CN1793809A - Method for detecting rule of wave and motion of ship along with the wave using laser distance measuring principle - Google Patents
Method for detecting rule of wave and motion of ship along with the wave using laser distance measuring principle Download PDFInfo
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Abstract
本发明提供了一种利用激光测距原理探测波浪和船舶随浪运动规律的方法，在船舶的前后左右安装多个激光测距传感器进行多点测量，得到多点的距离信息，通过系统数据处理可以得出波浪、船舶的俯仰、倾斜和升沉数据，从而获得在不同波浪作用下的船舶运行规律的综合信息。
The invention provides a method for detecting waves and the movement of ships with waves by using the principle of laser ranging. A plurality of laser ranging sensors are installed on the front, rear, left, and right sides of the ship for multi-point measurement, and the distance information of multiple points is obtained. Through system data processing The data of the pitch, inclination and heave of the wave and ship can be obtained, so as to obtain comprehensive information on the operating laws of the ship under different waves.
Description
Technical field
The invention belongs to ocean dynamical environment and safety of ship technical field, relate in particular to a kind of method of utilizing laser distance measuring principle to survey the wave and the boats and ships following sea characteristics of motion.
Background technology
Technology and the instrument of measuring wave, the boats and ships following sea characteristics of motion all have very big meaning for Ship Design industry, manufacturing industry, shipping industry and ocean dynamical environment monitoring, marine forecasting etc.Wave has crucial meaning to navigation, harbour, seashore, oceanographic engineering, marine forecasting and coastal zone diaster prevention and control etc., is one of the capsule information that must grasp in these industry engineering designs.The measurement of wave can be carried out data interaction, exchange with the wave infosystem of country, sets up and improve the wave statistics data.The research of the boats and ships following sea characteristics of motion has great significance to the navigation safety of boats and ships in wave.Grasp the characteristics of motion of boats and ships in wave, solve " stability margin " problem in the Ship Design, can provide better theoretical foundation for Ship Design and manufacturing, ship survey.The measurement instrument designed for wave commercialization of using at present the aircraft of infrared laser to carry, its be used to routinely to fly aircraft of empty across the sea hundreds of rice.But be used for that boats and ships carry, on-the-spot, measure wave and boats and ships in real time and yet there are no report with the technology of wave motion rule.
Though, be furnished with on some boats and ships and be specifically designed to the instrument of measuring boats and ships pitching, pitch angle, but this instrument can only the pitching of independent measurement boats and ships, the angle of inclination, institute's angle measurement degree can not combine with the wave motion rule in good time, the data of reaction are single, thereby range of application is limited to.And aspects such as Ship Design, cargo outfit press for the real data of both combinations, wait actual needs to instruct design.
How solving above-mentioned deficiency, then is the design problem that the present invention faced.
Summary of the invention
The present invention proposes a kind of method of utilizing laser distance measuring principle to survey the wave and the boats and ships following sea characteristics of motion, it can be separated and must not measure the problem that wave and boats and ships combine with wave motion on-the-spot, in real time.
In order to reach the purpose that solves the problems of the technologies described above, technical scheme of the present invention is, a kind of method of utilizing laser distance measuring principle to survey the wave and the boats and ships following sea characteristics of motion is characterized in that,
Surveying wave presses and states step method and carry out:
1.. on boats and ships, be equipped with laser range finder and digital treating meter, vertically launch beam of laser by generating laser to the water surface, laser runs into water-reflected and returns, laser ranging system measures the distance of the water surface of popping one's head in, obtain the nearest Lmin of wave crest point, trough point distance is Lmax farthest, the poor Lmax-Lmin of adjacent two extreme values is wave height, mistiming between adjacent two extreme values is wave period, handle through digital treating meter, with continuous probe to numerical value couple together, thereby draw the overall signal curve of wave and boats and ships heave;
2.. by the software program of digital treating meter, the overall signal curve is decomposed into boats and ships heave signal curve and wave curve;
Survey the boats and ships pitching, tilt to be undertaken by following step method:
3. boats and ships former and later two laser range finders A and B, 2 distances are L, H
1And H
2It is the different measured distance that two laser ranging probes are measured at the same time, because sensing point is in the different high and low positions of wave respectively, according to the result of wave being determined the instantaneous position that is in waveform of sensing point, deduct instantaneous wave height, determine imaginary horizontal plane, detection be respectively h apart from the imaginary horizontal plane average height
1And h
2, then calculating at that time, the luffing angle α of boats and ships is: α=arcsin ((h
1-h
2)/L);
Equally, 2 of D, E at the boats and ships port and starboard are provided with laser range finder respectively, 2 distance is L1, H3 is the different measured distance that two laser ranging probes are measured at the same time with H4, according to the result of wave being determined the instantaneous position that is in waveform of sensing point, deduct instantaneous wave height, determine the position of imaginary surface level, calculate the distance h of the relative imaginary horizontal plane of sensing point
3And h
4, at right-angle triangle
In, L
1, h
3And h
4For known, calculate instantaneous inclination angle beta, β=arcsin[(h
3-h
4)/L
1].
