CN112298486B - Method for measuring distance between broadside double-section gangway and wharf in real time - Google Patents

Abstract

The invention discloses a method for measuring the real-time distance between a topside double-section gangway and a wharf, which comprises the following steps: and (3) inputting the gradient of the wharf by using the draft of the two sides of the ship and the opening angle of the springboard acquired in real time, and calculating the real-time minimum distance between the first section back plate of the two sections of the gangway springboard and the surface of the wharf. The invention is generally suitable for fixed flat wharfs and slope wharfs, does not need to additionally install other monitoring equipment, has reliability and convenience, and can effectively improve the safety of loading and unloading operation.

Description

Method for measuring distance between broadside double-section gangway and wharf in real time

Technical Field

The invention relates to a method for measuring the real-time distance between a topside double-section gangway and a wharf, relates to the technical field of large-scale roll-on and roll-off ship wharf roll-on and roll-off operation safety, and belongs to the technical field of ship design.

Background

Roll-on-roll-off ships are generally provided with a side gangway at a vehicle depot, and when the ship leans against a wharf, the gangway is opened to place the wharf, so that a passage for roll-on-roll-off transfer of the vehicles is formed between the wharf and the vehicle depot. In order to improve the wharf tide level adaptability of the gangway, the side gangway usually adopts a double-section gangway type to increase the length of the gangway, and the gangway is hinged with a ship body and is called a first section of gangway, and the wharf is called a second section of gangway, and the second section of gangway is hinged with the first section of gangway. The first section of springboard cannot be placed against the wharf due to the limitation of the back board line type, and a certain safety distance is required to be kept between the first section of springboard and the surface of the wharf when the springboard is used for placing the wharf to pass vehicles. The real-time monitoring of the distance is realized by means of a method of adopting an ultrasonic sensor except for manual observation which is laborious and unreliable at present, the ultrasonic sensor is arranged at the outer end of the back plate of the first section of springboard, when the springboard is placed against a slope wharf, the end part of the wharf wades in water frequently, the distance from the back plate of the springboard to the water surface is measured by the sensor at the moment, and the distance is smaller than the actual distance, so that false alarm is caused.

Disclosure of Invention

According to the problems, the invention aims to provide a method for measuring the distance between a first springboard and a wharf in real time, which can be adapted to a slope wharf by utilizing the ship state parameters and the opening angle of the springboard which are acquired in real time to automatically calculate, does not need to additionally install other monitoring equipment, and has reliability and convenience.

In order to achieve the purpose, the invention adopts the technical scheme that: a method for measuring the real-time distance between a broadside double-section gangway and a wharf is characterized by comprising the following steps:

step S1: inputting the gradient lambda of the wharf;

step S2: the sensors measure the draught values of the left and right sides of the ship, are respectively set as T1 and T2, and the real-time transverse inclination angle theta of the ship is obtained by conversion according to the transverse distance T3 of the draught sensors of the left and right sides:

step S3: the method comprises the following steps that a sensor obtains an opening angle C1 of a first gangway board on a side relative to a closed position and an included angle B2 between a top plate of a second gangway board and a top plate of the first gangway board;

step S4: according to the included angle A2 between the center connecting line of the side middle hinge and the round steel at the end part of the second diving board and the top plate of the second diving board, B2 and C1 obtained in the step S3, the included angle A1 between the top plate of the first diving board and the vertical vehicle deck auxiliary line when the first diving board is in the closed position, and theta obtained by calculation in the step S2, the calculation angle D is as follows:

D＝360°+A2-B2-C1-(A1-θ)

step S5: according to the length L1 of the center connecting line of the side middle hinge and the round steel of the end part of the second section springboard and the D obtained by calculation in the step S4, H1 is calculated as follows:

H1＝L1cosD

step S6: from the wharf slope λ input in step S1 and the radius R of the round steel at the end of the second segment springboard, H2 is calculated as:

H2＝Rcosλ

step S7: from the known L1, R, λ, and D calculated in step S4, H3 is calculated as:

H3＝(L1sinD+Rsinλ)tanλ

step S8: according to the known values of A1, theta calculated in the step S2 and C1 obtained in the step S3, the included angle C2 between the top plate of the first springboard and the horizontal line is calculated as follows:

