CN118274910B - Monitoring system of silt-removing integrated device for harbor pool and wharf - Google Patents
Monitoring system of silt-removing integrated device for harbor pool and wharf Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000036541 health Effects 0.000 claims abstract description 12
- 239000010802 sludge Substances 0.000 claims description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 45
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- 239000013049 sediment Substances 0.000 description 8
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- 239000002283 diesel fuel Substances 0.000 description 1
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- 238000001914 filtration Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/287—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with jet nozzles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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Abstract
The invention provides a monitoring system of a silt-preventing and dredging integrated device for a harbor pool and a wharf, and belongs to the technical field of silt-preventing and dredging device monitoring. The method comprises the steps of monitoring the speed and the position of the silt prevention-dredging integrated device by using a spatial state measuring module of the silt prevention-dredging integrated device of a monitoring system and combining a first compensation algorithm, monitoring the depth of silt to be treated of the silt prevention-dredging integrated device by using a silt depth measuring module of the silt prevention-dredging integrated device of the monitoring system and combining a second compensation algorithm, so that the monitoring precision of the speed, the position and the silt depth is improved; the air flow load health state monitoring module of the anti-dredging integrated device is utilized to monitor the state of the nozzle of the anti-dredging integrated device, so that the 'after-dredging' effect of the anti-dredging integrated device is ensured. The invention improves the monitoring precision through a specific algorithm, monitors the state of the nozzle, and is beneficial to the stable and efficient operation of the anti-silt-dredging integrated device.
Description
Technical Field
The invention belongs to the technical field of monitoring of silt-preventing and dredging devices, and particularly relates to a monitoring system of a silt-preventing and dredging integrated device for a harbor pool and a wharf.
Background
Silt is sediment of sediment carried in water flow in water bodies such as river channels, lakes, oceans and the like, and is influenced by flow velocity of water flow and sedimentary topography. When the flow speed of the water flow is reduced or the water flow encounters an obstacle, the energy of the water flow is reduced, and sludge is easily generated. The flow speed and the direction of water flow can be changed by changing the sedimentary topography, so that sediment is deposited, for example, the original topography is objectively and obviously changed when the inner-gear harbor basin is excavated from-2 m to-7 m, the flow speed of tide is reduced in the tide-free period, and after the sediment falls into the inner-gear harbor basin, the sediment falling into the water is difficult to restart and output in the tide-free period due to the basin effect of the excavated harbor basin, so that the sediment is deposited continuously. The serious sediment accumulation not only increases the later operation cost of the harbor pool and the wharf, but also seriously affects the structural safety of the high-pile wharf and the berthing of the naval vessel. Therefore, there is a need to perform anti-dredging work to reduce the amount of sludge accumulation and the amount of sludge back in harbors and docks.
The existing silt prevention and dredging measures mainly start from two aspects of water flow velocity and sedimentary topography, firstly, the water flow velocity of a silt falling area is increased through engineering measures; secondly, a technology of restarting after silt is applied, compressed air is sprayed out through a nozzle of the silt prevention and dredging integrated device, and shearing force is generated by utilizing energy generated by the compressed air, so that silt particles are loosened and blown upwards to realize restarting and suspension of silt falling and silt, and finally, the suspended silt is taken away along with fluctuation tide, so that the basin effect of sedimentary topography on the silt is eliminated. However, if the water flow rate of the sediment dredging area is increased, new engineering is needed, the construction is laborious and laborious, and the conditions of the engineering position of the harbor basin and the wharf may cause that the new engineering cannot be carried out and implemented; the silt prevention and dredging integrated device is utilized to prevent and dredge silt, is convenient and efficient, is not limited by engineering positions and has relatively low cost, so that the silt disturbance is performed by adopting the silt prevention and dredging integrated device according to the technology of restarting after silt, which is a common silt prevention and dredging measure at present. However, in the prior art, the monitoring dimension of the anti-silt-dredging integrated device is single, and the monitoring precision is limited; therefore, it is necessary to provide a monitoring system for a harbor pool and wharf anti-siltation-dredging integrated device, which has a plurality of monitoring functions and good monitoring precision.