The data processor method that the single-point laser stadimeter is surveyed wave is,
Beginning;
Initialization number 0;
The record measured value;
Extreme value whether, not, deletion is;
Subtract a last extreme value, get poor absolute value;
The absolute value of record extreme value;
Record extreme value time corresponding is poor;
Number=number+1;
Number whether＞setting value N, not, get back to the record measured value, be;
The mean value of wave height=top n extreme value difference;
The cycle=top n mistiming * 2;
Draw the wave curve;
Calculate the instantaneous wave height of each sensing point;
Heave amplitude=probe value-instantaneous wave height;
Record amplitude, cycle are also drawn the heave curve;
Finish, not, get back to the record measured value, be, finish.
The data processor method of surveying pitching, heave is:
Beginning;
Calculate the instantaneous wave height of sensing point 1 correspondence;
Distance h
1The instantaneous wave height 1 of=probe value 1-;
Calculate the instantaneous wave height of sensing point 2 correspondences;
Distance h
2The instantaneous wave height 2 of=probe value 2-;
Calculate the instantaneous wave height of sensing point 3 correspondences;
Distance h
3The instantaneous wave height 3 of=probe value 3-;
Calculate the instantaneous wave height of sensing point 4 correspondences;
Distance h
4The instantaneous wave height 4 of=probe value 4-;
Angle of pitch α=arcsin ((h
1-h
2)/L);
Angle of inclination beta=arcsin[(h
3-h
4)/L
1];
Heave value=(h
1+ h
2+ h
3+ h
4)/4;
The record angle of pitch;
The record pitch angle;
Record heave value;
Finish, not, get back to distance h
1The instantaneous wave height 1 of=probe value 1-is to finish.
Described laser range finder should be measured greater than 100 hertz sample frequency; 1.06 microns infrared laser is used in the selection of optical maser wavelength.
When instrument being installed on the underway boats and ships, ship motion exerts an influence to measurement.The influence of the moving speed of shipping to measuring can utilize data processing software to synthesize solution by introducing the gps satellite positioning system information; The influence of boats and ships heave to measuring with the same method of decomposition tide signal, according to the cycle of signal curve and the difference of size, decomposites wave information and boats and ships heave information, as Fig. 2.Boats and ships tilt to the influence of measuring, and by taking surely to look like measures such as consistent probe or increase laser beam divergent angle, obliquity effects are reduced within the scope of permission.The a plurality of distance measuring sensors of installation all around at boats and ships carry out multimetering, obtain the range information of multiple spot, handle pitching, inclination and the heave data that can draw boats and ships by system data.If survey pitching, inclination and the heave of boats and ships merely, then can handle wave information as the noise of system.
Formula is described:
Wave wave height and time relation can be described with a funtcional relationship: y
1=f (x
1); x
1Express time, y
1Expression wave wave height; Representational relational expression such as simple harmonic wave formula: ξ=acos (kx-ω t);
The amplitude of boats and ships heave and time relation are represented with a function: y
2=f (x
2); x
2Express time, y
2The amplitude of expression heave.
The measured distance of laser ranging is height a and above both algebraic sum of boats and ships when static.Be h=a-y
1-y
2
Be provided with two sensing point A and B before and after the boats and ships, 2 distances are L, and the average height of detection is respectively h
1And h
2, then can calculating at that time, the luffing angle α of boats and ships is:
α＝arcsin[(h
1-h
2)/L]
The a plurality of data of continuous probe can be described out the Changing Pattern of pitching.Equally about the tilt variation that sensing point can be described boats and ships is set, the heave that analysis-by-synthesis can draw boats and ships changes.
