CN112130156A - Method for positioning and measuring speed of ship in ship lift by using laser grating - Google Patents
Method for positioning and measuring speed of ship in ship lift by using laser grating Download PDFInfo
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- CN112130156A CN112130156A CN202010903244.6A CN202010903244A CN112130156A CN 112130156 A CN112130156 A CN 112130156A CN 202010903244 A CN202010903244 A CN 202010903244A CN 112130156 A CN112130156 A CN 112130156A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000000903 blocking effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 230000001960 triggered effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The invention discloses a method for positioning and measuring the speed of a ship in a ship lift by utilizing a laser grating, which comprises the laser grating, a host, a ship-bearing chamber and a stopping rope, wherein the stopping rope is arranged at the tail part of the ship-bearing chamber, the laser grating is fixedly arranged on the side wall of the ship-bearing chamber, the laser grating is of a cylinder structure, the laser grating is transversely arranged along the trend of the ship-bearing chamber, laser radars are arranged on the laser grating at equal intervals, four laser radars are arranged on each laser grating, each laser radar is a grating point, and the interval between two adjacent grating points is set as D; the ship is measured by the laser radar on the laser grid, the laser radar has the advantages of high measurement precision, good real-time performance and strong anti-interference performance, and the ship is accurately positioned and tested in real time, so that the real-time position and the instantaneous speed of the ship in the ship bearing chamber are accurately known, and the navigation safety is guaranteed.
Description
Technical Field
The invention belongs to the technical field of ship lockage, and particularly relates to a method for positioning and measuring speed of a ship in a ship lift by using a laser grating.
Background
When a ship passes through a navigation building such as a ship lock or a ship lift, there is a strict requirement on the ship speed of the ship entering a ship chamber in order to ensure the navigation safety. Regulation of ship lock operation management: the ship lift requires that the speed of the ship entering and exiting the lock is less than 0.5m/s, and the requirements of ship speed are different due to different ship positions in the ascending or descending process of the ship. The speed, distance and positioning of the common ships in the market at present mostly adopt the technology based on the GPS and the technology based on the AIS and the VTS systems, the measurement precision, the real-time performance and the anti-interference performance of the ship lift are limited in relatively closed spaces such as a ship receiving chamber of the ship lift, the requirement of detecting and early warning the ship speed of passing a lock cannot be met, and the method is rarely applied to the ship locks and the ship lifts in China by measuring the ship speed and the ship position based on the laser gratings.
Disclosure of Invention
The invention aims to provide a method for positioning and measuring the speed of a ship in a ship lift by using a laser grating, which has the advantages of high measurement precision, good real-time performance, strong anti-interference performance and extremely high use value.
The purpose of the invention is realized as follows: a method for positioning and measuring speed of a ship in a ship lift by using a laser grating comprises the laser grating, a host, the ship, a ship receiving chamber and a stopping rope, wherein the stopping rope is arranged at the tail part of the ship receiving chamber, the laser grating is fixedly arranged on the side wall of the ship receiving chamber, the laser grating is of a cylinder structure, the laser grating is transversely arranged along the direction of the ship receiving chamber, laser radars are arranged on the laser grating at equal intervals, four laser radars are arranged on each laser grating, each laser radar is a grating point, and the interval between two adjacent grating points is set to be D;
the grating points are numbered as a0, a1, a2, a3, … … and an in sequence from the entrance of the ship reception chamber to the direction of the stopping rope, the laser radar on each laser grating is respectively connected with the host, and the grating point a0 is the starting grating point;
the ship enters from an entrance of the ship receiving chamber, the bow of the ship is firstly captured by the laser radar on the laser grid in the process of entering the ship receiving chamber, the laser radar sends a pulse signal to the host, and when the bow of the ship sequentially passes through the laser radar, the host records the time when the bow passes through corresponding grid points a1, a2, a3 and … …, an, respectively recorded as t1, t2, t3, … … and tn;
the distance between the nth grid point and the stopping rope is recorded as dn;
the method for positioning and measuring the speed of the ship in the ship bearing chamber comprises the following steps:
when the bow of the ship travels to a certain position i between the nth grid point and the (n + 1) th grid point, the time is denoted as ti, the distance between the bow of the ship and the nth grid point is denoted as di, and the di is calculated by the following formula:
the distance between the bow and the stopping rope is recorded as d, and d is dn-di;
the real-time ship speed v of the ship head is calculated by the following formula:
the master starts timing when the bow of the vessel passes the start gate point a 0.
The time when the bow of the ship passes through the gate point a1 is denoted as t1, the time when the bow of the ship passes through the gate point a2 is denoted as t2, the time when the bow of the ship passes through the gate point a3 is denoted as t3, and the time when the bow of the ship passes through the gate point an is denoted as tn.
The height of the blocking rope arranged at the tail of the ship reception chamber is consistent with the height of the grid point.
The host is connected with a display, the display is used for displaying the distance d between the bow and the blocking rope and the real-time ship speed v of the bow in real time, and the position of the ship is determined according to the distance d between the bow and the blocking rope.