C2＝C1+A1-θ-90°

step S9: and E, calculating an included angle F between the end connecting line of the middle hinge center and the first springboard back plate and the vertical direction according to C2 obtained by calculation in the step S8, wherein the included angle F between the vertical line of the middle hinge center and the first springboard top plate and the end connecting line of the middle hinge center and the first springboard back plate are known:

F＝180°-E-C2

step S10: according to the length L2 of the connecting line of the center of the middle hinge and the end part of the first springboard back plate, the F calculated in the step S9 and the gradient lambda of the wharf 30, H4 and H5 are respectively calculated as follows:

H4＝L2cosF

H5＝L2sinFtanλ

step S11: according to the H1, the H2 and the H3 calculated in the steps S5 to S7 and the H4 and the H5 calculated in the step S10, calculating the minimum distance H between the back plate of the first hop plate and the wharf surface as follows:

H＝H1+H2+H3-H4-H5

the technical scheme of the invention is characterized in that firstly, a user inputs the gradient of the wharf, then a sensor acquires the ship transverse inclination angle and the opening angles of the two gangplank boards in real time, and the minimum distance between the backboard of the first gangplank and the surface of the wharf can be calculated by leaning the gangplank against the geometrical model of the wharf. The whole process only needs a user to input the wharf gradient, the calculation is automatically carried out, and the method is generally suitable for fixing the flat wharf and the slope wharf, and is reliable and convenient.

Drawings

FIG. 1 is a schematic representation of a ranging geometry model of the present invention;

FIG. 2 is a second schematic representation of a ranging geometry model of the present invention;

wherein, the figure shows the cross section of the center line of the gangway along the ship length direction, and the starboard side gangway is taken as an example;

in the drawings: 10. a second section of springboard; 11. a second springboard top board; 12. round steel at the end part of the second springboard; 13. the middle of the two springboards is hinged; 14. a first section of springboard; 15. a first springboard top board; 16. a first springboard back board; 20. a vehicle deck; 21. an auxiliary line perpendicular to the vehicle deck; 30. a wharf.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

Fig. 1 and 2 show the geometric model of the present invention, in the case of a starboard side gangway, please refer to fig. 1 and 2. The distance measurement method for calculating the real-time distance between the broadside double-section gangplank and the wharf is shown as a preferred embodiment, and comprises the following steps:

step S1: the slope λ of the quay 30 is input by the user (for a flat quay, λ ═ 0 is taken).

Step S2: the draft sensors arranged on the left side and the right side of the ship are used for acquiring draft values of the left side and the right side of the ship in real time, the draft values are respectively set as T1 and T2, and the real-time transverse inclination angle theta of the ship is obtained through conversion according to the transverse distance T3 of the draft sensors on the left side and the right side:

step S3: the opening angle C1 of the first springboard 14 relative to the closed position and the included angle B2 of the top board 11 of the second springboard and the top board 15 of the first springboard are obtained in real time by utilizing the angle sensor of the side springboard.

Step S4: according to the included angle a2 (known parameters) between the central connecting line of the middle hinge 13 and the end round steel 12 of the second jump board and the top plate 11 of the second jump board, B2 and C1 obtained in step S3, and the included angle a1 (known parameters) between the top plate 15 and the line 21 when the first jump board 14 is in the closed position, θ calculated in step S2 is:

D＝360°+A2-B2-C1-(A1-θ)

step S5: according to the length L1 (known parameter) of the center connecting line between the middle hinge 13 and the second jumper bar end round steel 12, D calculated in step S4 is calculated as H1:

H1＝L1cosD

step S6: from the slope λ of the quay 30 input in step S1, and the radius R of the second springboard end round steel 12, H2 is calculated as:

H2＝Rcosλ

step S7: from the known L1, R, λ, and D calculated in step S4, H3 is calculated as:

H3＝(L1sinD+Rsinλ)tanλ

step S8: according to the known a1, the angle C2 between the first springboard top board 15 and the horizontal line is calculated according to θ calculated in step S2 and C1 acquired in step S3 as follows:

