CN114834609B - Monitoring system for dock area measurement positioning - Google Patents
Monitoring system for dock area measurement positioning Download PDFInfo
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- CN114834609B CN114834609B CN202210306516.3A CN202210306516A CN114834609B CN 114834609 B CN114834609 B CN 114834609B CN 202210306516 A CN202210306516 A CN 202210306516A CN 114834609 B CN114834609 B CN 114834609B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/10—Building or assembling vessels from prefabricated hull blocks, i.e. complete hull cross-sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
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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
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- Physics & Mathematics (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application discloses a monitored control system for dock regional measurement location relates to dock shipbuilding technical field. The system comprises a reference unit, a measuring unit, a receiving unit and a control unit, wherein the reference unit is arranged on a dock wall or a dock bottom of a dock, the control unit establishes an actual three-dimensional coordinate system of a dock area according to the reference unit, and the measuring unit acquires position information of the measuring unit in the dock through the measuring reference unit. The measuring unit is arranged around the ship block and sends measuring signals to the moving ship block in real time, and the receiving unit is arranged on the ship block and generates response values by receiving the measuring signals and feeds the response values back to the control unit to determine the real-time position information of the ship block. The monitoring system can realize high-precision and high-efficiency acquisition and feedback of real-time position data of the ship blocks in the moving process of the ship blocks in the dock area, and improves the construction quality and the construction efficiency of ships in the dock area.
Description
Technical Field
The application relates to the technical field of dock shipbuilding, in particular to a monitoring system for measuring and positioning dock areas.
Background
With the development of ship construction technology and the increasing competition of industry, the construction quality and the construction efficiency of a dock area are improved, particularly, the measurement of the docking position of the total section of the dock area and the determination of the positioning scheme based on the measurement data are key steps of docking of the total section of the dock, and the measurement efficiency and the measurement precision directly influence the efficiency and the quality of docking of the total section, so that the manufacturing capacity and the turnaround cycle of the dock area are directly influenced.
The conventional dock area docking position measurement is mainly based on a total station for three-dimensional measurement, but the total station is usually used for serial measurement due to the limitation of the characteristics of instruments of the total station, and needs to be transferred to a station for measurement for a large ship block for many times, so that the measurement accuracy, the measurement efficiency, the timeliness of data feedback, the interactivity with digital attitude adjusting equipment and other aspects are not enough, the requirements of regionalization and modular construction cannot be met, the dock period and the utilization efficiency of key equipment are directly influenced, and the potential energy of the key equipment cannot be effectively released.
Therefore, how to provide a monitoring system for measuring and positioning a dock area to achieve high-precision and high-efficiency acquisition and feedback of real-time position data in a dock area ship moving process and improve the building quality and the building efficiency of a dock area ship becomes a problem to be solved in the field.
Disclosure of Invention
The application aims to provide a monitoring system for measuring and positioning a dock area, so that the problem of automatic character measuring and positioning in the existing dock area ship moving process is solved, and further the building quality and the building efficiency of ships in the dock area are improved.
In a first aspect, an embodiment of the present application provides a monitoring system for dock area measurement positioning, which includes:
the standard unit is arranged on a dock wall or a dock bottom of the dock, and determines an actual three-dimensional coordinate system of a dock area by measuring a relative position relation between a theoretical position of the standard unit and an actual position of the standard unit after measurement during dock design and combining a theoretical three-dimensional coordinate system during dock design and a theoretical coordinate value of the standard unit in the theoretical three-dimensional coordinate system.
And the measuring unit is fixed around the detected object in the dock and can measure the relative position relation with the reference unit and combine with the actual three-dimensional coordinate system to determine the actual coordinates of the measuring unit.
The receiving unit is fixed on the surface of the detected object and used for receiving the measuring signal from the measuring unit in real time and obtaining a response value;
and the control unit is in communication connection with the receiving unit, receives the response value, calculates the relative position relationship between the receiving unit and the measuring unit, combines the actual coordinate of the measuring unit to obtain the actual coordinate of the detected object, further calculates the deviation value of the actual coordinate and the preset coordinate of the detected object, and corrects the position of the detected object through the deviation value to enable the detected object to move along the preset track.
