CN112092993A - Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave - Google Patents

Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave Download PDF

Info

Publication number
CN112092993A
CN112092993A CN202010779130.5A CN202010779130A CN112092993A CN 112092993 A CN112092993 A CN 112092993A CN 202010779130 A CN202010779130 A CN 202010779130A CN 112092993 A CN112092993 A CN 112092993A
Authority
CN
China
Prior art keywords
ultrasonic
shot
sensor
module
water pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010779130.5A
Other languages
Chinese (zh)
Inventor
赵蒙
熊木地
齐俊麟
王向东
乌旭
胡志芳
王京京
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Maritime University
Three Gorges Navigation Authority
Original Assignee
Dalian Maritime University
Three Gorges Navigation Authority
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Maritime University, Three Gorges Navigation Authority filed Critical Dalian Maritime University
Priority to CN202010779130.5A priority Critical patent/CN112092993A/en
Publication of CN112092993A publication Critical patent/CN112092993A/en
Pending legal-status Critical Current

Links

Images

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
    • B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A pitch-up scanning type draught detection system and a detection method based on one-shot multi-shot ultrasonic waves comprise a fixing device, an ultrasonic sensor array, a water pressure sensor module and a data processing module. The fixing device is located at the bottom of the navigation channel, a plurality of ultrasonic sensors are installed on the fixing device at equal intervals, the ultrasonic sensors form an ultrasonic sensor array, and the ultrasonic sensor array is used for measuring the distance between the fixing device and the navigation ship. The fixing device is provided with a water pressure sensor module, and the water pressure sensor module is used for monitoring water level change. The ultrasonic sensor array and the water pressure sensor module are both connected with the data processing module. The upward-scanning type draught detection system and the upward-scanning type draught detection method based on the single-shot multi-shot ultrasonic wave can realize multi-channel data reception, and have the advantages of increased measured data volume and high detection precision.

