an ultrasonic sensor on a measurement bracket on a ship side, so that the sensor can be flexibly rotated to move up and down on the ship side. But at the same time the sensor is fixed at a certain height, the purpose of which is to keep the sensor at a suitable distance from the water surface, thereby reducing the influence of the waves and improving the accuracy of the measurement. The principle of ultrasonic measurement is to measure the echo distance of ultrasonic echo, then measure the distance of the ship main deck according to time and the speed of local sound, then calculate the draft value, inquire the ship loading data file to obtain the weight of the ship. The accuracy of ultrasonic measurements is affected by a number of factors. The biggest influence of the measurement accuracy is the error of the sound velocity, the sound velocity is related to the density of the medium, and the density of the medium in the air is influenced by the temperature and the humidity.
(3) Ship water gauge image acquisition based on double-arm wall-climbing robot
The field of view of the camera is adjusted by controlling the movement of the wall-climbing robot, so that the field of view contains the water ruler characters and the water surface area, and images are shot and stored in the adjusted field of view. Through the technical scheme, the wall-climbing robot is used as a carrier of the camera, the wall-climbing robot moves on the ship shell, and when shooting is carried out, the robot and the ship relatively keep still. Therefore, even if the ship shakes due to wind waves, the shot water gauge image cannot be influenced, and the authenticity of the collected water gauge image is guaranteed. However, the operation of the robot is difficult, a professional robot operator is required to operate the whole process correctly, the automation degree is not high, and normal operation may not be realized in severe weather. And the shooting lens can be damaged by sea waves on the ship body and close to the water surface.
(4) Ship water gauge image acquisition method based on unmanned aerial vehicle
With the progress and the increasing perfection of unmanned aerial vehicles and wireless communication technologies, it has become possible to acquire and transmit water gauge videos and related metering data through remote control. But utilize unmanned aerial vehicle remote acquisition water gauge high definition video to shoot to can set up the video and shoot angle and position assurance and shoot the video quality of water gauge, replace the artifical safety of guaranteeing the water gauge and gathering personnel, concentrate sea water density and water oil sump liquid level height measurement sensor together simultaneously, can alleviate equipment quantity and improve water gauge acceptance rate, combine wireless transmission, video image processing and information technology, can realize the automation and the intellectuality that boats and ships water gauge accepted. But unmanned aerial vehicle's the control degree of difficulty is than higher, and degree of automation is not enough, meets in addition bad weather, and in the too big sea state of stormy waves, the effect is discounted greatly.
The methods have the disadvantages of poor timeliness and high cost, and the personal safety of workers is difficult to guarantee. Meanwhile, each water gauge scale needs a long time to observe, and the observation result is often in greater dispute due to consideration of interested parties. Therefore, in the water gauge identification, a convenient, rapid and effective water gauge acquisition method is adopted, then a standardized and automatic metering mode is established, and the method has very important significance for improving the accuracy of water gauge reading, improving the utilization rate and scientific management level of ports and maintaining fair and fair international trade.
The invention content is as follows:
therefore, the water gauge measurement of the large ship under the simulated port environment is realized, and the data uploading and acquisition are efficiently and accurately completed. The invention mainly comprises the following steps:
1) device for measuring intelligent ship by water gauge
The water gauge measures intelligent ship device includes: the system comprises a shore-based computer, a signal receiver, a wireless communicator, a router, a 4G wireless camera, a motor controller, an analog converter, a shipborne industrial personal computer, a GPS module, a compass, a shore-based remote controller, a remote control receiver, a single chip microcomputer, a left-right electric controller, a relay, a left-right motor and an ultrasonic module.
