CN112697051A - Floating dock positioning measurement system and measurement method - Google Patents
Floating dock positioning measurement system and measurement method Download PDFInfo
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- CN112697051A CN112697051A CN202011489861.2A CN202011489861A CN112697051A CN 112697051 A CN112697051 A CN 112697051A CN 202011489861 A CN202011489861 A CN 202011489861A CN 112697051 A CN112697051 A CN 112697051A
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Abstract
The invention discloses a floating dock positioning and measuring system, which comprises at least four calibration tools arranged at the top of a side tower of a floating dock, wherein at least two calibration tools are arranged at the top of the side tower of the same side of the floating dock; two first prisms disposed on the dock; a plurality of second prisms disposed on the ship to be docked; the total station is used for tracking and measuring the first prism and the second prism and is arranged on the calibration tool; and the total station is in communication connection with the main control computer. According to the invention, through the arrangement of the total station, the first prism on the wharf and the second prism on the ship, the change of the relative distance and the height difference between the wharf and the floating dock and the change of the relative position between the ship and the floating dock can be monitored in real time, and an alarm is given when the relative distance and the height difference between the wharf and the floating dock exceed a set range, so that on one hand, the whole system is set without measurement and manual conversion by a plurality of monitoring personnel, and the requirements of operating personnel and the labor intensity are reduced.
Description
Technical Field
The invention belongs to the technical field of ship and ocean engineering, and particularly relates to a floating dock positioning measurement system and a measurement method.
Background
In the field of shipbuilding at present, on the traditional monitoring mode of going into and going out of dock to the floating dock, to boats and ships go into and go out of dock and the process operating mode that the floating dock is leaned on the bank, boats and ships and floating dock relative position, the relative position and the height of floating dock and pier mainly rely on laser range finder and water gauge to carry out manual monitoring. The monitoring mode needs a plurality of monitoring personnel to cooperate simultaneously, and has higher requirements on the skills of the personnel in order to meet the measurement precision. Secondly, the positioning information needs to be converted manually, and a manager can make a judgment only after all monitoring personnel report the information. And the time for the ship to enter and exit the dock is long, usually lasts for 4-8 hours, and continuous monitoring can bring great burden to monitoring personnel.
Based on the problems, the application provides a floating dock positioning and measuring system and a floating dock positioning and measuring method, the relative distance and the height change between a wharf and a floating dock and the relative position change between a ship and the floating dock are monitored in real time through a total station, an alarm is given when the relative position change exceeds a set range, the number demand and the working strength of operators are reduced, the monitoring accuracy and timeliness are improved, and meanwhile the safety during docking and undocking can be improved.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned deficiencies of the prior art, and to provide a floating dock positioning and measuring system and a measuring method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a floating dock location measurement system comprises
The calibration tool comprises at least four calibration tools arranged at the tops of side turrets of a floating dock, wherein at least two calibration tools are arranged at the tops of the side turrets on the same side of the floating dock;
two first prisms disposed on the dock;
a plurality of second prisms disposed on the ship to be docked;
the total station is used for carrying out tracking measurement on the first prism and the second prism and is arranged on the calibration tool;
the first prism and the second prism are both 360-degree prisms;
and the total station is in communication connection with the main control computer.
Preferably, the calibration tool comprises a pillar fixedly arranged at the top of a side turret of the floating dock, three support rods are uniformly arranged at the radial outer end of the top of the pillar along the circumferential direction, an installation plate is arranged at the top of each support rod, and a bolt hole for installing the total station is formed in the installation plate;
the top of pillar is fixed and is set up the base, set up rotatory mark target on the base.
Preferably, the support is connected with the top of the side tower of the floating dock in a welding mode.
Preferably, the base is connected with the support column through screws, and a base threaded hole is formed in the base.
Preferably, the total station is in communication connection with the main control computer through a wireless communication module; the wireless communication module is arranged on the support.
Preferably, the connecting line of the central points of the two first prisms is parallel to the edge line of the wharf.
The invention also provides a floating dock positioning and measuring method.