Description

Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave
Technical Field
The invention relates to the technical field of upward-scanning draught detection of navigable ships, in particular to an upward-scanning draught detection system and method based on one-shot multi-shot ultrasonic waves.
Background
The existing bottom-up scanning type draft detection system adopts a multi-channel sensor in a transmitting-receiving mode, namely, one-channel ultrasonic sensor transmits ultrasonic signals, and the sensor receives the ultrasonic echo signals transmitted by the sensor and calculates the distance between the sensor and the bottom of a ship according to time difference. The measuring mode is easy to cause distance calculation errors caused by the fact that a single sensor receives wrong echoes, system errors can be caused, and measuring precision and accuracy of data are affected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a single-shot multi-shot ultrasonic-based upward-scanning draught detection system and a detection method, which can realize multi-channel data reception and have the advantages of increased measured data volume and high detection precision.
The technical scheme adopted by the invention is as follows:
a supination-sweeping type draught detection system based on one-shot multi-shot ultrasonic waves comprises a fixing device, an ultrasonic sensor array, a water pressure sensor module and a data processing module.
The fixing device is located at the bottom of the navigation channel, a plurality of ultrasonic sensors are installed on the fixing device at equal intervals, the ultrasonic sensors form an ultrasonic sensor array, and the ultrasonic sensor array is used for measuring the distance between the fixing device and the navigation ship. The fixing device is provided with a water pressure sensor module, and the water pressure sensor module is used for monitoring water level change.
The ultrasonic sensor array and the water pressure sensor module are both connected with the data processing module.
And the data processing module is used for acquiring and transmitting the distance H between the fixing device and the bottom of the navigation ship measured by the ultrasonic sensor array and the distance H between the fixing device and the horizontal plane measured by the water pressure sensor module, then processing the acquired and transmitted distance H, and calculating the value of H-H to obtain the draft value D of the navigation ship.
The fixing device comprises an installation frame made of stainless steel frames, the installation frame is parallel to the horizontal plane, and the ultrasonic sensors are horizontally and equidistantly fixed on the installation frame through the installation plate to construct the ultrasonic sensor array. Mounted on the mounting frame at equal intervals simultaneouslyNAnd the water pressure sensor module is used for measuring the distance H between each part of the mounting rack and the horizontal plane.
The data processing module is arranged in an onshore electrical cabinet and used for draft data processing and compensation. The data processing module is provided with a sensor transceiving control module which is used for realizing synchronous time sequence control, sensor signal transceiving and ultrasonic state control.
The invention discloses an upward-scanning type draught detection system and a detection method based on one-shot multi-shot ultrasonic waves, which have the following technical effects:
1) compared with an ultrasonic one-sending one-receiving type overhead scanning draft detection system, the one-sending multi-receiving type can realize multi-path data receiving, the measured data volume is increased, and the ship bottom model is drawn more accurately after data fitting.
2) Compared with an ultrasonic one-sending-one-receiving type upward-scanning draught detection system, the one-sending-multiple-receiving type draught detection system avoids the problem that the draught value of the system is calculated wrongly due to the fact that one ultrasonic sensor measures wrongly.
3) The invention has more scientific foundation for data filtering processing, and can eliminate error data according to the elimination of error data of each path of sensor data.
Drawings
Fig. 1 is a schematic view of the installation arrangement of the system of the present invention.
FIG. 2 is a schematic view of a fixing device of the system of the present invention.
Fig. 3 is a schematic plan view of a navigable vessel when navigating in a channel.
Fig. 4 is a schematic diagram of ultrasonic one-transmit-multiple-receive ranging according to the present invention.
Wherein: the method comprises the following steps of 1-fixing device, 2-ultrasonic sensor array, 3-water pressure sensor module, 4-navigation channel, 5-navigation ship, 6-data processing module, 7-sensor transceiving control module, 8-mounting rack, 9-mounting plate, B1-ascending ship and B2-descending ship.
Detailed Description
A supination-sweeping type draught detection system based on one-shot multi-shot ultrasonic waves comprises a fixing device 1, an ultrasonic sensor array 2, a water pressure sensor module 3 and a data processing module 6.
The fixing device 1 is positioned at the bottom of the navigation channel 4 and is as horizontal as possible. A plurality of ultrasonic sensors are arranged on the fixing device 1 at equal intervals, the ultrasonic sensors form an ultrasonic sensor array 2, and the ultrasonic sensor array 2 is used for measuring the interval between the fixing device 1 and the navigation ship 5;
the fixing device 1 is provided with a water pressure sensor module 3, and the water pressure sensor module 3 is used for measuring a water pressure value to obtain water depth and monitoring water level change in real time.
The ultrasonic sensor array 2 and the water pressure sensor module 3 are both connected with a data processing module 6;