The shore-based computer transmits signals with the wireless communicator on the water gauge measuring intelligent ship through the wireless communication equipment signal receiver so as to ensure the communication of water gauge data and realize the convenience of wireless transmission; the router is connected with the camera to realize the transmission of image signals; the camera is mainly used for collecting water gauge images and realizing sea state observation on the water surface; the shipborne industrial personal computer completes the integration of various data and coordinates to complete the motion control, positioning control and image processing of the intelligent water gauge measuring ship so as to ensure the completion of water gauge measurement, data transmission and normal navigation of the ship, and is a data center and an intelligent core of the intelligent water gauge measuring ship; the GPS module is a positioning device of the water gauge measuring intelligent ship so as to ensure the accurate position of the intelligent ship and the completion of a navigation planning task; the compass is arranged at the head position of the intelligent ship and is used for determining the direction of the bow of the intelligent ship so as to ensure normal navigation; the analog converter is used as a circuit for converting an analog signal into a digital signal, and is connected with the motor controller after signal conversion is finished, so that the course is controlled; the motor controller is an integrated circuit which controls the motor to work according to the set direction, speed, angle and response time through active work, so as to achieve the aim of controlling the motor; the relay plays a role in switching a control circuit in a circuit, and remote control and automatic control switching are realized; the left motor and the right motor achieve the purpose of controlling the navigational speed by changing the rotating speed based on the magnitude of the current; the remote controller is used for manually controlling and remotely controlling the heading speed when the intelligent ship for measuring the water gauge cannot navigate autonomously under special conditions so as to ensure the normal navigation and the safety state of the intelligent ship; the remote control receiver is a receiving device of signals of the remote controller, so that the purpose of controlling the course speed is achieved; the singlechip completes corresponding tasks under different remote control signals through program writing, so that the purpose of controlling the course speed of the intelligent ship is achieved; the left and right electric regulation adjusts the rotating speed of the motor according to the difference of the control signals, thereby achieving the purpose of controlling the navigation speed of the intelligent ship.
The device is connected with the circuit transmission diagram according to the corresponding signal transmission diagram to form a complete whole, so that the purposes of intelligent measurement and normal navigation of the water gauge are achieved, and unmanned and accurate measurement is realized.
2) Preparation and installation of water gauge measurement intelligent ship
The water gauge measurement intelligent ship consists of a shore-based control system, a solar catamaran, a motion control system and a water gauge acquisition system. A three-dimensional digital simulation diagram of the water gauge measurement intelligent ship is built, and three views of the intelligent ship are taken as the basis for manufacturing and assembling the intelligent ship.
The shore-based control system consists of a shore-based computer signal receiver. Firstly, a shore-based computer is connected with a signal receiver through a cable network cable, so that remote transmission of control data and collected data is ensured.
The intelligent ship takes a catamaran as a carrier and a propeller as a motor drive; the solar energy system provides energy for the whole intelligent ship, and the purpose of green economy is achieved. The electric energy source of the intelligent ship is provided by solar energy, so that the solar panel is connected in parallel by a pure copper 2-core cable, then is connected with a power supply controller (battery) and is installed, then the computer controller and the remote controller are connected in parallel by the pure copper 2-core cable to the battery, and then are connected with the relay. The camera, the shipborne industrial personal computer, the wireless communication equipment and the router are respectively connected with the battery in parallel by a pure copper 2-core cable, so that the aim of forming a current path is fulfilled. The voltage of other devices is lower than that of the connected original devices, so that the singlechip, the left and right electric regulators, the remote control signal receiver, the GPS and the compass are connected in parallel with the battery through the voltage reduction module.
The motion control system controls the intelligent ship to reach the water gauge shooting position from the berthing point and return. The equipment is installed according with the signal transmission flow basis, and firstly, the GPS and the compass are connected with a shipborne industrial personal computer by using a serial port connecting line. The four channels of the analog converter are connected with the shipborne industrial personal computer and the motor controller through serial port connecting wires, so that the conversion of analog signals is ensured to be completed, and the effect of controlling the motor is achieved. The motor controller is connected with the relay by a pure copper 2-core cable, and the relay is connected with the left motor and the right motor by the pure copper 2-core cable to complete final course control. The remote control receiver is arranged at the top of the wooden box structure on the upper part of the water gauge measuring intelligent ship to ensure that the signal is successfully received. The remote control receiver is connected with a single chip microcomputer written with a program in advance, and the signal receiver is connected with the left and right electric modulators by the flat cable connecting wire. And finally, the relay is electrically connected with the single chip microcomputer and the left and right electric modulator by a pure copper 2-core cable to form a signal path, so that the motion control function of the intelligent ship is ensured to be completed.
The water gauge data acquisition system completes water gauge data acquisition, firstly, the wireless communication equipment is connected with the router, and then the router is connected with the camera through a network cable, so that transmission of a water gauge measurement image is ensured. Meanwhile, the router is connected with the shipborne industrial personal computer by using a network cable. And the water gauge image acquired by the camera is subjected to image processing in a shipborne industrial personal computer, and a processing result is returned to the shore-based control system, so that the acquisition of water gauge data is realized.
Through the process, all equipment in the cabin is installed, and the water gauge measuring task can be completed under the condition that the launching test can be ensured.
3) Measuring method
The method comprises the steps that device sample equipment is prepared and installed according to the requirements, personnel transmit signals to an internal shipborne industrial personal computer of an intelligent ship through a shore-based computer, multiple points which are required to be reached by the intelligent ship for water gauge measurement are marked on the map based on a local map downloaded in the shipborne industrial personal computer in advance, path planning is completed, the self positioning of the intelligent ship for water gauge measurement is realized through a GPS, the multiple points are automatically connected, the path planning of the intelligent ship for water gauge measurement is completed, the intelligent ship for water gauge measurement can automatically select the point nearest to the self, course automatic planning and adjustment are realized through a compass, the operation after the track planning is completed, the self path is tracked, and the automatic marking is realized on the map. After the large ship position is marked, the camera is automatically opened by a signal command, the acquisition and transmission of data images are completed, after the water gauge data are shot by the camera, the shipborne industrial personal computer automatically finishes the reading and the storage of the water gauge data according to a corresponding program, and then the water gauge data signals are transmitted to a shore-based computer through a series of devices, so that the real-time transmission and the storage of the data are ensured, and the unmanned and accurate operation is completed through the mode.
At the in-process of experiment detection water gauge, still can accomplish automatically and keep away the barrier function, measure under the condition of intelligent ship normal operating at the water gauge, 6 ultrasonic waves that distribute around the hull also normally work, when surveying the place ahead distance and being less than 5m, can the automated inspection distribute the ultrasonic wave on left side and right side and return the distance value of surveying, if the left side distance is greater than the right side distance, then intelligent ship can turn to the left side and finely tune, otherwise, then finely tune to the right side, reach and keep away the barrier function.
Compared with the prior art, the invention has the following advantages:
the invention relates to a testing device and a method for measuring a large ship water gauge, which can be applied to real-time accompanying observation of personnel as in the prior art, can also automatically measure after completing a planned path in the device, does not need the real-time accompanying of the personnel, and realizes the high-efficiency, unmanned and accurate convenient benefits. The most obvious characteristic is that the intelligent ship can automatically complete measurement under the unattended condition and transmit data to a shore-based computer in real time so as to ensure that observers can check the data at any time.
2, after the intelligent ship finishes path planning, autonomous navigation conditions are firstly matched by a GPS, a compass and a left motor and a right motor, and unmanned air route adjustment can be thoroughly realized. Obstacle investigation is completed to the surrounding environment by using a plurality of ultrasonic ranging, so that the course is finely adjusted, the normal navigation of the intelligent ship is ensured, the ultrasonic ranging is compared by the ultrasonic waves on one side in the measuring process, the intelligent ship is ensured to be horizontally parallel to the large ship, and the accuracy of data images is ensured.
And 3, reading the water gauge image by using a camera, and recording the measured average value for many times to ensure the accuracy.
Description of the drawings:
FIG. 1 is a schematic diagram of a water gauge measuring intelligent ship for measuring a water gauge of a large ship and a water gauge measuring intelligent ship for the measuring method;
FIG. 2 is a schematic diagram of a path plan of the intelligent ship and the measurement method for measuring the water gauge of the large ship according to the present invention;
FIG. 3 is a front view of the water gauge measuring intelligent ship for measuring the water gauge of the large ship and the measuring method of the invention;
FIG. 4 is a left side view of the water gauge measuring intelligent ship for measuring the water gauge of the large ship and the measuring method of the invention;
fig. 5 is a top view of the water gauge measuring intelligent ship for measuring the water gauge of the large ship and the measuring method of the invention.
The reference numbers are as follows: 1-shore based computer; 2-a signal receiver; 3-a wireless communicator; 4-a router; 5-4G wireless camera; 6-a motor controller; 7-an analog converter; 8-a shipborne industrial personal computer; 9-GPS Beidou dual-mode positioning module; 10-compass; 11-shore-based remote control; 12-a remote control receiver; 13-a single chip microcomputer; 14-left and right electric regulation; 15-a relay; 16-left and right motors; 17-an ultrasonic module;
the specific implementation mode is as follows:
taking a conical ship body with the length of 220cm and the height of 60cm as an example (energy supply: 150W single crystal solar photovoltaic panel + sufficient power to directly charge a 12 v-volt storage battery), all devices normally work under the airtight condition.
The method comprises the following steps: making hull and upper wooden box structure (as shown in three views of fig. 3,4,5 intelligent boat)
(1) Utilizing computer three-dimensional modeling to manufacture a schematic diagram of the overall structure of the intelligent ship, such as a front view of the intelligent ship in FIG. 3, a left view of the intelligent ship in FIG. 4 and a top view of the intelligent ship in FIG. 5, and then manufacturing ship body components according to the schematic diagram and corresponding wood materials and digital models to complete the assembly of the solid wood structure of the intelligent ship;
(2) polishing the catamaran, and sealing with sealant to ensure that the catamaran body is watertight;
(3) drilling holes at the positions of the lower layer of the ship body, which are 35cm away from the ground, 40cm away from the bow and 40cm away from the stern respectively by using a metal rod piece, inserting the metal rod piece, fixing by using screws, connecting the metal rod piece with the ship body, and sealing the metal rod piece to prevent water leakage;
(4) manufacturing a wooden box structure on the upper part of the ship body, reserving a hole of a camera, sealing by using sealant, and fixing the wooden box structure on the ship body;
step two: internal equipment assembly (equipment connection mode as shown in figure 1)
(1) Cutting a long line with the length of 6m by using a network cable cutter, and connecting a shore-based computer 1 and a signal receiver 2;
(2) the wireless communication equipment 3 is connected with the router 4 by using a network cable, the camera 5 is connected onto the router 4 by using the network cable, the camera 5 is scattered around the upper wooden box structure of the intelligent ship, and finally the router 4 is connected to the industrial personal computer 8;
(3) the GPS 9 and the compass 10 are connected with a shipborne industrial personal computer 8 by using a flat cable connecting wire to form a current path, so that signal transmission is completed, and the position determination of the intelligent ship and the direction of a bow are ensured;
(4) four channels of the analog converter 7 are connected with a shipborne industrial personal computer 8 and a motor controller 6 by flat cable connecting wires, so that the conversion of analog signals is ensured to be completed, the function of controlling a motor is achieved, and the course and the navigational speed are further controlled;
(5) the motor controller 6 and the relay 15 are connected by a pure copper 2-core cable to form a current path, so that the aim of sub-control is fulfilled;
(6) the relay 15 is respectively connected with the left motor 16 and the right motor 16 by pure copper 2-core cables to ensure a passage;
(7) the remote control receiver 12 is arranged at the top position of the water gauge measurement intelligent ship wooden box building to ensure that the signal reception is successfully completed;
(8) connecting the remote control receiver 12 with a singlechip 13 written with a control program in advance by using a flat cable connecting wire;
(9) the signal receiver 12 is connected with the left and right electronic modulators 14 by a flat cable connecting wire, so as to achieve the purpose of remote control;
(10) finally, a pure copper 2-core cable is used for connecting the relay 15 with the single chip microcomputer 13 and the left and right electronic modulators 14 respectively to form a current path;
(11) the solar panel is connected in parallel by a pure copper 2-core cable, and then connected with a power supply controller (battery) for installation, the battery plays a role under the condition of insufficient illumination, and when the illumination is sufficient, the solar panel can charge the battery, so that the intelligent ship is ensured to have sufficient power supply;
(11) a computer control circuit and a remote control circuit are connected with a battery in parallel by a pure copper 2-core cable, and then are connected with a relay 15 to ensure a current path;
(12) the camera 5, the shipborne industrial personal computer 8, the wireless communication equipment 3 and the router 4 are respectively connected with a battery through pure copper 2-core cables to form a current path;
(13) a singlechip 13, a left-right electric regulator 14, a remote control signal receiver 12, a GPS 9 and a compass 10 are connected with a battery through a voltage reduction module by using a pure copper 2-core cable to form a final current path;
step three: process for measuring water gauge (measuring path planning principle as shown in figure 2)
(1) Device sample equipment is prepared and installed according to the requirements, and the tightness is ensured. A program for path planning is written in advance on the shipborne industrial personal computer 8, the control principle of the program is detailed in claim 4, and a local map is downloaded in the shipborne industrial personal computer 8. And downloading remote control programs on the shore-based computer 1 and the shipborne industrial personal computer 8.
(2) An experimenter carries the intelligent ship to a measurement water area, the experimenter transmits a signal to an internal shipborne industrial personal computer 8 of the intelligent ship through a shore-based computer 1, and marks a plurality of points to be reached by the intelligent ship for water gauge measurement on a map based on a local map downloaded in the shipborne industrial personal computer 8 in advance to complete path planning;
(3) the GPS 9 is used for positioning the water gauge measurement intelligent robot ship, and the multiple points are automatically connected, so that the path planning of the water gauge measurement intelligent ship is completed, the water gauge measurement intelligent ship can automatically select the point closest to the water gauge measurement intelligent ship, and the course is automatically planned and adjusted through the compass 10, so that the operation after the track planning is completed;
(4) the path planning program tracks the path of the intelligent ship and automatically marks the path on a map;
(5) after the large ship is marked, the camera 5 is automatically opened by the compiled technical software, meanwhile, the ultrasonic waves 17 can automatically identify parameters, and if the measured data of the front camera and the rear camera close to the ship side are consistent, the situation that the intelligent ship for measuring the water gauge is parallel to the large ship is shown, image acquisition is completed; if the front ultrasonic measurement data and the rear ultrasonic measurement data which are positioned at one side close to the large ship are inconsistent, adjusting the course angle of the starting path planning software program to be parallel to the water gauge of the large ship, and then finishing image acquisition;
(6) the acquisition and transmission of data images are completed, after the camera 5 shoots the water gauge images, the shipborne industrial personal computer 8 automatically completes the reading and the storage of the water gauge data according to corresponding programs, further the water gauge data signals are transmitted to the wireless communication equipment 3 through the shipborne industrial personal computer 8 via the router 4, transmitted to the signal receiver 2 through wireless signals and finally transmitted to the shore-based computer 1, so as to ensure the real-time transmission and the storage of the data;
(7) and after the data acquisition is finished, the intelligent ship returns according to a corresponding path or works according to other issued instructions. And checking whether the returned intelligent ship has water leakage treatment, and if so, quickly repairing. Performing surface water wiping treatment, keeping dry, and ensuring next use;
in summary, the invention provides a testing device and a method for measuring water gauge data of a large ship, which can be applied to real-time accompanying observation of personnel as in the prior art, and can automatically measure after completing a planned path in the device without the need of real-time accompanying of personnel. And the intelligent ship has the advantages of high efficiency, no person and accuracy. The most obvious characteristic is that the intelligent ship can automatically complete measurement under the unattended condition, and transmits data to the shore-based computer 1 in real time so as to ensure that observers can check the data at any time. After the intelligent ship finishes path planning, autonomous navigation conditions are firstly matched by the GPS 9, the compass 10 and the left and right motors 16, and unmanned air route adjustment can be thoroughly realized. And (3) completing obstacle investigation on the surrounding environment by using a plurality of ultrasonic waves 17 for ranging, so that the course is finely adjusted, and the normal navigation of the intelligent ship is ensured. The water gauge image is read by the camera 5, and the average value of the measurement is recorded for a plurality of times, so that the accuracy is ensured.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
The present invention has been exemplified so far by the foregoing embodiments. Those skilled in the art can modify the technical solutions of the above-mentioned embodiments or replace the technical features thereof without departing from the spirit and principle of the present invention, and all the modifications, replacements and improvements should fall within the scope of the protection of the right of the present invention.