Disclosure of Invention
The invention aims to provide a monitoring system for a silt prevention and dredging integrated device of a harbor basin and a wharf, which utilizes a spatial state measuring module of the silt prevention and dredging integrated device of the monitoring system, monitors the speed and the position of the silt prevention and dredging integrated device by combining a first compensation algorithm, monitors the depth of silt to be treated of the silt prevention and dredging integrated device by utilizing a silt depth measuring module of the silt prevention and dredging integrated device of the monitoring system and combines a second compensation algorithm, thereby improving the monitoring precision of the speed, the position and the depth of the silt; the air flow load health state monitoring module of the anti-dredging integrated device is utilized to monitor the state of the nozzle of the anti-dredging integrated device, so that the 'after-dredging' effect of the anti-dredging integrated device is ensured. The invention improves the monitoring precision through a specific algorithm, monitors the state of the nozzle, and is beneficial to the stable and efficient operation of the anti-silt-dredging integrated device.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the monitoring system of the anti-dredging integrated device for the harbor basin and the wharf is characterized by comprising a space state measuring module of the anti-dredging integrated device, a sludge depth measuring module of the anti-dredging integrated device and an airflow load health state monitoring module of the anti-dredging integrated device; the spatial state measuring module of the silt prevention and dredging integrated device monitors speed information and position information of the silt prevention and dredging integrated device by using a strapdown inertial navigation system; the silt depth measuring module of the silt prevention and dredging integrated device measures the silt depth by using an ultrasonic sensor ranging system; the air flow load health state monitoring module of the silt prevention and dredging integrated device adopts a multi-sensor structure to monitor the state of the nozzle of the silt prevention and dredging integrated device, and sends the monitored speed information, the monitored position information, the monitored silt depth and the monitored state of the nozzle to a remote monitoring center.
Further, the strapdown inertial navigation system includes an accelerometer assembly and a gyroscope assembly.
Further, the spatial state measurement module of the silt prevention-dredging integrated device monitors speed information and position information of the silt prevention-dredging integrated device by utilizing a strapdown inertial navigation system, and specifically comprises the following steps: according to the angular velocity w of the anti-siltation-desilting integrated device collected by the gyroscope component and the angular value ACCangle of the anti-siltation-desilting integrated device collected by the accelerometer component, the compensated angular velocity w 'is obtained through a first compensation algorithm, and the monitored velocity information and the monitored position information are obtained based on the acceleration f collected by the accelerometer component and the compensated angular velocity w'.
Further, the angular velocity w of the anti-siltation-desilting integrated device collected by the gyroscope component and the angle ACCangle of the anti-siltation-desilting integrated device collected by the accelerometer component are compensated by a first compensation algorithm, and the angular velocity w' is specifically:
；
wherein w' represents the compensated angular velocity, w represents the angular velocity acquired by the gyroscope, Representing a time constant, n representing the number of acquisitions of the gyroscope, dsample representing the acquisition time interval of the gyroscope, ACCangel representing the angular value acquired by the accelerometer.
Further, the monitored speed information and the monitored position information are obtained based on the acceleration f and the compensated angular speed w', specifically, firstly, a gesture matrix of the strapdown inertial navigation system is calculated, and then, integral operation is carried out on elements in the gesture matrix based on the gesture matrix and a quaternion method, so that the monitored speed information and the monitored position information are obtained.
Further, the ultrasonic sensor ranging system comprises an ultrasonic sensor, an ultrasonic ranging module and a singlechip; the single chip microcomputer is connected with the ultrasonic sensor, the ultrasonic sensor is connected with the ultrasonic ranging module, the single chip microcomputer controls the ultrasonic sensor to emit ultrasonic waves, reflected ultrasonic vibration signals are converted into electric signals when the reflected ultrasonic waves are received, the electric signals are transmitted to the ultrasonic ranging module, and the ultrasonic ranging module calculates and measures the depth of sludge according to the signals transmitted by the ultrasonic sensor.
Further, the ultrasonic sensor transmits high-frequency ultrasonic waves to the surface of the sludge, and the ultrasonic sensor and the first depth of the surface of the sludge are obtained by utilizing the high-frequency reflected ultrasonic waves and combining a second compensation algorithm; the ultrasonic sensor transmits low-frequency ultrasonic waves to the sludge bottom layer, and the second depth of the ultrasonic sensor and the sludge bottom layer is obtained by utilizing the low-frequency reflected ultrasonic waves; and obtaining the depth of the sludge according to the first depth and the second depth.