the data processing module 6 is used for collecting and transmitting the distance H between the fixing device 1 measured by the ultrasonic sensor array 2 and the horizontal plane measured by the fixing device 1 and the water pressure sensor module 3 at the bottom of the navigation ship 5, and then processing the collected and transmitted distance H, and the draft value D of the navigation ship 5 is obtained by calculating the value of H-H.
Fixing device 1 includes the mounting bracket 8 of stainless steel frame material, and mounting bracket 8 is parallel with the horizontal plane, and a plurality of ultrasonic sensor pass through 9 levels of mounting panel equidistant fixes on mounting bracket 8, construct ultrasonic sensor array 2.
Wherein, for guaranteeing that the sensor does not receive the rivers impact influence to cause the sensor to damage, influence system measurement, mounting bracket 8 adopts stainless steel and has high strength and the big characteristics of weight. The mounting plate 9 ensures that the mounting frame and the sensor are not easy to fall off. The specific installation number of the plurality of ultrasonic sensors can be determined according to the width of the navigation channel and the measurement width. Mounted on the mounting frame 8 at equal intervals simultaneouslyNAnd the water pressure sensor module 3 is used for measuring the distance H between each part of the mounting rack 8 and the horizontal plane.
The data processing module 6 is installed in an onshore electrical cabinet, and the data processing module 6 is used for draft data processing and compensation.
The data processing module 6 is provided with a sensor transceiving control module 7, and the sensor transceiving control module 7 is used for realizing synchronous time sequence control, sensor signal transceiving and ultrasonic state control.
The ultrasonic sensor adopts a resonant frequency of 500HZ, a beam angle of 6 degrees, a working temperature of-40-80 degrees centigrade and a protection level of IP 68.
The water pressure sensor adopts a CYW11 series liquid level transmitter, the measuring range is 0-50 m, and the precision is 0.1% FS.
The data processing module 6 adopts an Altera corporation Cyclone series EP1C6q240C8 core processing chip and a peripheral signal transmission circuit.
The sensor transceiving control module 7 adopts an STM32 singlechip control module to perform sensor instruction transceiving and depth calculation.
A bottom-scanning type draught detection method based on one-shot multi-shot ultrasonic waves comprises the following steps:
the method comprises the following steps: arranging a mounting rack 8 with a stainless steel frame structure at the bottom of the airway, wherein the mounting rack 8 is parallel to the horizontal plane;
step two: firstly, the installation position of the installation frame 8 in water is determined, the draft of the navigation ship 5 is set as D, and the water level change value caused by factors such as weather, season, water flow and the like is set as D1In practice 0<D1<3m, the underwater installation position H of the ultrasonic sensor array 2 is ensured>D+D1；
Then, the mounting frames 8 are mounted at equal intervals dmAn ultrasonic sensor facing the water surface and forming an ultrasonic sensor array 2nDistance between ultrasonic sensor and approach channel on left side of shoreS n Comprises the following steps:
S n =(n-1)d，n=1、2、…、m；
the mounting position of each ultrasonic sensor on the mounting frame 8 can be obtained.
And the total length of the mounting frame 8 is:
S=（m-1）d；
further, the smaller the beam angle of the ultrasonic sensor, the larger the directivity, and the better the performance. Therefore, when the ultrasonic sensor array 2 is installed, the installation frame 8 is ensured to be parallel to the horizontal plane, and the ultrasonic sensor is horizontally fixed on the installation frame 8 through the installation plate 9.
Step three:
at the same time at equal distances d on the mounting frame 81Mounting ofNThe water pressure sensor module 3 is used for measuring the distance H between each position of the mounting rack 8 and the horizontal plane so as to check whether the mounting rack 8 is parallel to the horizontal plane; the distance between the ith water pressure sensor module and the approach channel on the left side of the landingS i Comprises the following steps:
S i =(i-1) d1 i=1、2、…、N；
the mounting position of each water pressure sensor module on the mounting frame 8 can be obtained.
Step four:
the sensor receiving and transmitting control module 7 adopts FPGA to carry out synchronous time sequence control, sensor signal receiving/transmitting and ultrasonic state control, and the specific time sequence control mode is as follows: firstly, detecting the system power-on, and initializing all modules by the FPGA; setting interval time according to an FPGA program, and sequentially providing enabling signals for the ultrasonic sensor array 2; thirdly, the ultrasonic sensor receiving the emission enabling signal works, and meanwhile, the FPGA controls other sensors to be in a receiving state through instructions; and fourthly, the FPGA sends an instruction to read the distance result measured by each sensor. The control logic enables one of the m ultrasonic sensors to send ultrasonic waves, and the other m-1 ultrasonic sensors are in a receiving state after receiving the receiving instruction. At this time, after the sensor sending the ultrasonic wave finishes sending the ultrasonic wave, the receiving instruction of the FPGA is received, namely the sensor sending the ultrasonic wave is in a receiving state immediately after the sending state is finished, and the sensor not sending the ultrasonic wave signal only receives the echo.
Step five:
the data processing module 6 collects the multi-channel distance hm between the mounting frame 8 and the bottom of the navigation ship measured by the ultrasonic sensor array 2 and the distance H between the mounting frame 8 and the horizontal plane measured by the water pressure sensor module 3, obtains the multi-channel draught value Dm of the navigation ship by calculating the value of (H-hm), obtains multi-channel data to perform ship draught data fitting, measures and calculates the draught value, and finishes ship draught measurement.