The distance D between the grid points is set to be 1 meter.
Four laser radars are arranged on each laser grating, the four laser radars on the same laser grating are connected to the same laser grating controller, and the laser grating controller is connected to the host.
The laser grating controller is a single chip microcomputer.
The distance between the grid point at the end of one laser grid and the grid point at the end of another laser grid adjacent to the grid point is set to be D.
The invention has the following beneficial effects: the invention adopts the laser radar on the laser grid to measure the ship, the laser radar has the advantages of high measurement precision, good real-time performance and strong anti-interference performance, and ensures that the ship is accurately positioned and tested in real time, thereby accurately knowing the real-time position and instantaneous speed of the ship in the ship-bearing chamber (or the ship lock) and ensuring the navigation safety. The calculation method adopted by the invention is arranged in the host, and the real-time measurement of the ship bow is calculated by the laser radar, so that the error is small, and the precision is high.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic perspective view of a laser grating arrangement according to the present invention.
Fig. 3 is a schematic structural framework diagram of signal transmission.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1-3, a method for positioning and measuring speed of a ship in a ship lift by using a laser grating comprises the laser grating, a host, a ship receiving chamber and a blocking rope, wherein the blocking rope is arranged at the tail part of the ship receiving chamber, the laser grating is fixedly arranged on the side wall of the ship receiving chamber, the laser grating is of a cylindrical structure, the laser grating is transversely arranged along the direction of the ship receiving chamber, laser radars are arranged on the laser grating at equal intervals, four laser radars are arranged on each laser grating, each laser radar is a grating point, and the interval between two adjacent grating points is set as D;
the grating points are numbered as a0, a1, a2, a3, … … and an in sequence from the entrance of the ship reception chamber to the direction of the stopping rope, the laser radar on each laser grating is respectively connected with the host, and the grating point a0 is the starting grating point;
the ship enters from an entrance of the ship receiving chamber, the bow of the ship is firstly captured by the laser radar on the laser grid in the process of entering the ship receiving chamber, the laser radar sends a pulse signal to the host, and when the bow of the ship sequentially passes through the laser radar, the host records the time when the bow passes through corresponding grid points a1, a2, a3 and … …, an, respectively recorded as t1, t2, t3, … … and tn;
the distance between the nth grid point and the stopping rope is recorded as dn;
the method for positioning and measuring the speed of the ship in the ship bearing chamber comprises the following steps:
when the bow of the ship travels to a certain position i between the nth grid point and the (n + 1) th grid point, the time is denoted as ti, the distance between the bow of the ship and the nth grid point is denoted as di, and the di is calculated by the following formula:
the distance between the bow and the stopping rope is recorded as d, and d is dn-di;
the real-time ship speed v of the ship head is calculated by the following formula:
the master starts timing when the bow of the vessel passes the start gate point a 0.
The time when the bow of the ship passes through the gate point a1 is denoted as t1, the time when the bow of the ship passes through the gate point a2 is denoted as t2, the time when the bow of the ship passes through the gate point a3 is denoted as t3, and the time when the bow of the ship passes through the gate point an is denoted as tn.
The height of the blocking rope arranged at the tail of the ship reception chamber is consistent with the height of the grid point.
The host is connected with a display, the display is used for displaying the distance d between the bow and the blocking rope and the real-time ship speed v of the bow in real time, and the position of the ship is determined according to the distance d between the bow and the blocking rope.
The distance D between the grid points is set to be 1 meter.
Four laser radars are arranged on each laser grating, the four laser radars on the same laser grating are connected to the same laser grating controller, and the laser grating controller is connected to the host.
The laser grating controller is a single chip microcomputer.
The distance between the grid point at the end of one laser grid and the grid point at the end of another laser grid adjacent to the grid point is set to be D.
When the invention is used: a method for positioning and measuring speed of a ship in a ship lift by using a laser grating comprises the laser grating, a host, the ship, a ship receiving chamber and a stopping rope, wherein the stopping rope is arranged at the tail part of the ship receiving chamber and used for stopping the ship and preventing the ship from colliding with the wall at the tail part of the ship receiving chamber. Fixed laser grating that sets up on the lateral wall of ship reception chamber, laser grating is a cylinder structure, and laser grating sets up along ship reception chamber's trend horizontal direction, and four laser radar of installation on every laser grating, two adjacent laser radar's interval set up to D, and laser radar connects in same laser grating controller on the same laser grating. Each laser radar is a grid point, in order to facilitate the host to identify each grid point, the grid points are numbered, and a is sequentially coded from the inlet of the ship reception chamber to the tail of the ship reception chamber0，a1，a2，a3，……，anWherein a is0When the ship head passes through the gate point, the main machine is triggered to start timing.
When a ship enters the ship receiving chamber from the ship receiving chamber inlet, the bow of the ship firstly enters the ship receiving chamber, and the grid points a can be sequentially triggered in the movement process of the ship in the ship receiving chamber0，a1，a2，a3，……，anWhen the laser radar is triggered each time, the laser radar sends a pulse signal to the corresponding laser grid controller, the laser grid controller preprocesses the signal and then transmits the signal to the host, and the host records the corresponding time t1，t2，t3，……，tn。
When the bow of the ship is between two adjacent grid points during operation: when the ship head moves to a certain position i between the nth laser grating and the (n + 1) th laser grating, the time is recorded as tiAnd the distance between the bow and the nth laser grating is recorded as di，diCalculated by the following formula:
the distance between the bow and the arresting rope is recorded as d, and d is equal to dn－di(ii) a The specific position of the ship in the ship receiving chamber can be known according to the distance between the bow and the stopping rope, and the specific position is displayed on the display.
The real-time ship speed v of the ship head is calculated by the following formula:
the measured real-time ship speed v is displayed on the display and presented to the staff in real time.
In general, the invention has the advantages of high measurement precision, good real-time performance and strong anti-interference performance.
Claims (9)
1. A method for positioning and measuring speed of a ship in a ship lift by using a laser grating comprises the laser grating, a host, the ship, a ship receiving chamber and a stopping rope, wherein the stopping rope is arranged at the tail part of the ship receiving chamber, the laser grating is fixedly arranged on the side wall of the ship receiving chamber, the laser grating is of a cylinder structure, the laser grating is transversely arranged along the direction of the ship receiving chamber, laser radars are arranged on the laser grating at equal intervals, four laser radars are arranged on each laser grating, each laser radar is a grating point, and the interval between two adjacent grating points is set to be D, and the method is characterized in that:
the grid points are numbered as a in sequence from the entrance of the ship bearing chamber to the direction of the stopping rope0，a1，a2，a3，……，anThe laser radar on each laser grating is respectively connected with the host computer and the grating point a0Is an initial grid point;
the ship gets into by the entrance of ship reception chamber, and the ship gets into ship reception chamber in-process, and the bow is at first caught by laser radar on the laser bar, and laser radar can send a pulse signal to the host computer, and when the bow of ship loops through laser radar, the host computer notes the bow and passes through corresponding bars a1，a2，a3，……，anThe time of flight, respectively, is denoted as t1，t2，t3，……，tn；
The distance between the nth grid point and the stopping rope is recorded as dn；
The method for positioning and measuring the speed of the ship in the ship bearing chamber comprises the following steps:
when the bow of the ship travels to a certain position i between the nth grid point and the (n + 1) th grid point, the time is recorded as tiAnd the distance between the bow and the nth grid point is recorded as di，diCalculated by the following formula:
the distance between the bow and the arresting rope is recorded as d, and d is equal to dn－di；
The real-time ship speed v of the ship head is calculated by the following formula:
2. the method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: the bow of the vessel passes the starting barrier point a0Then, the host starts timing.
3. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: the bow of the vessel passes through the grid point a1Is recorded as t1Passing the bow of the ship through the grid point a2Is recorded as t2Passing the bow of the ship through the grid point a3Is recorded as t3Passing the bow of the ship through the grid point anIs recorded as tn。
4. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: the height of the blocking rope arranged at the tail of the ship reception chamber is consistent with the height of the grid point.
5. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: the host is connected with a display, the display is used for displaying the distance d between the bow and the blocking rope and the real-time ship speed v of the bow in real time, and the position of the ship is determined according to the distance d between the bow and the blocking rope.
6. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: the distance D between the grid points is set to be 1 meter.
7. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: four laser radars are arranged on each laser grating, the four laser radars on the same laser grating are connected to the same laser grating controller, and the laser grating controller is connected to the host.
8. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 7, wherein the method comprises the following steps: the laser grating controller is a single chip microcomputer.
9. The method for positioning and measuring the speed of the ship in the ship lift by using the laser grating as claimed in claim 1, wherein the method comprises the following steps: the distance between the grid point at the end of one laser grid and the grid point at the end of another laser grid adjacent to the grid point is set to be D.
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| CN202010903244.6A CN112130156B (en) | 2020-09-01 | 2020-09-01 | Method for positioning and measuring speed of ship in ship lift by utilizing laser grating |
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| CN202010903244.6A CN112130156B (en) | 2020-09-01 | 2020-09-01 | Method for positioning and measuring speed of ship in ship lift by utilizing laser grating |
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Effective date of registration: 20231203 Address after: 310000, Room 305, Building 1, No. 868 Shenglian Road, Qingshanhu Street, Lin'an District, Hangzhou City, Zhejiang Province (self declared) Patentee after: Zhejiang Zhonghe Escort Technology Co.,Ltd. Address before: 450000 Incubation Building 1309-1317, No. 1, Incubation Park, Henan National University Science Park, No. 11 Changchun Road, Zhengzhou High-tech Zone, Henan Province Patentee before: HENAN ESCORT INDUSTRIAL Co.,Ltd. |
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