Further, the first depth of the ultrasonic sensor and the surface of the sludge is obtained by combining the second compensation algorithm, specifically, the first depth is calculated according to the following formula:
Wherein H1 represents a first depth; v1 represents the propagation speed of ultrasonic waves in water; t1 represents the sum of propagation time of the high-frequency ultrasonic wave and the high-frequency reflected ultrasonic wave; k1 and K2 respectively represent a proportionality coefficient and take a negative number; tmax1 represents the water temperature at which the ultrasonic propagation speed is the fastest, here 76 degrees celsius; tmea1 denotes the current water temperature; smea1 denotes the salt content of the current water; a1 represents a water temperature adjustment coefficient; a2 represents a salt content adjustment coefficient.
Further, the second depth is calculated according to the following formula:
wherein H2 represents a second depth; v2 represents the average propagation velocity of the ultrasonic wave in the water and in the sludge; t2 represents the sum of propagation times of the low-frequency ultrasonic wave and the low-frequency reflected ultrasonic wave; v1 represents the propagation speed of ultrasonic waves in water; k3 represents an average coefficient.
Further, the airflow load health state monitoring module of the anti-silt-dredging integrated device adopts a multi-sensor structure to monitor the state of a nozzle of the anti-silt-dredging integrated device, specifically, pressure sensors in the multi-sensor structure are arranged at adjacent positions of the nozzle, so that line vibration frequency and angular vibration frequency generated by the nozzle are transmitted to the pressure sensors when the nozzle works, and then the pressure sensors are transmitted to a remote monitoring center to monitor the line vibration state and the angular vibration state; the pressure sensor rigid body is arranged on the steel frame structure at the outlet of the nozzle.
Compared with the prior art, the method has the beneficial technical effects that the speed, the position and the monitoring precision of the sludge depth are improved by adopting the first compensation algorithm and the second compensation algorithm respectively; in addition, the state of the nozzle of the anti-silt and desilting integrated device is monitored, the post-silt restarting effect of the anti-silt and desilting integrated device is ensured, and the stable and efficient operation of the anti-silt and desilting integrated device is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a schematic diagram of a monitoring system for a dock basin and dock integrated anti-dredging device according to the present invention;
FIG. 2 is a block diagram of a spatial state measurement module of the anti-clogging-dredging integrated device of the present invention;
FIG. 3 is a basic structural diagram of a silt depth measuring module of the silt prevention-dredging integrated device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The concept of the present application will be described with reference to the accompanying drawings. It should be noted that the following descriptions of the concepts are only for making the content of the present application easier to understand, and do not represent a limitation on the protection scope of the present application; meanwhile, the embodiments of the present application and features in the embodiments may be combined with each other without collision. The application will be described in detail below with reference to the drawings in connection with embodiments.
In combination with the attached figure 1 of the specification, the invention adopts the following technical scheme: the monitoring system of the anti-dredging integrated device for the harbor basin and the wharf is characterized by comprising a space state measuring module of the anti-dredging integrated device, a sludge depth measuring module of the anti-dredging integrated device and an airflow load health state monitoring module of the anti-dredging integrated device; the spatial state measuring module of the silt prevention and dredging integrated device monitors speed information and position information of the silt prevention and dredging integrated device by using a strapdown inertial navigation system; the silt depth measuring module of the silt prevention and dredging integrated device measures the silt depth by using an ultrasonic sensor ranging system; the airflow load health state monitoring module of the anti-silt and desilting integrated device adopts a multi-sensor structure to monitor the state of a nozzle of the anti-silt and desilting integrated device. However, the monitored speed information, the monitored position information, the monitored sludge depth and the monitored nozzle state are sent to a remote monitoring center by utilizing a wireless communication means (the ZigBee wireless transmission module is preferable to carry out data transmission and communication), and the remote monitoring center can carry out sludge depth full-area measurement of a harbor pool and a wharf according to the speed information, the position information and the sludge depth; the remote monitoring center can also determine the exhaust amount of the nozzle according to the sludge depth and the state of the nozzle, for example, the exhaust amount of the nozzle can be properly increased when the sludge depth is deeper and the current nozzle is in a normal state so as to increase the restarting and suspending amount of the sludge, so that the water flow with larger flow speed can bring the sludge away from a sludge deposition area during rising tide or falling tide, and the exhaust amount of the nozzle can be reduced when the nozzle is in an abnormal state (abnormal vibration amplitude or frequency); the remote monitoring center can accurately position the abnormal or faulty nozzle according to the speed information, the position information and the nozzle state, so that the subsequent maintenance is convenient.