Claims (7)

1. The upward-sweeping type draught detection system based on one-shot multi-shot ultrasonic comprises a fixing device (1), an ultrasonic sensor array (2), a water pressure sensor module (3) and a data processing module (6); the method is characterized in that:
the fixing device (1) is positioned at the bottom of the navigation channel (4), a plurality of ultrasonic sensors are arranged on the fixing device (1) at equal intervals, the ultrasonic sensors form an ultrasonic sensor array (2), and the ultrasonic sensor array (2) is used for measuring the interval between the fixing device (1) and the navigation ship (5);
the fixing device (1) is provided with a water pressure sensor module (3), and the water pressure sensor module (3) is used for monitoring water level change;
the ultrasonic sensor array (2) and the water pressure sensor module (3) are both connected with a data processing module (6);
the data processing module (6) is used for collecting and transmitting the distance H between the fixing device (1) measured by the ultrasonic sensor array (2) and the bottom of the navigation ship (5) and the distance H between the fixing device (1) measured by the water pressure sensor module (3) and the horizontal plane, then processing the collected and transmitted distances, and calculating the value of H-H to obtain the draught value D of the navigation ship (5).
2. The bottom-scanning draught detection system based on one-shot multi-shot ultrasonic waves as claimed in claim 1, wherein: fixing device (1) includes mounting bracket (8) of stainless steel frame material, and mounting bracket (8) are parallel with the horizontal plane, and a plurality of ultrasonic sensor pass through mounting panel (9) level equidistant to be fixed on mounting bracket (8), construct ultrasonic sensor array (2).
3. The bottom-scanning draught detection system based on one-shot multi-shot ultrasonic waves as claimed in claim 2, wherein: are simultaneously and equidistantly arranged on the mounting rack (8)NAnd the water pressure sensor module (3) is used for measuring the distance H between each part of the mounting rack (8) and the horizontal plane.
4. The bottom-scanning draught detection system based on one-shot multi-shot ultrasonic waves as claimed in claim 1, wherein: the data processing module (6) is installed in an onshore electrical cabinet, and the data processing module (6) is used for draft data processing and compensation.
5. The bottom-scanning draught detection system based on one-shot multi-shot ultrasonic waves as claimed in claim 4, wherein: the data processing module (6) is provided with a sensor transceiving control module (7), and the sensor transceiving control module (7) is used for realizing synchronous time sequence control, sensor signal transceiving and ultrasonic sensor state control.
6. The bottom-scanning draft detection method using the draft detection system according to any one of claims 1 to 5, comprising the steps of:
the method comprises the following steps: arranging a mounting rack (8) of a stainless steel frame structure at the bottom of the airway, wherein the mounting rack (8) is parallel to the horizontal plane;
step two: firstly, the installation position of the installation frame (8) in water is determined, the draft of the navigation ship (5) is set as D, and the water level change value caused by factors such as weather, season, water flow and the like is set as D1In practice 0<D1<3m, the underwater installation position H of the ultrasonic sensor array (2) is ensured>D+D1；
Then, the mounting frames (8) are mounted at equal intervals dmTowards the waterA surface ultrasonic sensor constituting an ultrasonic sensor array (2)nDistance between ultrasonic sensor and approach channel on left side of shoreS n Comprises the following steps:
S n =(n-1)d，n=1、2、…、m；
therefore, the mounting position of each ultrasonic sensor on the mounting rack (8) can be obtained;
and the total length of the mounting rack (8) is as follows:
S=（m-1）d；
when the ultrasonic sensor array (2) is installed, the installation frame (8) is ensured to be parallel to the horizontal plane, so that the ultrasonic sensor is horizontally fixed on the installation frame (8) through the installation plate (9);
step three: on the mounting rack (8) at equal intervals d1Mounting ofNThe water pressure sensor module (3) is used for measuring the distance H between each part of the mounting rack (8) and the horizontal plane so as to check whether the mounting rack (8) is parallel to the horizontal plane; the distance between the ith water pressure sensor module and the approach channel on the left side of the landingS i Comprises the following steps:
S i =(i-1) d1 i=1、2、…、N；
therefore, the installation position of each water pressure sensor module on the installation frame (8) can be obtained;
step four: the sensor transceiving control module (7) adopts an FPGA to carry out synchronous time sequence control, sensor signal transceiving and ultrasonic state control;
step five: the data processing module (6) collects the multipath distance hm between the mounting frame (8) and the bottom of the navigation ship, which is measured by the ultrasonic sensor array (2), and the distance H between the mounting frame (8) and the horizontal plane, which is measured by the water pressure sensor module (3), obtains the multipath draught value Dm of the navigation ship by calculating the value of H-hm, obtains multipath data to perform ship draught data fitting, measures and calculates the draught value, and finishes ship draught measurement.
7. The bottom-scanning type draught detection method based on one-shot multi-shot ultrasonic waves as claimed in claim 6, wherein: the specific time sequence control mode of the sensor transceiving control module (7) is as follows: firstly, detecting the system power-on, and initializing all modules by the FPGA; setting interval time according to an FPGA program, and sequentially providing enabling signals for the ultrasonic sensor array (2); thirdly, the ultrasonic sensor receiving the emission enabling signal works, and meanwhile, the FPGA controls other sensors to be in a receiving state through instructions; fourthly, the FPGA sends an instruction to read the distance result measured by each sensor;
the control logic enables one of the m ultrasonic sensors to send ultrasonic waves, and the other m-1 ultrasonic sensors are in a receiving state after receiving the receiving instruction; at this time, after the sensor sending the ultrasonic wave finishes sending the ultrasonic wave, the receiving instruction of the FPGA is received, namely the sensor sending the ultrasonic wave is in a receiving state immediately after the sending state is finished, and the sensor not sending the ultrasonic wave signal only receives the echo.
CN202010779130.5A 2020-08-05 2020-08-05 Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave Pending CN112092993A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010779130.5A CN112092993A (en) 2020-08-05 2020-08-05 Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010779130.5A CN112092993A (en) 2020-08-05 2020-08-05 Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave

Publications (1)

Publication Number Publication Date
CN112092993A true CN112092993A (en) 2020-12-18

Family

ID=73749937

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010779130.5A Pending CN112092993A (en) 2020-08-05 2020-08-05 Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave

Country Status (1)

Country Link
CN (1) CN112092993A (en)

Similar Documents

Publication Publication Date Title
CN100455999C (en) Device for ultrasonic measuring liquid level and method thereof
US6208584B1 (en) Place calibration of sonar receive array
CN110703203A (en) Underwater pulsed sound positioning system based on multi-acoustic wave glider
CN204489138U (en) A kind of super sonic side sweeping type drauht amount detection systems
CN103661836A (en) Automatic detection system of ship draught depth based on single-beam sonar array scanning technique
CN105004413A (en) Acoustic propagation path comprehensive speed measuring method and apparatus for underwater target positioning
CN106813678A (en) Ultra-sonic depth finder calibration detection apparatus and its calibration detection method
CN111142144B (en) Underwater acoustic positioning and timing buoy and underwater positioning method
CN102081170A (en) Submarine cable secondary positioning method based on integrated positioning of acoustic long baseline and ultrashort baseline
CN109084864B (en) Slender straight pipe type ultrasonic liquid level measuring device and measuring method
CN108363063A (en) A kind of posture and the parallel multimetering method and apparatus of the self-alignment ultrasound of velocity of wave
CN104527945A (en) Ultrasonic side scanning type ship draft detection system and method
CN102841343A (en) Echo sounding apparatus calibration system based on industrial computer and calibration method
CN103913746A (en) Ship draught ultralimit detection system and method
CN101782649A (en) System and method for evaluating synthetic aperture sonar basic matrix speed
CN105270580A (en) Shipborne side draft detecting system and detecting method
CN104627334B (en) Side-mounted draft detection system and operating method thereof
CN111982156B (en) Underwater echo simulation technology-based single-beam depth finder calibration method
CN112147578B (en) High-precision deep water transmitting array and multi-element vertical receiving array element positioning system and method
CN117930206A (en) Submarine topography measurement system for unmanned surface vehicle and measurement data correction method
CN112092993A (en) Upward-scanning type draught detection system and method based on one-shot multi-shot ultrasonic wave
CN212354347U (en) Upward-sweeping type draught detection system based on one-shot multi-shot ultrasonic wave
CN203623941U (en) Ship draught depth automatic detecting device based on single wave beam sonar array scanning technology
CN114384525B (en) Target strength self-testing method and system based on boundary acoustic reflection
CN105818941A (en) Pitch-up scanning type draught detecting system and working method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination