CN115009461A - Obstacle-crossing type remote control inclination test device and method - Google Patents
Obstacle-crossing type remote control inclination test device and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B63B71/00—Designing vessels; Predicting their performance
Abstract
The invention discloses an obstacle-crossing type remote control inclination test device and method. The main measurement unit comprises a first test water tank and a second test water tank which are arranged on a deck or a cabin bottom plate of a test ship, the first test water tank and the second test water tank are communicated with each other through a communication hose, a flow sensor is installed on the communication hose, and an angle sensor is arranged between the first test water tank and the second test water tank. And the integrated processing unit is internally provided with a processor and a memory. And the capacity measuring unit comprises a water container and a weight sensor arranged in the water container, the capacity can be obtained by measuring the weight after the water container is filled with water, and the weight sensor is connected with the integrated processing unit through signals. The invention can calculate and process the test data in real time to obtain the deviation checking result and the ship initial stability coefficient under the test state, thereby improving the efficiency of the whole test and the accuracy of the test result.
Description
Technical Field
The invention relates to the technical field of ship tests, in particular to an obstacle-crossing type remote control inclination test device and method.
Background
The inclination test is an effective way to determine the weight center of gravity of the empty ship. At present, the ship inclination test is developed domestically mainly according to the ship industry standard or the ship inspection technical rule of the people's republic of China, and the test equipment and devices specified in the technical standard are classical traditional objects which are used for many years and comprise a movable weight, a U-shaped pipe or a pendulum bob.
The adoption of the devices to carry out the inclination test on the small-scale ship without the obstacles such as deck buildings and the like in the opened main deck has several problems to be solved: firstly, the stability of a small-scale ship is poor, a tester needs to board the ship to carry out a test, and when moving weight and reading test data, the tester needs to move from one board to another board, so that the test ship is easy to overturn in the process; secondly, in the test process, relevant test data such as the moving distance or the mass of the moving weight and the ship inclination angle are required to be acquired, manual reading is adopted at present, synchronous reading is difficult to achieve, large artificial deviation can exist, the moving distance or the mass deviation of the moving weight cannot be ignored for small-scale ships, subsequent calculation errors are easy to cause, and meanwhile, when a tester observes the U-shaped pipe or pendulum scale, small-amplitude change of the position of the tester even if only the body posture changes, the small-scale ship inclination angle can be caused to be large; thirdly, the test result is obtained by manual calculation after the test is finished and cannot be obtained immediately, and the calculation result is likely to have the condition that some test data points are not qualified and the test needs to be completely or partially reworked, which brings huge waste of manpower and material resources and increase of time cost. Therefore, how to provide an obstacle-crossing remote control tilt test device and method is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide an obstacle-crossing type remote control inclination test device and method, which can calculate and process test data in real time to obtain a deviation check result and a ship initial stability coefficient in a test state, and improve the efficiency of an overall test and the accuracy of the test result.
The obstacle-crossing remote control inclination test device comprises a main measuring unit, an integrated processing unit, a capacity measuring unit and a remote controller, wherein the main measuring unit is used for measuring the capacity of the main measuring unit;
the main measurement unit comprises a first test water tank and a second test water tank which are arranged on a deck or a cabin bottom plate of a test ship, the first test water tank and the second test water tank are communicated with each other through a communication hose, a flow sensor is arranged on the communication hose, and an angle sensor is arranged between the first test water tank and the second test water tank;
the integrated processing unit is internally provided with a processor and a memory, is in signal connection with the remote control device and is used for executing instructions sent by the remote control device;
and the capacity measuring unit comprises a water container and a weight sensor arranged in the water container, the capacity can be obtained by measuring the weight after the water container is filled with water, and the weight sensor is connected with the integrated processing unit through signals.
Preferably, a first water pump is preset in the first test water tank, a first communication hose is connected to a water pumping end of the first water pump, the other end of the first communication hose is communicated with the second test water tank, and a first flow sensor is mounted on the first communication hose through a flange.
Preferably, a second water pump is preset in the second test water tank, a second communicating hose is connected to a water pumping end of the second water pump, the other end of the second communicating hose is communicated with the first test water tank, and a second flow sensor is mounted on the second communicating hose through a flange.
Preferably, the remote control device comprises a touch display screen, a shortcut key and an external interface.
Preferably, the angle sensor is in signal connection with an integrated processing unit.
Preferably, the centers of the inner bottoms of the first test water tank and the second test water tank are respectively provided with a first liquid level sensor and a second liquid level sensor, and the first liquid level sensor and the second liquid level sensor are in signal connection with the integrated processing unit.
Preferably, the first test water tank and the second test water tank are rectangular containers, cylindrical containers or containers with regular shapes and vertical symmetrical central axes.
Preferably, the method comprises the following steps:
s1, sending a parameter setting instruction through a remote control device, setting the maximum volume of a water container in a volume determination unit, filling the water container with test water, sending a volume weight reading instruction to a weight sensor in the water container through the remote control device, and determining the volume weight of the water in the water container;
s2, respectively placing a first test water tank and a second test water tank on a test ship, wherein the connecting line direction of the centers of the first test water tank and the second test water tank is parallel to the ship inclination test direction, measuring the horizontal distance between the centers of the first test water tank and the second test water tank, and sending a parameter setting instruction through a remote control device to set the parameter;
s3, filling test water into the first test water tank and the second test water tank, executing a remote control device to send a measurement zero-resetting instruction, and enabling the readings of the angle sensor, the first flow sensor, the second flow sensor, the first liquid level sensor and the second liquid level sensor to be zero-resetting;
s4, sending a first water carrying instruction or a second water carrying instruction through the remote control device, carrying the test water in the test water tank from one side of the ship to the other side of the ship, and executing a first stop instruction or a second stop instruction of the remote control device when the test water is finished;
s5, after the ship is stable, executing a remote control device to read a measurement instruction, reading the readings of the current angle sensor, the first flow sensor, the second flow sensor, the first liquid level sensor and the second liquid level sensor, and storing the readings;
s6, repeating the test steps from S4 to S5 until reaching the required times of the test;
s7, executing a remote control device checking and calculating instruction, generating a deviation checking graph, deviation checking data and a ship initial stability coefficient in a test state, and storing;
s8, outputting the test data to IT equipment connected with the device;
and S9, calculating the weight and gravity center of the empty ship according to the initial stability coefficient of the ship in the test state and by combining other data of the test ship.
Preferably, the parameter setting instruction: setting the horizontal distance between the centers of the first test water tank and the second test water tank, the maximum volume of the volume weight measuring unit and the reading times of the inclination angle;
reading a volume weight instruction: reading the mass reading of a weight sensor in the capacity measuring unit, calculating the volume weight of water in the output water container, and storing the result in a main controller in the integrated processing unit;
a water carrying instruction: starting a first water pump, and transporting water from a first test water tank to a second test water tank, wherein a first water transporting instruction and a second water transporting instruction are mutually exclusive;
and II, water carrying instruction: starting a second water pump, and transporting water from the second test water tank to the first test water tank;
reading a measurement instruction: reading the readings of the angle sensor, reading a plurality of values according to the times set by the parameter configuration instruction, distinguishing positive and negative by taking the return-to-zero state as a reference, reading the readings of the first flow sensor and the second flow sensor, reading the readings of the first liquid level sensor and the second liquid level sensor, taking the return-to-zero state as a reference, and forming a group of measurement numbers by taking the water amount in the water tank increasing to be positive and vice versa.
Preferably, the S7 further includes the following steps:
s71, processing the inclination angle reading, the first liquid level sensor reading and the second liquid level sensor reading in each group of measurement, and taking the average value as the inclination angle reading alpha of the group i Reading V of the first flow sensor i1 And reading V of the first flow sensor i2 ；
S72, calculating the roll moment M corresponding to each group of measured values i The unit t · m:
M i ＝ρ[l(V i1 -V i2 )+tanα i (V i1 -V k2 )(h i2 -h i1 )/2]；
in the formula:
l is the horizontal distance, m, between the centers of the first test water tank and the second test water tank and is the same as the parameter set in the parameter configuration instruction;
rho-volume weight of water, t/m 3 Determined by executing a read volume-weighted instruction;
V i1 -reading of the first flow sensor in the ith set of measurements, m 3 ；
V i2 -reading of the second flow sensor in the ith set of measurements, m 3 ；
h i1 -the reading of the first level sensor in the ith set of measurements, m;
h i2 -the reading of the second liquid level sensor in the ith set of measurements, m;
s73, at an inclination angle alpha i Abscissa, moment of roll M i Obtaining a group of data points for the ordinate, and performing linear regression on the group of data points according to a least square method to obtain an inspection datum line, wherein the function expression of the inspection datum line is as follows:
M i ＝c 0 +c 1 tanα i ；
in the formula:
c 0 -least squares linear regression coefficients;
c 1 -least squares linear regression coefficients;
s74, generating a deviation checking graph, and outputting a deviation value delta of the abscissa of each data point and the checking reference line, wherein the deviation value delta comprises an absolute deviation and a relative deviation;
s75, calculating the initial stability coefficient of the ship in the test state
The invention has the beneficial effects that:
the invention is suitable for small-scale ships without open main decks or with barriers such as deck buildings and the like, realizes remote control of leaving a ship in the test process, converts the moving weight from solid state into water, realizes obstacle-crossing remote control automatic carrying, and can automatically read the measured data such as ship inclination angle, so that the personnel is not required to go on the ship for observation in the test, avoids the influence of artificial uncertainty factors, avoids the ship overturning risk possibly caused by the movement of the personnel on the ship, can calculate and process the test data in real time, obtains a deviation check result and a ship initial stability coefficient in the test state, and improves the efficiency of the whole test and the accuracy of the test result.
Drawings
In the drawings:
FIG. 1 is a schematic structural diagram of an obstacle-crossing remote tilt test apparatus and method according to the present invention;
FIG. 2 is a schematic diagram of deviation checking of data calculation processing in the obstacle-crossing remote control tilt test device and method according to the present invention;
fig. 3 is a schematic diagram of deviation checking of data calculation processing in the obstacle-crossing remote control tilt test apparatus and method according to the present invention.
In the figure: 1-a first test water tank, 2-a second test water tank, 3-a first water pump, 4-a second water pump, 5-a first communicating hose, 6-a second communicating hose, 7-a first flow sensor, 8-a second flow sensor, 9-an integrated processing unit, 10-an angle sensor, 11-a capacity measuring unit, 12-a weight sensor and 13-a remote control device.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. Referring to fig. 1, the obstacle crossing type remote control inclination test device comprises a main measurement unit, and comprises a first test water tank and a second test water tank which are arranged on a deck or a bottom board of a test ship, wherein the first test water tank and the second test water tank are communicated with each other through a communication hose, a flow sensor is arranged on the communication hose, and an angle sensor is arranged between the first test water tank and the second test water tank.
The integrated processing unit is internally provided with a processor and a memory, is in signal connection with the remote control device and is used for executing instructions sent by the remote control device;
and the capacity measuring unit comprises a water container and a weight sensor arranged in the water container, the capacity can be obtained by measuring the weight after the water container is filled with water, and the weight sensor is connected with the integrated processing unit through signals.
A first water pump is preset in the first test water tank, a water pumping end of the first water pump is connected with and provided with a first communication hose, the other end of the first communication hose is communicated with the second test water tank, and a first flow sensor is arranged on the first communication hose through a flange.
A second water pump is preset in the second test water tank, a water pumping end of the second water pump is connected with a second communicating hose, the other end of the second communicating hose is communicated with the first test water tank, and a second flow sensor is arranged on the second communicating hose through a flange.
The remote control device comprises a touch display screen, a quick button and an external interface, is in butt joint with the integrated processing unit, controls the whole test process, and can send out commands of parameter configuration, reading volume weight, returning zero measured data, carrying water for one or two numbers, stopping the one or two numbers, reading measured data and checking and calculating.
The angle sensor is in signal connection with the integrated processing unit.
The signal connection may be a wired signal connection or a wireless signal connection.
First level sensor and second level sensor are installed respectively to first experimental water tank and second experimental water tank inner bottom center department, first level sensor and second level sensor all with integrated processing unit signal connection.
The first test water tank and the second test water tank are rectangular containers, cylindrical containers or containers with regular shapes and vertical symmetrical central shafts.
The obstacle-crossing type remote control inclination test device and method comprises the following steps:
s1, sending a parameter setting instruction through a remote control device, setting the maximum volume of a water dissolver in a volume determination unit, filling the water dissolver with test water, sending a reading volume weight instruction to a weight sensor in the water container through the remote control device, and determining the volume weight of the water in the water dissolver;
s2, respectively placing a first test water tank and a second test water tank on a test ship, wherein the connecting line direction of the centers of the first test water tank and the second test water tank is parallel to the ship inclination test direction, measuring the horizontal distance between the centers of the first test water tank and the second test water tank, and sending a parameter setting instruction through a remote control device to set the parameter;
s3, testing water is filled in the first testing water tank and the second testing water tank, a remote control device is executed to send a measurement zero-resetting instruction, and the readings of the inclination angle sensor, the first flow sensor, the second flow sensor, the first liquid level sensor and the second liquid level sensor are reset to zero;
s4, sending a first water carrying instruction or a second water carrying instruction through the remote control device, carrying the test water in the test water tank from one side of the ship to the other side of the ship, and executing a first stop instruction or a second stop instruction of the remote control device when the test water is finished;
s5, after the ship is stable, executing a remote control device to read a measurement instruction, reading the readings of the current angle sensor, the first flow sensor, the second flow sensor, the first liquid level sensor and the second liquid level sensor, and storing the readings;
s6, repeating the test steps from S4 to S5 until reaching the required times of the test;
s7, executing a remote control device checking and calculating instruction, generating a deviation checking graph, deviation checking data and a ship initial stability coefficient in a test state, and storing;
s8, outputting the test data to IT equipment connected with the device;
and S9, calculating the weight and gravity center of the empty ship according to the initial stability coefficient of the ship in the test state and by combining other data of the test ship.
A parameter setting instruction: setting the horizontal distance between the centers of the first test water tank and the second test water tank, the maximum volume of the volume weight measuring unit and the reading times;
reading a volume weight instruction: reading the mass reading of a weight sensor in the capacity measuring unit, calculating the volume weight of water in the output water container, and storing the result in a main controller in the integrated processing unit;
a water carrying instruction: starting a first water pump, and transporting water from a first test water tank to a second test water tank, wherein a first water transporting instruction and a second water transporting instruction are mutually exclusive;
and II, water carrying instruction: starting a second water pump, and transporting water from the second test water tank to the first test water tank;
reading a measurement instruction: reading readings of the angle sensor (reading a plurality of values according to the times set by the parameter configuration instruction), distinguishing positive and negative by taking the return-to-zero state as a reference, reading readings of the first flow sensor and the second flow sensor, reading readings of the first liquid level sensor and the second liquid level sensor (reading a plurality of values according to the times set by the parameter configuration instruction), and forming a group of measurement numbers by taking the return-to-zero state as the reference, wherein when the water quantity in the water tank is increased, the readings are positive, and vice versa.
The S7 further includes the following method steps:
s71, processing the inclination angle reading, the first liquid level sensor reading and the second liquid level sensor reading in each group of measurement, and taking the average value as the inclination angle reading alpha of the group i Reading V of the first flow sensor i1 And reading V of the first flow sensor i2 ；
S72, calculating the roll moment M corresponding to each group of measured values i The unit t · m:
M i ＝ρ[l(V i1 -V i2 )+tanα i (V i1 -V k2 )(h i2 -h i1 )/2]；
in the formula:
l is the horizontal distance, m, between the centers of the first test water tank and the second test water tank and is the same as the parameter set in the parameter configuration instruction;
rho-volume weight of water, t/m 3 Determined by executing a read volume-weighted instruction;
V i1 -reading of the first flow sensor in the ith set of measurements, m 3 ；
V i2 -reading of the second flow sensor in the ith set of measurements, m 3 ；
h i1 -the reading of the first level sensor in the ith set of measurements, m;
h i2 -the reading of the second liquid level sensor in the ith set of measurements, m;
referring to FIG. 2, 1-8 are the serial numbers of the measurement sets; tan alpha is a dip tangent value; m is a roll moment; δ is the abscissa deviation of the data point from the deviation checking reference line.