The selection of laser ranging: adopt the pulsed laser ranging of solid state laser, its distance accuracy can reach 10-15mm.
The present invention compares with existing technology and has the following advantages and good effect: by method of the present invention, can effectively boats and ships aggregation of data such as wave, pitching and heave under sail be measured, therefrom can obtain the relation of wave and boats and ships pitching, inclination and heave, have directive function for aspects such as Ship Design, underway freight house prestowages.
Description of drawings
Below in conjunction with drawings and Examples the present invention is described in detail.
Fig. 1 is the schematic diagram that laser range finder is measured wave;
1. boats and ships; 2. laser range finder; H. imaginary horizontal plane;
Fig. 2 is the detectable signal decomposing schematic representation;
Fig. 3 is the schematic diagram that pitching is surveyed;
Fig. 4 is the schematic diagram of tilt detection;
H. imaginary horizontal plane;
Fig. 5 is that the single-point laser stadimeter is surveyed wave data processing principle process flow diagram;
Fig. 6 is a data flowchart of surveying pitching and heave.
Embodiment
Referring to Fig. 1,, the characteristics and the requirement of following several respects are arranged to laser range finder 2:
1) operating distance is short;
2) target reflection is good;
3) to measure with sample frequency greater than 100Hz;
4) 1.06 microns infrared laser is used in the selection of optical maser wavelength.
As shown in Figure 1: the fundamental measurement system comprises that laser range finder 2, boats and ships carrier 1, digital treating meter etc. partly form.Laser ranging probe 2 is with the frequency emission laser beam of 100Hz and the measuring sonde distance to the water surface, utilize the range data that detects data handling system to carry out analyzing and processing, in the coordinate system that with time is horizontal ordinate, couple together, can draw the squiggle of measuring as shown in Figure 2.
As shown in Figure 2: upper curve is the overall signal curve that detects.Get extreme value close on the curve, maximal value Lmax and minimum value Lmin make comparisons, and write down both and subtract each other back gained difference, because the influence of boats and ships heave and look-in frequency, single difference can not be represented the height of wave.A plurality of differences average, and can draw the wave height of wave; Time between two extreme values is half of wave period, and a plurality of time values average and take advantage of in 2, can draw the cycle of wave, the lower curve of Fig. 2.The simple harmonic wave formula of wave height and cycle substitution wave, draw the wave signal of describing with formula.Transient data corresponding from the overall signal curve deducts the wave signal transient data, draws the heave data of boats and ships measurement point, and a plurality of data couple together the heave curve that draws measurement point.Handle with above-mentioned method, can draw information such as the amplitude of boats and ships heave and cycle, the curve in the middle of Fig. 2.
Fig. 3 is the principle schematic that multiple spot is surveyed back Ship ' pitching.Boats and ships 1 are longitudinal direction, and the distance that 2 of A, B in boats and ships 1 front and back is provided with 2, two of laser ranging probes respectively is L.H
1And H
2It is the different measured distance that two laser ranging probes 2 are measured at the same time, because sensing point is in the different high and low positions of wave respectively, so also do not possess comparability, need according to the result of wave is determined the instantaneous position that is in waveform of sensing point, deduct instantaneous wave height, draw the position of imaginary relatively horizontal H, calculate the distance h of the relative imaginary horizontal plane of sensing point
1And h
2In right-angle triangle ABC, L, h
1And h
2For known, can obtain instantaneous luffing angle α.
Can draw according to sine: α=arcsin[(h
1-h
2)/L],
The luffing angle of each instantaneous point is coupled together, draw the curve of boats and ships luffing angle Changing Pattern.
Fig. 4 is that multiple spot is surveyed the principle schematic that the back Ship ' tilts.Boats and ships 1 are horizontal direction, and the distance that 2, two of laser ranging probes are set respectively at 2 of D, the E of boats and ships about 1 is L
1H
3And H
4It is the different measured distance that two laser ranging probes are measured at the same time, because sensing point is in the different high and low positions of wave respectively, so also do not possess comparability, need according to the result of wave is determined the instantaneous position that is in waveform of sensing point, deduct instantaneous wave height, draw the position of imaginary relatively horizontal H, calculate the distance h of the relative imaginary horizontal plane of sensing point
3And h
4In right-angle triangle DEF, L
1, h
3And h
4For known, can obtain instantaneous inclination angle beta.