In a possible embodiment, at least 2 receiving units fixed at different positions are included, and at least 2 measuring units corresponding to the receiving units.
In a possible embodiment, each measuring unit comprises 2 measuring and monitoring devices, each receiving unit comprises a plurality of receiving devices, the measuring signal parameter setting of each measuring and monitoring device is different, and the receiving devices distinguish the measuring and monitoring devices according to the received measuring signals.
In a possible embodiment, the receiving unit is able to respond in turn to the measurement signals of the respective measuring units that are traversed while the object to be detected is moving.
In one possible embodiment, the number of reference units is plural, each reference unit includes one main base point and a plurality of sub base points, and each sub base point is arranged at intervals of 6m around the main base point.
In one possible implementation, the response values include a reception time, a reception angle.
In a possible embodiment, the control unit is also in communication with the measurement unit to control the measurement unit to transmit or switch off the measurement signal.
In a possible embodiment, the control unit is in communication connection with the measuring unit and the receiving unit in a wired or wireless manner.
In a possible embodiment, the control unit is also in communication with the measuring unit for controlling the measuring unit to emit or switch off the measuring signal
In a possible embodiment, the measuring unit is arranged in or outside the dock.
In a possible embodiment, the measuring unit further comprises a guard, the main device of the measuring unit being arranged within the guard.
Compared with the prior art, the beneficial effect of this application:
the application provides a monitoring system for dock area measurement positioning, which comprises a reference unit, a measurement unit, a receiving unit and a control unit. The reference unit is arranged on a dock wall or a dock bottom of the dock, the control unit establishes an actual three-dimensional coordinate system of a dock area according to the reference unit, and the measuring unit obtains position information of the measuring unit in the dock through the measuring reference unit. The measuring unit is arranged around the ship block and sends measuring signals to the moving ship block in real time, and the receiving unit is arranged on the ship block and generates response values by receiving the measuring signals and feeds the response values back to the control unit to determine the real-time position information of the ship block. The monitoring system can realize high-precision and high-efficiency acquisition and feedback of real-time position data of the ship blocks in the moving process of the ship blocks in the dock area, and improves the construction quality and the construction efficiency of ships in the dock area.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural relationship diagram of a monitoring system for measuring and positioning a dock area according to an embodiment of the application;
fig. 2 is a schematic diagram of a monitoring system arrangement for measuring and locating a dock area according to an embodiment of the application.
Illustration of the drawings:
10, docking; 100 dock walls; 110 ship blocks; 20 reference cells; 30 a measuring unit; 310 a first measurement unit; 320 a second measuring unit; 330 a third measuring unit; 340 a fourth measuring unit; 40 a receiving unit; 410 a first receiving unit; 420 a second receiving unit; 430 a third receiving unit; 440 a fourth receiving unit; 50 a control unit.
Detailed Description
The following detailed description of embodiments of the present application will be provided in conjunction with the accompanying drawings, which are included to illustrate and not to limit the present application.
In the description of the present application, it is to be noted that the terms "upper", "lower", "etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally laid out when products of the application are used, and are only used for convenience in describing the application and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation and be operated, and thus, cannot be construed as limiting the application.
In the description of the present application, it should be noted that, unless explicitly stated or limited otherwise, the term "connected" is to be interpreted broadly, e.g. as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
According to an aspect of the present application, there is provided a monitoring system for dock area measurement positioning, which, referring to fig. 1-2, comprises a reference unit 20, a measurement unit 30, a receiving unit 40 and a control unit 50.
The reference unit 20 is disposed on a dock wall 100 or a dock bottom of the dock 10, and is used for establishing a three-dimensional coordinate system and positioning coordinates of an object to be detected in the dock 10.