A method for measuring the location of a floating dock when a ship is moved from a dock to the floating dock, comprising the steps of:
step 11: recording three-dimensional space data of the floating dock in a main control computer, and establishing a basic coordinate system of the floating dock;
step 12: converting and unifying the coordinate system of each total station into a basic coordinate system of the floating dock;
step 13: tracking and measuring two first prisms on the wharf by adopting two total stations close to the wharf, and transmitting coordinate data of central points of the two measured first prisms to a main control computer;
step 14: the main control computer calculates the distance between the wharf and the floating dock and the height difference between the wharf plane and the floating dock deck plane according to the coordinate data of the center points of the two first prisms;
when the height difference between the wharf plane and the floating dock deck plane exceeds a preset height difference range, the main control computer gives an alarm, and the floating dock adjusts the height of the floating dock deck plane through the ballast water discharge until the alarm is relieved.
The invention also provides a floating dock positioning and measuring method.
A method for measuring the location of a floating dock when a ship enters or leaves the floating dock in a floating state, comprising the steps of:
step 21: recording three-dimensional space data of the floating dock in a main control computer, and establishing a basic coordinate system of the floating dock;
step 22: converting and unifying the coordinate system of each total station into a basic coordinate system of the floating dock;
step 23: tracking and measuring two second prisms on the ship by adopting two total stations, wherein one second prism is arranged at the bow, and the other second prism is arranged at the widest broadside; transmitting the measured coordinate data of the central points of the two second prisms to a main control computer;
step 24: the main control computer obtains the distance l1 between the ship bow and one end of the length of the floating dock deck and the distance l2 between the ship stern and the other end of the length of the floating dock deck according to the coordinates of the center point of the second prism at the ship bow;
the main control computer obtains a distance m1 between the side of the ship and the corresponding side dock wall and a distance m2 between the other side of the ship and the other side dock wall according to the coordinate of the center point of the second prism at the widest side;
when l2 exceeds the preset length range, the main control computer alarms, and the floating dock moves along the length direction of the ship until the alarm is relieved;
and when m1 or m2 is smaller than the preset minimum width value, the main control computer gives an alarm, and the floating dock moves along the width direction of the ship until the alarm is relieved.
The invention has the beneficial effects that:
according to the invention, through the arrangement of the total station, the first prism on the wharf and the second prism on the ship, the relative distance between the wharf and the floating dock, the change of the height difference and the change of the relative position between the ship and the floating dock can be monitored in real time, and an alarm is given when the relative distance exceeds a set range.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a layout of a floating dock position measurement system of the present invention on a floating dock;
FIG. 2 is a schematic structural view of the calibration fixture of the present invention;
fig. 3 is a diagram showing a positional relationship between a floating dock and a dock in a measurement method of the floating dock positioning measurement system according to embodiment 2 of the present invention;
fig. 4 is a diagram showing a positional relationship between a floating dock and a ship in a measurement method of a floating dock location measurement system according to embodiment 3 of the present invention;
FIG. 5 is a schematic diagram of a measurement method of a floating dock location measurement system according to embodiment 2 of the present invention;
FIG. 6 is a schematic diagram of a measurement method of a floating dock location measurement system according to embodiment 3 of the present invention;
wherein:
01-floating dock, 02-wharf, 03-floating dock deck center line, No. 04-0 rib position line, and 05-ship;
1-calibrating a tool, 101-a pillar, 102-a support rod, 103-a mounting plate, 104-a bolt hole, 105-a base, 106-a rotary target, and 107-a base threaded hole;
2-a total station;
3-a main control computer;
4-a first prism;
5-a second prism;
6-wireless communication module.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "bottom", "top", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the components or elements of the present invention, and do not particularly indicate any components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The invention is further illustrated with reference to the following figures and examples.
Example 1:
as shown in FIG. 1, a floating dock position measurement system includes
The calibration tool comprises at least four calibration tools 1 arranged at the top of a side tower of a floating dock 01, wherein at least two calibration tools 2 are arranged at the top of the side tower on the same side of the floating dock;
two first prisms 4 arranged on the quay 02;
a plurality of second prisms 5 provided on the ship to be docked 03;
the total station 2 is used for tracking and measuring the first prism 4 and the second prism 5, and the total station 2 is arranged on the calibration tool 1; the motor tracking is a self-contained function in the total station, and is an existing function realized by a specific reflecting prism, the main realization mode of the function is that the total station emits laser, the distance of an object is judged by the waveform and time of the laser reflected by the prism, a height included angle is determined by the elevation angle of a lens of the total station and a horizontal plane, a left deviation angle and a right deviation angle are determined by a left corner and a right corner, once the total station deviates from the prism, the wavelength and the phase of the laser reflected by the height direction, the length direction and the width direction of the prism can be changed differently, and the motor can be guided to move towards the corresponding direction by the change; therefore, the tracking measurement of the total station 2 to the first prism 4 and the second prism 5 is prior art.