Can draw according to sine: β=arcsin[(h
3-h
4)/L
1]
The angle of inclination of each instantaneous point is coupled together, draw the curve of boats and ships angle change rule.
Fig. 5 is the data processing principle process flow diagram that single-point is surveyed wave, and its process is as being described below: begin to survey, at first each number of count initialized is 0, writes down measured value, judges whether extreme value of numerical value.If extreme value then deducts an extreme value with the extreme value that newly detects, first extreme value does not subtract, the mistiming between the absolute value of record gained difference and two extreme values.The number of statistics extreme value continues the record measured value if number less than 100, is then returned, if number is not less than 100, then preceding 100 extreme value differences are averaged, draw the mean wave height numerical value of wave, preceding 100 mistimings are averaged, draw the cycle numerical value of wave.Wave height and cycle numerical value substitution model formation, draw wave formula and curve.
Can calculate the instantaneous wave height of each sensing point according to formula curve, deduct the heave amplitude data that instantaneous wave height can draw sensing point with probe value.The heave amplitude data of each point are coupled together, can draw the heave law curve, information such as the amplitude by the tracing analysis heave and cycle.Judge whether to finish,, then continue the record measured value, if finish then finish detection process if do not finish.
Fig. 6 is a data flowchart of surveying pitching (inclination) and heave.In the front, rear, left and right of boats and ships sensing point 1,2,3,4 is set respectively, in the process of Fig. 5, can have drawn the instantaneous wave height of each point.After the beginning, utilize the probe value H of each point respectively
1, H
2, H
3, H
4Deduct the instantaneous wave height of corresponding point, draw the distance h of sensing point to imaginary horizontal plane H
1, h
2, h
3, h
4, 2 data are utilized formula α=arcsin[(h before and after comparing
1-h
2)/L] draw angle of pitch α, utilize formula β=arcsin[(h
3-h
4)/L
1] draw angle of inclination beta.H
1, h
2, h
3, h
4The data of these 4 points average, and deduct fixing load line distance value, can draw to survey instantaneous average heave value, continuous probe to the heave value couple together, boats and ships heave rule can be described out, as information such as amplitude, cycles.The angle of pitch of each point and pitch angle are described continuously, can draw boats and ships pitching rule and inclination law curve.In conjunction with wave information at that time, can draw the integrated information of the boats and ships moving law under different wave actions.
Certainly, the present invention is not limited to above-mentioned example, and in the inventive method design essential scope, the present invention also has many variations, and remodeling adds or replacement, also all belongs to protection scope of the present invention.
Claims (4)
1. a method of utilizing laser distance measuring principle to survey the wave and the boats and ships following sea characteristics of motion is characterized in that,
Surveying wave presses and states step method and carry out:
1.. on boats and ships, be equipped with laser range finder and digital treating meter, vertically launch beam of laser by generating laser to the water surface, laser runs into water-reflected and returns, laser ranging system measures the distance of the water surface of popping one's head in, obtain the nearest Lmin of wave crest point, trough point distance is Lmax farthest, the poor Lmax-Lmin of adjacent two extreme values is wave height, mistiming between adjacent two extreme values is wave period, handle through digital treating meter, with continuous probe to numerical value couple together, thereby draw the overall signal curve of wave and boats and ships heave;
2.. by the software program of digital treating meter, the overall signal curve is decomposed into boats and ships heave signal curve and wave curve;
Survey the boats and ships pitching, tilt to be undertaken by following step method:
3. boats and ships former and later two laser range finders A and B, 2 distances are L, H
1And H
2It is the different measured distance that two laser ranging probes are measured at the same time, because sensing point is in the different high and low positions of wave respectively, according to the result of wave being determined the instantaneous position that is in waveform of sensing point, deduct instantaneous wave height, determine imaginary horizontal plane, detection be respectively h apart from the imaginary horizontal plane average height
1And h
2, then calculating at that time, the luffing angle α of boats and ships is: α=arcsin ((h
1-h
2)/L);
Equally, at D, the E of boats and ships port and starboard laser range finder is set at 2 respectively, 2 distance is L
1, H
3And H
4It is the different measured distance that two laser ranging probes are measured at the same time, according to the result of wave being determined the instantaneous position that is in waveform of sensing point, deduct instantaneous wave height, determine the position of imaginary surface level, calculate the distance h of the relative imaginary horizontal plane of sensing point
3And h
4, at right-angle triangle
In, L
1, h
3And h
4For known, calculate instantaneous inclination angle beta, β=arcsin[(h
3-h
4)/L
1].