S73, at an inclination angle alpha i Abscissa, moment of roll M i Obtaining a group of data points for the ordinate, performing linear regression on the group of data points according to a least square method to obtain an inspection reference line,the function expression is as follows:
M i ＝c 0 +c 1 tanα i ；
in the formula:
c 0 -least squares linear regression coefficients;
c 1 -least squares linear regression coefficients;
s74, generating a deviation checking graph, and outputting a deviation value delta of the abscissa of each data point and the checking reference line, wherein the deviation value delta comprises an absolute deviation and a relative deviation;
s75, calculating the initial stability coefficient of the ship in the test state
Example (b):
the obstacle crossing type remote control inclination test device and the method are used for carrying out an experiment on a certain ship:
the main elements of the ship are set through the command of 'parameter setting' of a remote controller: the length L is 6.470m, the width B is 2.550m, and the depth D is 1.535 m.
The volume weight of the test water was measured by a volume weight measuring unit. The maximum volume of the unit for measuring volume weight is 0.005m 3 . The setting is performed by the remote controller instructing "parameter setting". Full of test water, and executing an instruction 'read volume weight' through a remote controller: the mass read by the weight sensor is 5.001kg, and the volume weight obtained by automatic conversion is 1.000t/m 3 。
The first test water tank is arranged on the port side, the second test water tank is arranged on the starboard side, the horizontal distance between the centers of the first test water tank and the second test water tank is measured to be 2.100m, the first test water tank and the second test water tank are the power moving arm for moving the weight, and the parameter setting is set through the instruction of a remote controller.
And executing a remote controller instruction of 'parameter setting', and setting the reading number of each group of measurement to be 10.
The first test water tank and the second test water tank are respectively filled with 0.04m 3 The test water is used for enabling the ship to float freely until the ship is stable.
And executing a remote controller command of 'measuring number return to zero' to return the readings of the flow sensor, the liquid level sensor and the inclination angle sensor to zero.
According to the rule of the inclination test outline, the test water in the water tank is moved for 8 times to generate 8 different inclination moments, and corresponding 8 groups of measured values are read:
1 st movement:
executing a remote controller instruction of 'carrying water for one' to carry the test water from the first test water tank to the second test water tank;
when the first flow sensor number is 0.02m 3 Executing a remote controller command 'stop No.';
and after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor.
2, movement:
executing a remote controller instruction of 'carrying water for one' and continuously carrying the test water from the first test water tank to the second test water tank;
when the first flow sensor number is 0.03m 3 Executing a remote controller command 'stop No.';
after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor;
movement 3:
executing a remote controller instruction of 'carrying water for the second time', and reversely carrying the test water from the second test water tank to the first test water tank;
when the second flow sensor number is 0.02m 3 Executing a remote controller command of stopping for the second time;
after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor;
4, movement:
executing a remote controller instruction of 'carrying water for the second time', and continuously carrying the test water from the second test water tank to the first test water tank;
when the second flow sensor number is 0.03m 3 Executing a remote controller command of stopping for the second time;
after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor;
movement 5:
executing a remote controller instruction of 'carrying water for the second time', and continuously carrying the test water from the second test water tank to the first test water tank;
when the second flow sensor number is 0.05m 3 Executing a remote controller command of stopping for the second time;
after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor;
the 6 th movement:
executing a remote controller instruction of 'carrying water for the second time', and continuously carrying the test water from the second test water tank to the first test water tank;
when the second flow sensor number is 0.06m 3 Executing a remote controller command of stopping for the second time;
after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor;
7 th movement:
executing a remote controller instruction of 'carrying water for one', and reversely carrying the test water from the first test water tank to the second test water tank;
when the first flow sensor number is 0.05m 3 Executing a remote controller command 'stop No.';
after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor;
the 8 th movement:
executing a remote controller instruction of 'carrying water for one' and continuously carrying the test water from the first test water tank to the second test water tank;
when the first flow sensor number is 0.06m 3 When the remote controller is started, executing a remote controller command of stopping;
and after the ship is stable, executing a remote controller instruction to read the measured data, and acquiring the readings of the inclination angle sensor, the flow sensor and the liquid level sensor.