The integrated device for preventing and dredging the harbor basin and the wharf takes the silt-preventing dredging ship as a carrier, and the monitoring system is arranged on the silt-preventing dredging ship. The anti-silt dredging ship mainly comprises a ship body, a diesel engine system, a mud pump system, a disturbance drag head system and a bridge system. The ship body is of a mixed skeleton type structure, the structure of a double-layer bottom area in the middle of the cabin is of a transverse skeleton type structure, and the rest is of a longitudinal skeleton type structure; the deck house on the upper layer of the ship body is of a transverse skeleton type structure; the deck, the winch deck, the platform and the cab are all free of beam arches; the side adopts a mode of adding thick plates by using a topboard to protect the board; the invention further designs a ship body light diesel oil total bilge of 15m 3, a hydraulic oil tank volume of 1m 3 and a total ship rib distance of 550mm. The diesel engine system comprises a main unit, a water cannon unit, an operation generator unit and a hydraulic pump station diesel engine unit, wherein the rated power and the rotating speed of the main unit are 735kW and 1500rpm respectively, and the cylinder diameter is 170mm; the rated power and the rotating speed of the water cannon unit are preferably 720kW and 1500rpm respectively, and the cylinder diameter is preferably 200mm; the rated power of the operation generator set is preferably 150kW, and the frequency is 50HZ; the diesel engine unit of the hydraulic pump station is preferably 4-stroke type, and the rated power and the rotating speed are preferably 75kW and 1000rpm respectively. The mud pump system comprises an in-cabin mud pump and a bridge mud pump, wherein the in-cabin mud pump is preferably a single-shell horizontal centrifugal pump, the flow is 2000 cubic meters per hour, the pressure heads are 63, the diameters of suction/discharge pipes are 426mm, the maximum torque is 22.2 kN.m, and the maximum power is 728kW; the bridge mud pump is preferably a single-shell horizontal centrifugal pump, the flow rate is 23000 cubic meters per hour, the pressure heads are 75, the diameters of suction pipes and discharge pipes are 426mm, the maximum torque is 22.2 kN.m, and the maximum power is 699kW. The harrow suction head in the disturbance harrow head system is directly driven by a low-speed and high-torque hydraulic motor (the power of the common working condition is 25 kW), a harrow suction head shaft adopts a double-row aligning roller bearing, adopts metal surface sealing and is matched with a flushing device. The bridge system is preferably designed to have a length, a width and a height of 15.2m, 2.2m and 1.6m respectively, the total weight is 22 tons, the maximum rising speed is 0.3m/s, and the maximum inclination angle is 50 degrees.
The strapdown inertial measurement technology is a measurement technology in which an inertial measurement element is directly installed on a main body requiring navigation information such as gesture, speed, heading and the like, and a computer is used for converting a measurement signal into a space state parameter. The inertial measurement system does not depend on external information and radiate energy to the outside during operation, is not easy to be disturbed and destroyed, and is independent and autonomous to navigate by means of the carrier equipment, and is free from any optical, acoustic, magnetic and electric connection with the outside, so that accurate measurement is realized in a virtual 'closed' space isolated from external conditions. Therefore, the inertial measurement system has a series of advantages that the work is not affected by meteorological conditions, artificial external interference and the like, and the advantages enable the inertial measurement to be widely applied. As one embodiment of the invention, referring to FIG. 2 of the specification, the strapdown inertial navigation system of the spatial state measuring module of the anti-silt and dredging integrated device comprises an accelerometer component and a gyroscope component, and the strapdown inertial navigation system is used for monitoring speed information and position information of the anti-silt and dredging integrated device, specifically: according to the angular velocity w of the anti-siltation-desilting integrated device collected by the gyroscope component of the strapdown inertial navigation system and the angle ACCangle of the anti-siltation-desilting integrated device collected by the accelerometer component, the compensated angular velocity w' is obtained by a first compensation algorithm, wherein the first compensation algorithm is as follows:
；
wherein w' represents the compensated angular velocity, w represents the angular velocity acquired by the gyroscope, Representing a time constant, n representing the number of acquisitions of the gyroscope, dsample representing the acquisition time interval of the gyroscope, ACCangel representing the angular value acquired by the accelerometer.