The first prism 4 and the second prism 5 are both 360-degree prisms;
and the total station 2 is in communication connection with a main control computer 3.
Preferably, as shown in fig. 2, the calibration fixture 1 includes a pillar 101 fixedly disposed at the top of a side pylon of the floating dock 01, three support rods 102 are uniformly disposed at the radial outer end of the top of the pillar 101 along the circumferential direction, an installation plate 103 is disposed at the top of the support rods 102, and a bolt hole 104 for installing the total station 2 is disposed on the installation plate 103;
a base 105 is fixedly arranged on the top of the support 101, and a rotary target 106 is arranged on the base 105.
Preferably, the strut 101 is welded to the top of the side tower of the floating dock 01.
Preferably, the base 105 and the pillar 101 are connected by screws, and the base 105 is provided with a base threaded hole 107.
Preferably, the total station 2 is in communication connection with the main control computer 3 through a wireless communication module 6; the wireless communication module 6 is disposed on the support 101.
Wherein, the pillar 101 is further provided with a power module of the total station 2, and the power module and the wireless communication module 6 can be integrated together.
Preferably, a connecting line of the center points of the two first prisms 4 is parallel to the edge line of the wharf 02.
Specifically, the distance between the two first prisms 4 is about 50m, so that the first prisms 4 can be observed from the base position without being blocked when the floating dock is in the bank.
Example 2:
a measurement method based on the floating dock location measurement system in embodiment 1, as shown in fig. 3 and 5, when a ship 05 moves from a quay 02 to a floating dock 01, comprising the following steps:
step 11: inputting three-dimensional space data of the floating dock into the main control computer 3, and establishing a basic coordinate system of the floating dock;
specifically, in the step 11, the basic coordinate system of the floating dock takes an intersection of a central line 03 of a deck of the floating dock and a position line 04 of a rib No. 0 as an origin, takes the ship length direction as an X axis, takes the ship port direction as a Y axis, and takes the normal direction of the deck of the floating dock as a Z axis;
step 12: converting and unifying the coordinate system of each total station 2 into a basic coordinate system of the floating dock;
specifically, the method for converting and unifying the own coordinate system of each total station 2 into the floating dock basic coordinate system in step 12 comprises the following steps:
step 121: determining basic coordinates of the center point of the rotating target 106 on each calibration fixture 1 in a basic coordinate system of the floating dock according to the position of the calibration fixture 1 on the floating dock;
step 122: each total station 2 measures the total station coordinates of the center points of any three rotating targets 106 which are not on the same straight line under the coordinate system of the total station;
step 123: converting the total station coordinates of the central points of the three rotating targets 106 measured by each total station 2 into basic coordinates of the central points of the three rotating targets 106 through three-dimensional coordinate conversion, wherein in the three-dimensional coordinate conversion process, the coordinate system of the total station 2 is converted into a basic coordinate system of a floating dock;
specifically, the total station coordinates of the center points of the three rotating targets 106 measured by each total station 2 are compared and moved with the basic coordinates of the center points of the three rotating targets 106 by using a least square method until the space distance deviation between the converted coordinates and the basic coordinates is within an error range, at this time, the coordinate system of the total station 2 is determined to be converted and unified to the basic coordinate system of the floating dock, and then the coordinates of the corresponding points measured by the total station 2 can be determined as the coordinates under the basic coordinate system of the floating dock;
step 13: tracking and measuring two first prisms 4 on the wharf 02 by adopting two total stations 2 close to the wharf 02, and transmitting coordinate data of central points of the two measured first prisms 4 to a main control computer 3;
step 14: the main control computer 3 calculates the distance between the wharf 02 and the floating dock 01 and the height difference between the plane of the wharf 02 and the plane of a deck of the floating dock according to the coordinate data of the center points of the two first prisms 4;
when the height difference between the wharf 02 plane and the floating dock deck plane exceeds a preset height difference range, the main control computer 3 gives an alarm, and the floating dock 01 adjusts the height of the floating dock deck plane through ballast water discharge until the alarm is relieved.
When the ship 05 moves from the wharf 02 to the floating dock 01, the self weight of the ship 05 can cause the floating dock deck plane to sink, so that the height difference between the wharf 02 plane and the floating dock deck plane is caused, when the height difference is large, the ship 05 can have danger in the moving process, and at the moment, the height of the deck plane of the floating dock 01 needs to be adjusted through ballast water discharge, so that the moving requirement of the ship is met.