The 8 sets of measurements from 8 moves are shown in table 1 below:
TABLE 1
And executing a remote controller instruction 'check calculation' to generate a deviation check chart, deviation check data and a ship initial stability coefficient in a test state, wherein the test data after calculation processing is shown in the following table 2, and the deviation check chart is shown in fig. 3.
TABLE 2
The embodiment can show that the invention is suitable for small-scale ships without open main decks or with deck buildings and other obstacles, realizes the remote control of the test process from ship leaving, converts the moving weight from solid state into water, realizes obstacle crossing transportation, and can automatically read the measured data such as ship inclination angle, so that the test does not need personnel to go on the ship for observation, avoids the influence of artificial uncertainty factors, avoids the ship overturning risk possibly caused by the movement of personnel on the ship, can calculate and process the test data in real time, obtains the deviation inspection result and the ship initial stability coefficient under the test state, and improves the efficiency of the whole test and the accuracy of the test result.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. An obstacle-crossing type remote control inclination test device is characterized by comprising
The main measurement unit comprises a first test water tank and a second test water tank which are arranged on a deck or a cabin bottom plate of a test ship, the first test water tank and the second test water tank are communicated with each other through a communication hose, a flow sensor is arranged on the communication hose, and an angle sensor is arranged between the first test water tank and the second test water tank;
the integrated processing unit is internally provided with a processor and a memory, is in signal connection with the remote control device and is used for executing instructions sent by the remote control device;
and the capacity measuring unit comprises a water container and a weight sensor arranged in the water container, the capacity can be obtained by measuring the weight after the water container is filled with water, and the weight sensor is connected with the integrated processing unit through signals.
2. The obstacle crossing type remote control inclination test device according to claim 1, wherein a first water pump is preset in the first test water tank, a first communication hose is connected and installed at a water pumping end of the first water pump, the other end of the first communication hose is communicated with the second test water tank, and a first flow sensor is installed on the first communication hose through a flange.
3. The obstacle crossing type remote control inclination test device according to claim 1, wherein a second water pump is preset in the second test water tank, a second communication hose is connected and installed at a water pumping end of the second water pump, the other end of the second communication hose is communicated with the first test water tank, and a second flow sensor is installed on the second communication hose through a flange.
4. The obstacle-crossing remote-controlled tilt test apparatus according to claim 1, wherein the remote control apparatus includes a touch display screen, a shortcut key, and an external interface.
5. The obstacle crossing remote tilt test apparatus of claim 1 wherein the angle sensor is in signal connection with an integrated processing unit.
6. The obstacle crossing type remote control inclination test device according to claim 1, wherein a first liquid level sensor and a second liquid level sensor are respectively installed at the centers of the inner bottoms of the first test water tank and the second test water tank, and the first liquid level sensor and the second liquid level sensor are in signal connection with an integrated processing unit.
7. The obstacle crossing type remote controlled inclination test apparatus according to claim 1, wherein said first and second test water tanks are rectangular containers, cylindrical containers or containers regularly shaped with a vertical center axis of symmetry.