C2＝C1+A1-θ-90°

step S9: making a perpendicular line between the center of the middle hinge 13 and the top plate 15 of the first springboard, and a connecting line between the center of the middle hinge 13 and the end of the back plate 16 of the first springboard, wherein the included angle between the center of the middle hinge 13 and the end of the back plate 16 of the first springboard is known and is set as E, and calculating an included angle F between the connecting line between the center of the middle hinge 13 and the end of the back plate 16 of the first springboard and the vertical according to C2 calculated in step S8 as follows:

F＝180°-E-C2

step S10: based on the length L2 (known parameter) of the connection line between the center of the middle hinge 13 and the end of the first springboard back 16, F calculated in step S9, and the slope λ of the dock 30, H4 and H5 are calculated as:

H4＝L2cosF

H5＝L2sinFtanλ

step S11: according to the H1, H2 and H3 calculated in the steps S5-S7 and the H4 and H5 calculated in the step S10, calculating the minimum distance H between the first hop plate back plate 16 and the surface of the wharf 30 as follows:

H＝H1+H2+H3-H4-H5

according to the wharf slope input by a user, a ship transverse inclination angle obtained by converting ship port and starboard draft acquired in real time and two springboard opening angles acquired in real time, the real-time minimum distance between the first springboard back board and the wharf surface can be calculated. The whole process only needs a user to input the wharf gradient, other parameters are known ship and springboard characteristic parameters or are automatically obtained through built-in communication, the calculation process is automatically carried out, the calculation method is generally applicable to a fixed flat wharf and a slope wharf, and the method is reliable, convenient and fast and can effectively improve the safety of loading and unloading operation.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (1)

1. A method for measuring the real-time distance between a broadside double-section gangway and a wharf is characterized by comprising the following steps:

step S1: inputting the gradient lambda of the wharf;

step S2: the sensors measure the draught values of the left and right sides of the ship, are respectively set as T1 and T2, and the real-time transverse inclination angle theta of the ship is obtained by conversion according to the transverse distance T3 of the draught sensors of the left and right sides:

step S3: the method comprises the following steps that a sensor obtains an opening angle C1 of a first gangway board on a side relative to a closed position and an included angle B2 between a top plate of a second gangway board and a top plate of the first gangway board;

step S4: according to the included angle A2 between the center connecting line of the side middle hinge and the round steel at the end part of the second diving board and the top plate of the second diving board, B2 and C1 obtained in the step S3, the included angle A1 between the top plate of the first diving board and the vertical vehicle deck auxiliary line when the first diving board is in the closed position, and theta obtained by calculation in the step S2, the calculation angle D is as follows:

D＝360°+A2-B2-C1-(A1-θ)；

step S5: according to the length L1 of the center connecting line of the side middle hinge and the round steel of the end part of the second section springboard and the D obtained by calculation in the step S4, H1 is calculated as follows:

H1＝L1cosD；

step S6: from the wharf slope λ input in step S1 and the radius R of the round steel at the end of the second segment springboard, H2 is calculated as:

H2＝Rcosλ；

step S7: from the known L1, R, λ and D calculated in step S4, calculate H3 as:

H3＝(L1sinD+Rsinλ)tanλ；

step S8: according to the known values of A1, theta calculated in the step S2 and C1 obtained in the step S3, the included angle C2 between the top plate of the first springboard and the horizontal line is calculated as follows:

C2＝C1+A1-θ-90°；

step S9: and E, calculating an included angle F between the end connecting line of the middle hinge center and the first springboard back plate and the vertical direction according to C2 obtained by calculation in the step S8, wherein the included angle F between the vertical line of the middle hinge center and the first springboard top plate and the end connecting line of the middle hinge center and the first springboard back plate are known:

F＝180°-E-C2；

step S10: according to the length L2 of the connecting line of the center of the middle hinge and the end part of the first springboard back plate, the F calculated in the step S9 and the gradient lambda of the wharf 30, H4 and H5 are respectively calculated as follows:

H4＝L2cosF，

H5＝L2sinFtanλ；

step S11: according to the H1, the H2 and the H3 calculated in the steps S5 to S7 and the H4 and the H5 calculated in the step S10, calculating the minimum distance H between the back plate of the first hop plate and the wharf surface as follows:

H＝H1+H2+H3-H4-H5。

Images