It should be noted that, although the cost can be ignored to select a gyroscope with sufficiently high acquisition accuracy to sample the carrier angular velocity, sampling errors and noise caused by objective factors such as the port or dock environment, the tide period, the temperature and humidity, etc. cannot be avoided. Based on the basic concept of mean filtering and the characteristic that the angle value acquired by the accelerometer component is relatively stable, the angular velocity acquired by the gyroscope can be compensated by utilizing the sampling value of the gyroscope and the angle value of the accelerometer at the previous moment so as to correct sampling errors, thereby ensuring accurate acquisition of the angular velocity and further being convenient for accurate calculation and monitoring of the subsequent carrier velocity and position information.
After the compensated angular velocity is obtained, the monitored velocity and position information can be obtained based on the acceleration f collected by the accelerometer component and the compensated angular velocity w', specifically, firstly, a gesture matrix of the strapdown inertial navigation system is calculated, and then, integral operation is carried out on elements in the gesture matrix based on the gesture matrix and a quaternion method, so that the monitored velocity and position information is obtained. As the posture matrix T, the following matrix may be adopted, that is:
；
wherein H is the first direction angle of the carrier to be solved, And the pitch angle and the theta of the carrier to be solved are the roll angle of the carrier to be solved.
The quaternion theory is an ancient branch in mathematics, and is firstly proposed by Hamiltonian in 1943, the thought is similar to a mode that a plane problem uses a complex solution, but the theory is not practically applied for a long time after being established, and along with the development of space technology, computing technology and particularly strapdown inertial measurement technology, the superiority of the quaternion is increasingly paid attention to people, and the attitude quaternion differential equation is firstly solved, and then the heading angle and the attitude angle are determined by the attitude quaternion. Although four differential equations are needed, one equation is more than the Euler angle differential equation, the addition, subtraction, multiplication and division operation is only needed when the numerical calculation solution is carried out, so the calculated amount of the solution process is much less than that of the Euler angle method. The method has the advantages that compared with a direction cosine method, the method has small calculated amount and small storage capacity, and the orthogonality of the gesture matrix can be ensured only by simple quaternion normalization processing, so that the method is a commonly adopted method. The invention adopts the quaternion method to realize the following functions of H,Solving for θ, the carrier attitude can be updated by a relatively simple mathematical calculation program, and then the speed and position information of the carrier can be obtained by an integral mode.
For measuring the depth of the sludge, the currently commonly adopted methods are a measuring rod method, a static sounding method and the like, the detection methods have large workload, the disturbance on the sludge in the detection process is large, the accuracy and the efficiency are not satisfactory in defining the thickness of the sludge, and the distribution of a floating sludge layer cannot be determined. The ultrasonic ranging principle is to detect the return time of an obstacle in the ultrasonic wave transmitting and receiving process, and accurately judge the distance between a sound source and the obstacle by multiplying the time and the propagation speed of ultrasonic waves. A short pulse is formed on the basis of a measurement logic circuit through continuous emission pulse, and the measurement distance is accurately grasped. The method is based on an ultrasonic ranging principle, adopts double-frequency ultrasonic waves to detect the depth of the sludge, measures the depth of the surface of the sludge through high frequency, and measures the bottom layer of the sludge through low frequency so as to obtain the thickness of the sludge.