2. method according to claim 1 is characterized in that the data processor method of single-point laser stadimeter detection wave is,
Beginning;
Initialization number 0;
The record measured value;
Extreme value whether, not, deletion is;
Subtract a last extreme value, get poor absolute value;
The absolute value of record extreme value;
Record extreme value time corresponding is poor;
Number=number+1;
Number whether＞setting value N, not, get back to the record measured value, be;
The mean value of wave height=top n extreme value difference;
The cycle=top n mistiming * 2;
Draw the wave curve;
Calculate the instantaneous wave height of each sensing point;
Heave amplitude=probe value-instantaneous wave height;
Record amplitude, cycle are also drawn the heave curve;
Finish, not, get back to the record measured value, be, finish.
3. method according to claim 1 and 2 is characterized in that the data processor method of surveying pitching, heave is:
Beginning;
Calculate the instantaneous wave height of sensing point 1 correspondence;
Distance h
1The instantaneous wave height 1 of=probe value 1-;
Calculate the instantaneous wave height of sensing point 2 correspondences;
Distance h
2The instantaneous wave height 2 of=probe value 2-;
Calculate the instantaneous wave height of sensing point 3 correspondences;
Distance h
3The instantaneous wave height 3 of=probe value 3-;
Calculate the instantaneous wave height of sensing point 4 correspondences;
Distance h
4The instantaneous wave height 4 of=probe value 4-;
Angle of pitch α=arcsin ((h
1-h
2)/L);
Angle of inclination beta=arcsin[(h
3-h
4)/L1];
Heave value=(h
1+ h
2+ h
3+ h
4)/4;
The record angle of pitch;
The record pitch angle;
Record heave value;
Finish, not, get back to distance h
1The instantaneous wave height 1 of=probe value 1-is to finish.
4. method according to claim 1 is characterized in that described laser range finder should measure greater than the sample frequency of 100Hz; 1.06 microns infrared laser is used in the selection of optical maser wavelength.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101046662A CN100376882C (en) | 2005-12-24 | 2005-12-24 | Method for detecting rule of wave and motion of ship along with the wave using laser distance measuring principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101046662A CN100376882C (en) | 2005-12-24 | 2005-12-24 | Method for detecting rule of wave and motion of ship along with the wave using laser distance measuring principle |
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| Publication Number | Publication Date |
|---|---|
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Family
ID=36805381
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| CN102853817A (en) * | 2012-05-15 | 2013-01-02 | 哈尔滨工程大学 | Longitudinal and lateral swing cycle measuring method of dynamically positioned vessel |
| CN105588705A (en) * | 2016-01-28 | 2016-05-18 | 江苏科技大学 | Optical testing system used for ship model water surface experiment and testing method thereof |
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| JPH07181255A (en) * | 1993-12-24 | 1995-07-21 | Oki Electric Ind Co Ltd | Ship collision ground-hitting prevention system |
| JPH0843217A (en) * | 1994-08-01 | 1996-02-16 | Ishikawajima Harima Heavy Ind Co Ltd | Wave load measuring device for ships |
| DE10115663A1 (en) * | 2001-03-29 | 2002-10-31 | Anatolij Bolenko | Laser drive for propulsion of ship or submarine uses intersecting laser beams for providing variable focal point |
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| CN109373983A (en) * | 2018-11-19 | 2019-02-22 | 华南农业大学 | A method for detecting traveling wave parameters of ocean waves and an unmanned ship with self-adjustment of attitude |
| CN109632259A (en) * | 2019-02-20 | 2019-04-16 | 重庆交通大学 | The measuring device and method of water conservancy project physical experiments free sailing model ship vertical section deflection |
| CN115390042A (en) * | 2022-08-18 | 2022-11-25 | 南京信息工程大学 | Pulse laser type wave detection device and method |
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