The measuring unit 30 is fixed around the detected object in the dock 10 and is used for monitoring the position and the state of the detected object in real time.
And a receiving unit 40 fixed on the surface of the detected object, corresponding to the position of the measuring unit 30, for receiving the measuring signal from the measuring unit 30 to feed back the position information of the detected object.
And the control unit 50 is used for receiving the measurement or detection information of the measuring unit 30 and the receiving unit 40, converting the information into the coordinates of the measuring unit 30 and the receiving unit 40, and analyzing and confirming the coordinate positioning of the detected object in the range of the dock 10. In the embodiment of the present application, the object to be detected refers to the hull block 110 carried in the dock 10.
In one embodiment, referring to fig. 2, the reference units 20 may be provided in a plurality, and are formed by base points uniformly distributed on the dock wall 100 or the dock bottom of the dock 10 at equal intervals. Each of the reference units 20 includes one main base point and a plurality of sub base points. Specifically, the main base points of the adjacent reference units 20 are preferably arranged at 60m intervals, and the sub base points of each reference unit 20 are preferably arranged at 6m intervals around the main base point.
The actual three-dimensional coordinate system of the dock 10 area is determined by measuring the relative positional relationship between the theoretical position of the reference unit 20 when the dock 10 is designed and the actual position of the measured reference unit 20, and combining the theoretical three-dimensional coordinate system when the dock 10 is designed and the coordinate values of the reference unit 20 in the theoretical three-dimensional coordinate system.
Preferably, the total station is used to measure the theoretical position of the reference unit 20 to calculate the actual position of the reference unit 20, and the control unit 50 determines the actual three-dimensional coordinate system of the area of the dock 10 by combining the measured actual position and the theoretical position of the reference unit 20.
In one embodiment, referring to fig. 2, the measurement unit 30 first determines the actual coordinates of the measurement unit 30 itself by measuring the relative positional relationship with the reference unit 20 in conjunction with the actual three-dimensional coordinate system. Then, the measuring unit 30 transmits a measurement signal to the ship blocks 110 in the dock 10 by means of electromagnetic waves such as laser light to detect the relative positional relationship between the measuring unit 30 and the ship blocks 110.
Preferably, at least two measuring units 30 are included in the dock 10, with each measuring unit 30 including two measurement monitoring devices. When two measurement monitoring devices perform coordinate positioning by measuring the same reference unit 20, the positional relationship between the two measurement monitoring devices can be determined. When two measurement monitoring devices with known position relation emit laser measurement signals to a specific position at the same time, the position relation between the position and the measurement monitoring devices can be confirmed, and therefore the coordinates of the position are obtained. The measuring unit 30 further includes a guard device inside which the measuring and monitoring equipment is placed and fixedly supported at a predetermined measuring height by a dedicated bracket to meet the measuring requirements for the hull block 110.
Preferably, the two measurement monitoring devices of each measurement unit 30 are set to different laser parameters to distinguish between measurement signals when the two measurement monitoring devices measure the ship blocks 110 within the dock 10.
In the present embodiment, the first measuring unit 310, the second measuring unit 320, the third measuring unit 330, and the fourth measuring unit 340 are disposed opposite to each other on both sides of the hull blocks 110 in the dock 10. The provision of a plurality of measuring units 30 can increase the measuring range of the hull blocks 110 while moving within the dock 10, and the relative arrangement of the measuring units on both sides of the hull blocks 110 can monitor whether the hull blocks 110 are deformed while improving the accuracy of the measurement.
Preferably, the measurement unit 30 may also be located outside of the dock 10 to account for positioning monitoring of the large ship block 110.
In one embodiment, referring to fig. 2, the receiving unit 40 is configured to receive the measurement signal from the measuring unit 30 in real time and generate a response value. When the receiving unit 40 receives the measurement signal from the measuring unit 30, the response value is the receiving time and the receiving angle of the laser beam received by the measuring unit 30. When the receiving unit 40 leaves the measuring range of the measuring unit 30, no response value is fed back, and the ship block 110 enters a measured blind spot region.