As an embodiment of the invention, referring to fig. 3 of the specification, the silt depth measurement module of the silt prevention and dredging integrated device performs silt depth measurement based on an ultrasonic sensor ranging system, wherein the ultrasonic sensor ranging system comprises an ultrasonic sensor, an ultrasonic ranging module and a singlechip; the single chip microcomputer is connected with the ultrasonic sensor, the ultrasonic sensor is connected with the ultrasonic ranging module, the single chip microcomputer controls the ultrasonic sensor to emit ultrasonic waves, reflected ultrasonic vibration signals are converted into electric signals when the reflected ultrasonic waves are received, the electric signals are transmitted to the ultrasonic ranging module, and the ultrasonic ranging module calculates and measures the depth of sludge according to the signals transmitted by the ultrasonic sensor. The ultrasonic sensor transmits high-frequency ultrasonic waves to the surface of the sludge, and the ultrasonic sensor and the first depth of the surface of the sludge are obtained by utilizing the high-frequency reflected ultrasonic waves and combining a second compensation algorithm; the ultrasonic sensor transmits low-frequency ultrasonic waves to the sludge bottom layer, and the second depth of the ultrasonic sensor and the sludge bottom layer is obtained by utilizing the low-frequency reflected ultrasonic waves; and obtaining the depth of the sludge according to the first depth and the second depth. The first depth of the ultrasonic sensor and the surface of the sludge is obtained by combining the second compensation algorithm, and specifically, the first depth is calculated according to the following formula:
Wherein H1 represents a first depth; v1 represents the propagation speed of ultrasonic waves in water; t1 represents the sum of propagation time of the high-frequency ultrasonic wave and the high-frequency reflected ultrasonic wave; k1 and K2 represent proportionality coefficients respectively, taking k1= -0.95 and k2= -0.8 preferentially; tmax1 represents the water temperature at which the ultrasonic propagation speed is the fastest (i.e., 1550 m/s), here taken at 76 ℃; tmea1 denotes the current water temperature; smea1 denotes the salt content of the current water; a1 represents a water temperature adjustment coefficient; a2 represents a salt content adjustment coefficient. In the calculation formula of the propagation speed V1 of the ultrasonic wave in the water, 1550m/s represents the maximum propagation speed of the ultrasonic wave in the water, the inventor knows that the propagation speed of the ultrasonic wave in the water is related to the water temperature and the salt content of the water area, so that the compensation algorithm is constructed, and the relatively accurate real-time propagation speed of the water area can be obtained based on the water temperature, the current water temperature, the salt content in the current water, the water temperature adjusting coefficient and the salt content adjusting coefficient when the propagation speed of the ultrasonic wave is the fastest (namely 1550 m/s), and the measurement accuracy of the sludge depth is objectively improved.
The second depth is calculated according to the following formula:
wherein H2 represents a second depth; v2 represents the average propagation velocity of the ultrasonic wave in the water and in the sludge; t2 represents the sum of propagation times of the low-frequency ultrasonic wave and the low-frequency reflected ultrasonic wave; v1 represents the propagation speed of ultrasonic waves in water; k3 represents an average coefficient.
The sludge depth is calculated by subtracting the first depth H1 from the second depth H2.
The airflow load health state monitoring module of the anti-silt-dredging integrated device adopts a multi-sensor structure to monitor the state of the nozzle of the anti-silt-dredging integrated device, and the health state monitoring of the nozzle is carried out by data acquisition and fusion of the multi-sensor, so that the anti-silt-dredging integrated device has the advantages of being obvious: (1) In the aspect of economy, the fusion sensor can realize multi-signal measurement, has more functions, fewer devices and lower cost, and is suitable for large-scale popularization on site; (2) In terms of convenience, the traditional sensor can only detect a certain physical signal independently, and the fusion sensor can detect a plurality of signals synchronously, so that the detection process is simplified, and the time cost is reduced; (3) In the aspect of information comprehensiveness, synchronous detection of multiple physical signals in time and space enables multiple signal fusion analysis of defects of complex field devices, so that defect detection efficiency is improved. The invention particularly arranges the pressure sensors in the multi-sensor structure at the adjacent positions of the nozzles, so that the linear vibration frequency and the angular vibration frequency generated by the nozzles are transmitted to the pressure sensors when the nozzles work, and then the pressure sensors are transmitted to a remote monitoring center to realize the monitoring of the linear vibration state and the angular vibration state; the pressure sensor rigid body is arranged on the steel frame structure at the outlet of the nozzle. The linear vibration frequency and the angular vibration frequency of the nozzle are compared with the set threshold value, so that the state monitoring of the nozzle is realized, the system can be helped to rapidly locate the nozzle which is in abnormal operation, and the follow-up maintenance and replacement are facilitated. The invention is influenced by factors such as pressure disturbance, environmental fluctuation of a silt-preventing and desilting integrated device, sensitivity limitation of a sensor and the like, data signals collected by the pressure sensor are relatively weak, weak signal processing is needed to extract useful information from a large amount of noise and interference, and the invention adopts Fourier transformation to realize fine analysis of the signals by carrying out multi-scale decomposition (utilizing FFT algorithm) on the signals. The fourier transform can realize frequency domain analysis of the signal by converting the weak signal into the frequency domain, thereby improving the signal-to-noise ratio of the signal and further improving the communication quality.