Example 3:
a measurement method based on the floating dock location measurement system in embodiment 1, as shown in fig. 4 and 6, when a ship 05 enters or leaves a floating dock 01 in a floating state, comprising the following steps:
step 21: inputting three-dimensional space data of the floating dock into the main control computer 3, and establishing a basic coordinate system of the floating dock;
specifically, in the step 21, the basic coordinate system of the floating dock takes an intersection of a center line 03 of a deck of the floating dock and a position line 04 of a rib No. 0 as an origin, takes the ship length direction as an X axis, takes the ship port direction as a Y axis, and takes the normal direction of the deck of the floating dock as a Z axis;
step 22: converting and unifying the coordinate system of each total station 2 into a basic coordinate system of the floating dock;
specifically, the method for converting the own coordinate system of each total station 2 into the floating dock basic coordinate system in step 22 includes the following steps:
step 221: determining basic coordinates of the center point of the rotating target 106 on each calibration fixture 1 in a basic coordinate system of the floating dock according to the position of the calibration fixture 1 on the floating dock;
step 222: each total station 2 measures the total station coordinates of the center points of any three rotating targets 106 which are not on the same straight line under the coordinate system of the total station;
step 223: converting the total station coordinates of the central points of the three rotating targets 106 measured by each total station 2 into basic coordinates of the central points of the three rotating targets 106 through three-dimensional coordinate conversion, wherein in the three-dimensional coordinate conversion process, the coordinate system of the total station 2 is converted into a basic coordinate system of a floating dock;
specifically, the total station coordinates of the center points of the three rotating targets 106 measured by each total station 2 are compared and moved with the basic coordinates of the center points of the three rotating targets 106 by using a least square method until the space distance deviation between the converted coordinates and the basic coordinates is within an error range, at this time, the coordinate system of the total station 2 is determined to be converted and unified to the basic coordinate system of the floating dock, and then the coordinates of the corresponding points measured by the total station 2 can be determined as the coordinates under the basic coordinate system of the floating dock;
step 23: tracking measurement is carried out on two second prisms 5 on the ship 05 by adopting two total stations 2, wherein one second prism 5 is arranged at the bow, and the other second prism 5 is arranged at the widest broadside; the measured coordinate data of the central points of the two second prisms 5 are transmitted to the main control computer 3;
step 24: the main control computer 3 obtains the distance l1 between the bow part of the ship and one end of the length of the deck of the floating dock 01 and the distance l2 between the stern part of the ship and the other end of the length of the deck of the floating dock 01 according to the coordinates of the center point of the second prism 5 at the bow part of the ship;
as shown in fig. 4, l2 ≈ a1-a2-l1, wherein a1 is the length of a floating dock deck, a2 is the length of a ship 05, and a1 and a2 are both known data; the size of l2 can be estimated by the formula;
the main control computer 3 obtains a distance m1 between the side of the ship and the corresponding side dock wall and a distance m2 between the other side of the ship and the other side dock wall according to the coordinate of the center point of the second prism 5 at the widest side;
as shown in fig. 4, m2 ≈ b1-b2-m1, b1 is the width of the deck of the floating dock, b2 is the beam width of the ship 05, and b1 and b2 are both known data; the size of m2 can be estimated by the formula;
when l2 exceeds the preset length range, the main control computer 3 gives an alarm, and the floating dock 01 moves along the length direction of the ship 05 until the alarm is relieved;
when m1 or m2 is smaller than the preset minimum width value, the main control computer 3 gives an alarm, and the floating dock 01 moves along the width direction of the ship 05 until the alarm is relieved.
When the ship 05 enters the floating dock 01 in a floating state, the ship 05 is located on the water surface at the moment, the floating dock 01 sinks into the water and is located below the ship 05, the floating dock 01 floats until the ship 05 falls into a deck of the floating dock, wherein the ship 05 generally needs to fall into the center of the deck of the floating dock, and therefore the position of the floating dock needs to be adjusted according to the position of the ship 05 in the floating process.
When the ship 05 leaves the floating dock 01 in a floating state, the floating dock 01 is located on the water surface, the ship 05 is located on the deck of the floating dock 01, and the floating dock 01 leaves the floating dock by sinking into the water to make the ship 05 fall on the water surface; in the sinking process of the floating dock 01, it is required to ensure that the dock wall does not touch the ship 05, so that the position of the floating dock needs to be adjusted according to the position of the ship 05 in the sinking process.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.