The plurality of receiving units 40 are fixed at different positions of the ship block 110, and the specific positions and the number are flexibly configured according to the size and the measurement requirements of the ship block 110. For example, in the embodiment of the present application, the number of the receiving units 40 corresponds to the number of the measuring units 30, and the first receiving unit 410, the second receiving unit 420, the third receiving unit 430, and the fourth receiving unit 440 are oppositely disposed on the surfaces of both sides of the ship block 110, and correspond to the first measuring unit 310, the second measuring unit 320, the third measuring unit 330, and the fourth measuring unit 340 in this order.
As the ship blocks 110 in the dock 10 move, the receiving units 40 can respond to the measurement signals of the respective measurement units 30 that are routed through in sequence and obtain response values, i.e., after the first receiving unit 410 and the third receiving unit 430 leave the measurement ranges of the first measurement unit 310 and the third measurement unit 330 as the ship blocks 110 move, the second receiving unit 420 and the fourth receiving unit 440 can still respond when entering the measurement ranges of the first measurement unit 310 and the third measurement unit 330.
Preferably, each receiving unit 40 includes a plurality of receiving devices. The arrangement of a plurality of receiving devices on the same receiving unit 40 is beneficial to accurately positioning the moving direction and the moving position of the ship block 110, and can also improve the monitoring of the local deformation condition of the ship block 110. Specifically, the number of receiving devices per receiving unit 40 is preferably 6.
In one embodiment, referring to fig. 2, the control unit 50 is communicatively connected to the receiving unit 40, and the connection manner includes a wired or wireless manner, such as a local area network, bluetooth, and the like, and the specific connection manner is not limited herein. The control unit 50 receives the response values to calculate the relative position relationship between the receiving unit 40 and the measuring unit 30, and combines the actual coordinates of the measuring unit 30 to obtain the actual coordinates of the hull blocks 110 in the dock 10.
Preferably, the control unit 50 is further configured to calculate a deviation value between the actual coordinates and the preset coordinates of the ship block 110, and correct the position of the detected object to move along the preset trajectory by the deviation value.
Preferably, the control unit 50 is also in communication with the measurement unit 30 to control the measurement unit 30 to transmit or turn off the measurement signal.
From the above technical solutions, the present application provides a monitoring system for dock area measurement positioning, which includes a reference unit 20, a measurement unit 30, a receiving unit 40 and a control unit 50. The reference unit 20 is disposed on the dock wall 100 or the dock bottom of the dock 10, the control unit 50 establishes an actual three-dimensional coordinate system of the region of the dock 10 according to the reference unit 20, and the measurement unit 30 acquires position information of the reference unit 20 in the dock 10 through measurement. The measuring unit 30 is disposed around the hull block and transmits a measuring signal to the moving hull block in real time, and the receiving unit 40 is disposed on the hull block, generates a response value by receiving the measuring signal, and feeds it back to the control unit 50 to determine real-time position information of the hull block. The monitoring system can realize high-precision and high-efficiency acquisition and feedback of real-time position data of the ship blocks in the moving process of the ship blocks in the area of the dock 10, and improves the construction quality and the construction efficiency of ships in the area of the dock 10.
The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present application, and these modifications and substitutions should also be regarded as the protection scope of the present application.