It should be further explained that the remote monitoring center is a remote data monitoring system based on the BS framework, and the background of the monitoring center utilizes the characteristics of the fusion framework to expand the multi-element modularized function, so that a manager can remotely monitor the experimental site of the underwater operation and measurement system, and the top-down management of the system is realized. The system can effectively reduce the accident rate of site construction and improve the safety and stability of underwater operation and a measuring system. The data transmission system based on the framework is built, so that the real-time uploading of the bottom data can be realized, and the top-down management can be realized. The remote monitoring center is based on the modern Internet technology, the wireless communication technology, the database technology and the embedded technology, is used for designing and realizing remote monitoring of the anti-silt and dredging integrated device, and preferably adopts STM32 series microcontrollers as a core controller to control and collect data.
The above examples and/or embodiments are merely for illustrating the preferred embodiments and/or implementations of the present technology, and are not intended to limit the embodiments and implementations of the present technology in any way, and any person skilled in the art should be able to make some changes or modifications to the embodiments and/or implementations without departing from the scope of the technical means disclosed in the present disclosure, and it should be considered that the embodiments and implementations are substantially the same as the present technology.
The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this application, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the application, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present application.
Claims (6)
1. The monitoring system of the anti-dredging integrated device for the harbor basin and the wharf is characterized by comprising a space state measuring module of the anti-dredging integrated device, a sludge depth measuring module of the anti-dredging integrated device and an airflow load health state monitoring module of the anti-dredging integrated device;
The spatial state measuring module of the silt prevention and dredging integrated device monitors speed information and position information of the silt prevention and dredging integrated device by using a strapdown inertial navigation system; the strapdown inertial navigation system comprises an accelerometer component and a gyroscope component; the spatial state measuring module of the silt prevention and dredging integrated device monitors speed information and position information of the silt prevention and dredging integrated device by utilizing a strapdown inertial navigation system, and specifically comprises the following steps:
According to the angular velocity w of the anti-silting-dredging integrated device collected by the gyroscope component and the angular value ACCangle of the anti-silting-dredging integrated device collected by the accelerometer component, obtaining a compensated angular velocity w 'through a first compensation algorithm, and obtaining monitored velocity information and position information based on the acceleration f collected by the accelerometer component and the compensated angular velocity w'; the compensated angular velocity w' has the following specific calculation formula:
；
wherein w' represents the compensated angular velocity, w represents the angular velocity acquired by the gyroscope, Representing a time constant, n representing the acquisition times of the gyroscope, dsample representing the acquisition time interval of the gyroscope, ACCangel representing the angle value acquired by the accelerometer;
The method comprises the steps of obtaining monitored speed information and position information based on acceleration f and the compensated angular speed w', specifically, firstly calculating a posture matrix of a strapdown inertial navigation system, and then carrying out integral operation on elements in the posture matrix based on the posture matrix and a quaternion method to obtain the monitored speed information and the monitored position information;
The silt depth measuring module of the silt prevention and dredging integrated device measures the silt depth by using an ultrasonic sensor ranging system;
The air flow load health state monitoring module of the silt prevention and dredging integrated device adopts a multi-sensor structure to monitor the state of the nozzle of the silt prevention and dredging integrated device, and sends the monitored speed and position information, the silt depth and the state of the nozzle to a remote monitoring center.
2. The monitoring system of the integrated anti-dredging device for the harbor basin and the wharf of claim 1, wherein the ultrasonic sensor ranging system comprises an ultrasonic sensor, an ultrasonic ranging module and a single chip microcomputer; the single chip microcomputer is connected with the ultrasonic sensor, the ultrasonic sensor is connected with the ultrasonic ranging module, the single chip microcomputer controls the ultrasonic sensor to emit ultrasonic waves, reflected ultrasonic vibration signals are converted into electric signals when the reflected ultrasonic waves are received, then the electric signals are transmitted to the ultrasonic ranging module, and the ultrasonic ranging module calculates and measures the depth of sludge according to the signals transmitted by the ultrasonic sensor.