8. A method of testing a remote tilt testing apparatus of the obstacle crossing type according to any of claims 1-7, characterized in that it comprises the following method steps:
s1, sending a parameter setting instruction through a remote control device, setting the maximum volume of a water dissolver in a volume determination unit, filling the water dissolver with test water, sending a reading volume weight instruction to a weight sensor in the water container through the remote control device, and determining the volume weight of the water in the water dissolver;
s2, respectively placing a first test water tank and a second test water tank on a test ship, wherein the connecting line direction of the centers of the first test water tank and the second test water tank is parallel to the ship inclination test direction, measuring the horizontal distance between the centers of the first test water tank and the second test water tank, and sending a parameter setting instruction through a remote control device to set the parameter;
s3, filling test water into the first test water tank and the second test water tank, executing a remote control device to send a measurement zero-resetting instruction, and enabling the readings of the angle sensor, the first flow sensor, the second flow sensor, the first liquid level sensor and the second liquid level sensor to be zero-resetting;
s4, sending a first water carrying instruction or a second water carrying instruction through the remote control device, carrying the test water in the test water tank from one side of the ship to the other side of the ship, and executing a first stop instruction or a second stop instruction of the remote control device when the test water is finished;
s5, after the ship is stable, executing a remote control device to read a measurement instruction, reading the readings of the current angle sensor, the first flow sensor, the second flow sensor, the first liquid level sensor and the second liquid level sensor, and storing the readings;
s6, repeating the test steps from S4 to S5 until reaching the required times of the test;
s7, executing a remote control device checking and calculating instruction, generating a deviation checking graph, deviation checking data and a ship initial stability coefficient in a test state, and storing;
s8, outputting the test data to IT equipment connected with the device;
and S9, calculating the weight and gravity center of the empty ship according to the initial stability coefficient of the ship in the test state and by combining other data of the test ship.
9. The obstacle crossing type remote tilt testing apparatus and method according to claim 8,
a parameter setting instruction: setting the horizontal distance between the centers of the first test water tank and the second test water tank, the maximum volume of the volume weight measuring unit and the reading times;
reading a volume weight instruction: reading the mass reading of a weight sensor in the capacity measuring unit, calculating the volume weight of water in the output water container, and storing the result in a main controller in the integrated processing unit;
a water moving instruction: starting a first water pump, and transporting water from a first test water tank to a second test water tank, wherein a first water transporting instruction and a second water transporting instruction are mutually exclusive;
and II, water carrying instruction: starting a second water pump, and transporting water from the second test water tank to the first test water tank;
reading a measurement instruction: reading readings of the angle sensor (reading a plurality of values according to the times set by the parameter configuration instruction), distinguishing positive and negative by taking the return-to-zero state as a reference, reading readings of the first flow sensor and the second flow sensor, reading readings of the first liquid level sensor and the second liquid level sensor (reading a plurality of values according to the times set by the parameter configuration instruction), and forming a group of measurement numbers by taking the return-to-zero state as the reference, wherein when the water quantity in the water tank is increased, the readings are positive, and vice versa.
10. The obstacle crossing remote tilt testing apparatus and method of claim 9, wherein said S7 further comprises the method steps of:
s71, processing the inclination angle reading, the first liquid level sensor reading and the second liquid level sensor reading in each group of measurement, and taking the average value as the inclination angle reading alpha of the group i Reading V of the first flow sensor i1 And reading V of the first flow sensor i2 ；
S72, calculating the roll moment M corresponding to each group of measured values i The unit t · m:
M i ＝ρ[l(V i1 -V i2 )+tanα i (V i1 -V k2 )(h i2 -h i1 )/2]；
in the formula:
l is the horizontal distance, m, between the centers of the first test water tank and the second test water tank and is the same as the parameter set in the parameter configuration instruction;
rho-volume weight of water, t/m 3 Determined by executing a read unit weight instruction;
V i1 -reading of the first flow sensor in the ith set of measurements, m 3 ；
V i2 -reading of the second flow sensor in the ith set of measurements, m 3 ；
h i1 -the reading of the first level sensor in the ith set of measurements, m;
h i2 -the reading of the second liquid level sensor in the ith set of measurements, m;
s73, at an inclination angle alpha i Abscissa, moment of roll M i Obtaining a group of data points for the ordinate, and performing linear regression on the group of data points according to a least square method to obtain an inspection datum line, wherein the function expression of the inspection datum line is as follows:
M i ＝c 0 +c 1 tanα i ；
in the formula:
c 0 -least squares linear regression coefficients;
c 1 -least squares linear regression coefficients;
s74, generating a deviation checking graph, and outputting a deviation value delta of the abscissa of each data point and the checking reference line, wherein the deviation value delta comprises an absolute deviation and a relative deviation;
s75, calculating the initial stability coefficient of the ship in the test state
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