Claims (8)
1. A floating dock positioning and measuring system is characterized by comprising
The calibration tool comprises at least four calibration tools arranged at the tops of side turrets of a floating dock, wherein at least two calibration tools are arranged at the tops of the side turrets on the same side of the floating dock;
two first prisms disposed on the dock;
a plurality of second prisms disposed on the ship to be docked;
the total station is used for carrying out tracking measurement on the first prism and the second prism and is arranged on the calibration tool;
the first prism and the second prism are both 360-degree prisms;
and the total station is in communication connection with the main control computer.
2. The floating dock location measurement system of claim 1, wherein the calibration fixture comprises a pillar fixedly arranged at the top of a side tower of the floating dock, three support rods are uniformly arranged at the radial outer end of the top of the pillar along the circumferential direction, a mounting plate is arranged at the top of each support rod, and bolt holes for mounting the total station are arranged on the mounting plate;
the top of pillar is fixed and is set up the base, set up rotatory mark target on the base.
3. The floating dock orientation measurement system of claim 2, wherein the brace is welded to the top of the floating dock side tower.
4. A floating dock orientation measurement system as claimed in claim 2 wherein the base is connected to the post by a screw, the base having a base threaded hole.
5. The floating dock position measurement system of claim 2, wherein said total station is communicatively coupled to a host computer via a wireless communication module; the wireless communication module is arranged on the support.
6. The floating dock orientation measurement system of claim 1, wherein a line connecting the center points of the two first prisms is parallel to the dockside line.
7. A method for measuring the location of a floating dock, which is implemented based on the system for measuring the location of a floating dock according to any one of claims 1 to 6, and which comprises the following steps when a ship is moved from a dock to a floating dock:
step 11: recording three-dimensional space data of the floating dock in a main control computer, and establishing a basic coordinate system of the floating dock;
step 12: converting and unifying the coordinate system of each total station into a basic coordinate system of the floating dock;
step 13: tracking and measuring two first prisms on the wharf by adopting two total stations close to the wharf, and transmitting coordinate data of central points of the two measured first prisms to a main control computer;
step 14: the main control computer calculates the distance between the wharf and the floating dock and the height difference between the wharf plane and the floating dock deck plane according to the coordinate data of the center points of the two first prisms;
when the height difference between the wharf plane and the floating dock deck plane exceeds a preset height difference range, the main control computer gives an alarm, and the floating dock adjusts the height of the floating dock deck plane through the ballast water discharge until the alarm is relieved.
8. A method for measuring the positioning of a floating dock, which is implemented based on the system for measuring the positioning of a floating dock according to any one of claims 1 to 6, and which comprises the following steps when a ship enters or leaves the floating dock in a floating state:
step 21: recording three-dimensional space data of the floating dock in a main control computer, and establishing a basic coordinate system of the floating dock;
step 22: converting and unifying the coordinate system of each total station into a basic coordinate system of the floating dock;
step 23: tracking and measuring two second prisms on the ship by adopting two total stations, wherein one second prism is arranged at the bow, and the other second prism is arranged at the widest broadside; transmitting the measured coordinate data of the central points of the two second prisms to a main control computer;
step 24: the main control computer obtains the distance l1 between the ship bow and one end of the length of the floating dock deck and the distance l2 between the ship stern and the other end of the length of the floating dock deck according to the coordinates of the center point of the second prism at the ship bow;
the main control computer obtains a distance m1 between the side of the ship and the corresponding side dock wall and a distance m2 between the other side of the ship and the other side dock wall according to the coordinate of the center point of the second prism at the widest side;
when l2 exceeds the preset length range, the main control computer alarms, and the floating dock moves along the length direction of the ship until the alarm is relieved;
and when m1 or m2 is smaller than the preset minimum width value, the main control computer gives an alarm, and the floating dock moves along the width direction of the ship until the alarm is relieved.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113203400A (en) * | 2021-05-12 | 2021-08-03 | 青岛环海海洋工程勘察研究院 | Survey equipment installation measurement method and survey equipment installation measurement system without surveying ship dock |
| CN114485614A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning system and method of mining equipment based on double total stations |
| CN114834609A (en) * | 2022-03-25 | 2022-08-02 | 江南造船(集团)有限责任公司 | Monitoring system for measuring and positioning dock area |
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