3. The monitoring system of integrated silt prevention and dredging device for a harbor basin and a wharf according to claim 2, wherein the silt depth measuring module of the integrated silt prevention and dredging device measures the depth of the silt by using an ultrasonic sensor ranging system, and the monitoring system specifically comprises: the ultrasonic sensor transmits high-frequency ultrasonic waves to the surface of the sludge, and the ultrasonic sensor and the first depth of the surface of the sludge are obtained by utilizing the high-frequency reflected ultrasonic waves and combining a second compensation algorithm; the ultrasonic sensor transmits low-frequency ultrasonic waves to the sludge bottom layer, and the second depth of the ultrasonic sensor and the sludge bottom layer is obtained by utilizing the low-frequency reflected ultrasonic waves; and obtaining the depth of the sludge according to the first depth and the second depth.
4. The monitoring system for a harbor basin and wharf silt prevention and dredging integrated device according to claim 3, wherein the second compensation algorithm is combined to obtain a first depth of the ultrasonic sensor and the surface of the silt, and the calculation of the first depth is specifically performed according to the following formula:
Wherein H1 represents a first depth; v1 represents the propagation speed of ultrasonic waves in water; t1 represents the sum of propagation time of the high-frequency ultrasonic wave and the high-frequency reflected ultrasonic wave; k1 and K2 respectively represent a proportionality coefficient and take a negative number; tmax1 represents the water temperature at which the ultrasonic propagation speed is the fastest, here 76 degrees celsius; tmea1 denotes the current water temperature; smea1 denotes the salt content of the current water; a1 represents a water temperature adjustment coefficient; a2 represents a salt content adjustment coefficient.
5. The integrated harbor basin and dock sludge control-dredging device monitoring system of claim 4, wherein the second depth is calculated according to the formula:
wherein H2 represents a second depth; v2 represents the average propagation velocity of the ultrasonic wave in the water and in the sludge; t2 represents the sum of propagation times of the low-frequency ultrasonic wave and the low-frequency reflected ultrasonic wave; v1 represents the propagation speed of ultrasonic waves in water; k3 represents an average coefficient.
6. The monitoring system of the integrated silt prevention and dredging device for the harbor basin and the wharf according to claim 1, wherein the monitoring module of the airflow load health state of the integrated silt prevention and dredging device monitors the state of the nozzles of the integrated silt prevention and dredging device by adopting a multi-sensor structure, specifically, the pressure sensors in the multi-sensor structure are arranged at the adjacent positions of the nozzles, so that the linear vibration frequency and the angular vibration frequency generated by the nozzles are transmitted to the pressure sensors when the nozzles work, and then the pressure sensors are transmitted to a remote monitoring center to monitor the linear vibration state and the angular vibration state; the pressure sensor rigid body is arranged on the steel frame structure at the outlet of the nozzle.
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| CN101775820A (en) * | 2010-02-03 | 2010-07-14 | 中国船舶重工集团公司第七〇二研究所 | Ecological dredging operation device |
| CN110044378A (en) * | 2019-04-17 | 2019-07-23 | 河海大学 | A kind of fiber strapdown inertial navigation high-accuracy position system and method for underwater bathyscaph |
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| AU6088600A (en) * | 1999-07-14 | 2001-02-05 | Robert D. Varrin Jr. | An ultrasonic cleaning method |
| CN103968883B (en) * | 2013-01-24 | 2016-08-24 | 上海朝辉压力仪器有限公司 | Mud detection method and mud survey meter |
| CN106930569A (en) * | 2017-04-18 | 2017-07-07 | 侨银环保科技股份有限公司 | A kind of silt displacement device |
| CN114351778B (en) * | 2021-04-23 | 2023-03-14 | 江苏中科水务机器人科技有限公司 | Underwater dredging robot |
| CN116608920A (en) * | 2023-06-05 | 2023-08-18 | 浙江大学 | Wharf pile foundation sludge height and water level monitoring system |
| CN116697945B (en) * | 2023-06-20 | 2023-12-12 | 曲阜恒威水工机械有限公司 | Underwater sludge flushing system based on digital twin technology |
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| CN101775820A (en) * | 2010-02-03 | 2010-07-14 | 中国船舶重工集团公司第七〇二研究所 | Ecological dredging operation device |
| CN110044378A (en) * | 2019-04-17 | 2019-07-23 | 河海大学 | A kind of fiber strapdown inertial navigation high-accuracy position system and method for underwater bathyscaph |
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