Claims (9)
1. A monitoring system for dockside area survey positioning, comprising:
the standard unit is arranged on a dock wall or a dock bottom of a dock, and determines an actual three-dimensional coordinate system of a dock area by measuring a relative position relation between a theoretical position of the standard unit and an actual position of the standard unit after measurement when the dock is designed and combining a theoretical three-dimensional coordinate system when the dock is designed and a theoretical coordinate value of the standard unit in the theoretical three-dimensional coordinate system;
the measuring unit is fixed around an object to be detected in a dock, can measure the relative position relation with the reference unit and is combined with the actual three-dimensional coordinate system to determine the actual coordinates of the measuring unit, and comprises 2 measuring and monitoring devices, and the parameter setting of a measuring signal of each measuring and monitoring device is different;
the receiving unit is fixed on the surface of the detected object and used for receiving the measuring signals from the measuring unit in real time and obtaining response values, the receiving unit comprises a plurality of receiving devices, and the receiving devices distinguish the measuring and monitoring devices according to the received measuring signals;
and the control unit is in communication connection with the receiving unit, receives the response value, calculates the relative position relationship between the receiving unit and the measuring unit, obtains the actual coordinate of the detected object by combining the actual coordinate of the measuring unit, further calculates the deviation value of the actual coordinate and the preset coordinate of the detected object, and corrects the position of the detected object through the deviation value to enable the detected object to move along the preset track.
2. A monitoring system according to claim 1, comprising at least 2 receiving units fixed at different locations, and at least 2 measuring units corresponding to the receiving units.
3. A monitoring system according to claim 1, characterised in that the receiving unit is able to respond in turn to the measurement signals of the respective measuring units that are routed when the object to be detected is moving.
4. The monitoring system according to claim 1, wherein the number of the reference units is plural, each of the reference units includes one main base point and a plurality of sub base points, and each of the sub base points is arranged around the main base point at intervals of 6 m.
5. The monitoring system of claim 1, wherein the response value includes a reception time, a reception angle.
6. The monitoring system according to claim 1, wherein the control unit is further communicatively connected to the measurement unit for controlling the measurement unit to transmit or turn off measurement signals.
7. The monitoring system of claim 6, wherein the control unit is in communication with the measurement unit and the receiving unit via wires or wirelessly.
8. A monitoring system according to claim 1, wherein the measuring unit is provided in or outside the dock.
9. A monitoring system according to claim 1, wherein the measuring unit further comprises a guard, the main device of the measuring unit being arranged within the guard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210306516.3A CN114834609B (en) | 2022-03-25 | 2022-03-25 | Monitoring system for dock area measurement positioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210306516.3A CN114834609B (en) | 2022-03-25 | 2022-03-25 | Monitoring system for dock area measurement positioning |
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| CN114834609A CN114834609A (en) | 2022-08-02 |
| CN114834609B true CN114834609B (en) | 2023-04-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115675784B (en) * | 2022-10-28 | 2023-05-26 | 天津大学 | Ship block docking system and docking method based on digital measuring field |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003114105A (en) * | 2001-10-04 | 2003-04-18 | Nkk Corp | Construction method for large structure |
| KR100496137B1 (en) * | 2002-04-23 | 2005-06-20 | 삼성중공업 주식회사 | Shipbuilding method on floating dock |
| KR101531488B1 (en) * | 2012-04-05 | 2015-06-30 | 삼성중공업 주식회사 | Offshore Floating Dock Erection Accuracy Management System |
| KR20150049238A (en) * | 2013-10-29 | 2015-05-08 | 현대중공업 주식회사 | Position setting system of vessel supporter in dock by laser scanning and method thereof |
| CN104608876B (en) * | 2015-01-20 | 2017-12-15 | 江苏海事职业技术学院 | A kind of method of construction for digitizing dock |
| CN106871880B (en) * | 2017-01-05 | 2019-06-14 | 迈瑞菲（北京）科技发展有限公司 | The method that rib position, half-breadth and height carry out ship closure is calculated using three-dimensional coordinate |
| CN107065878A (en) * | 2017-05-12 | 2017-08-18 | 大连海事大学 | A kind of automatic docking system of ship and method |
| CN111924066B (en) * | 2020-07-10 | 2021-08-06 | 江门市南洋船舶工程有限公司 | Shipbuilding method capable of being carried quickly and one-time ship moving positioning method for ship |
| CN112697051B (en) * | 2020-12-17 | 2023-03-24 | 中国船舶集团青岛北海造船有限公司 | Floating dock positioning measurement system and measurement method |
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