Claims (1)
1. A method for measuring a water gauge of a large ship, using an intelligent ship for measuring the water gauge of the large ship, the intelligent ship for measuring the water gauge of the large ship comprising: the system comprises a shore-based computer, a signal receiver, a wireless communicator, a router, a 4G wireless camera, a motor controller, an analog converter, a shipborne industrial personal computer, a GPS module, a compass, a shore-based remote controller, a remote control receiver, a single chip microcomputer, a left-right electric controller, a relay, a left-right motor and an ultrasonic module; the internal equipment assembly mode is that a long wire with the length of 6m is cut by a network cable cutter and is connected with a shore-based computer and a signal receiver; connecting the wireless communication equipment with the router by using a network cable, connecting the camera with the router by using the network cable, and connecting the router with the shipborne industrial personal computer by using the network cable; connecting the GPS and the compass with a shipborne industrial personal computer by using a flat cable connecting wire; connecting four channels of the analog converter with a shipborne industrial personal computer and a motor controller respectively by using flat cable connecting wires; a pure copper 2-core cable is used for connecting the motor controller with the relay; respectively connecting pure copper 2-core cables for the relay with a left motor and a right motor; installing a remote control receiver on the top of a wooden box structure on the upper part of the water gauge measuring intelligent ship; connecting the remote control receiver with a singlechip in which a control program is written in advance by using a flat cable connecting wire; connecting the signal receiver with a left electronic switch and a right electronic switch respectively by using a flat cable connecting wire; finally, the relays are respectively connected with the single chip microcomputer and the left motor and the right motor by pure copper 2-core cables; the solar panel is connected in parallel by a pure copper 2-core cable, and then is connected and installed with the power supply controller; connecting a motor control route and a remote control route to a battery in parallel by using a pure copper 2-core cable, and then connecting the motor control route and the remote control route to a relay; the camera, the shipborne industrial personal computer, the wireless communication equipment and the router are respectively connected with the battery through pure copper 2-core cables; a singlechip, a left-right electric regulation, a remote control signal receiver, a GPS and a compass pure copper 2-core cable are connected with the battery in parallel through a voltage reduction module;
the method for measuring the water gauge of the large ship comprises the following steps:
step 1: a path planning program is compiled in advance on a shipborne industrial personal computer, a local map is downloaded in the shipborne industrial personal computer, and a remote control program is downloaded on a shore-based computer and the shipborne industrial personal computer;
step 2: an experimenter carries the intelligent ship to a measurement water area, the experimenter transmits a signal to an internal shipborne industrial personal computer of the intelligent ship through a shore-based computer, marks a plurality of water gauge position coordinates to be shot by the intelligent ship and measured by a water gauge on a map based on a local map downloaded in the shipborne industrial personal computer in advance, and finishes the water gauge shooting path planning by utilizing a path planning algorithm;
and step 3: the GPS is used for positioning the water gauge measurement intelligent ship, and the multiple points are automatically connected, so that the path planning of the water gauge measurement intelligent ship is completed, the water gauge measurement intelligent ship can automatically select the point closest to the water gauge measurement intelligent ship, the course is automatically planned and adjusted through the compass, and the operation after the air route planning is completed;
and 4, step 4: tracking the self path and automatically marking on a map;
and 5: after the marked large ship position is reached, the camera is automatically opened by the compiled technical software, meanwhile, the ultrasonic waves can automatically identify parameters, and if the measured data of the front camera and the rear camera close to the ship side are consistent, the situation that the intelligent ship for measuring the water gauge is parallel to the large ship is shown, image acquisition is completed; if the front ultrasonic measurement data and the rear ultrasonic measurement data which are positioned at one side close to the large ship are inconsistent, adjusting the course angle of the starting path planning software program to be parallel to the water gauge of the large ship, and then finishing image acquisition;
step 6: the acquisition and transmission of data images are completed, after the water gauge data are shot by the camera, the shipborne industrial personal computer automatically completes the reading and the storage of the water gauge data according to a corresponding program, and then the water gauge data signals are transmitted to a shore-based computer through a series of devices so as to ensure the real-time transmission and the storage of the data;
and 7: after the intelligent ship finishes data acquisition, returning according to a corresponding path or working according to other issued instructions; checking whether the returned intelligent ship has water leakage, and if so, quickly repairing; performing surface water wiping treatment, keeping dry, and ensuring next use;
characterized in that the path planning procedure comprises the following steps: with the operator marked fore water gauge position Pt _ s (x, y), midship water gauge position Pt _ z (x, y) and stern water gauge position Pt _ w (x, y) of the large vessel, the fore water gauge shooting position Pt _ s1(x, y), midship water gauge shooting position Pt _ z1(x, y) and stern water gauge shooting position Pt _ w1(x, y) are geometrically calculated, and the return fore water gauge shooting position Pt _ s2(x, y), midship water gauge shooting position Pt _ z2(x, y) and stern water gauge shooting position Pt _ w2(x, y) are calculated as follows:
wherein D1 equals 10m, D2 equals 15m, and Dir is the offset direction of the planned route, and is calculated by the following formula:
wherein PI value 3.1415926, Dir _ ship is the direction of berthing of the large-scale ship, calculated by the following formula:
Dir_ship＝atan2(Pt_s.x-Pt_w.x,Pt_s.y-Pt_w.y) (8)
and a water gauge shooting path of the intelligent ship is formed by adding the initial position Pt _ b (x, y) and the end position Pt _ e (x, y) of the intelligent ship to the six position coordinates.
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