CN204461382U - A kind of boats and ships profile real-time automatic measuring system under water - Google Patents
A kind of boats and ships profile real-time automatic measuring system under water Download PDFInfo
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- CN204461382U CN204461382U CN201520168820.1U CN201520168820U CN204461382U CN 204461382 U CN204461382 U CN 204461382U CN 201520168820 U CN201520168820 U CN 201520168820U CN 204461382 U CN204461382 U CN 204461382U
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- under water
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Abstract
The utility model provides a kind of boats and ships profile real-time automatic measuring system under water, the data processing comprising measuring system and be connected with measuring system and control system, described measuring system comprises hull bottom measuring system and shipboard planar survey system, described hull bottom measuring system comprises the single beam transducer array being arranged on river bed, and the single beam transducer cleaning systems be arranged on single beam transducer array, described shipboard planar survey system comprises the multi-beam being arranged on Zha Qiang both sides, river course and measures array, described multi-beam is measured array and is comprised broad beam transmitting transducer and receiving transducer.The utility model by single beam and multi-beam Integrated Measurement System to boats and ships under water profile automatically measure, and the shape data under water of ship is preserved, this system improves stability and the measuring accuracy of boats and ships topography system, and reduce cost, also improve the work efficiency of Shiplock management department and the lockage efficiency of boats and ships simultaneously.
Description
Technical field
The utility model belongs to boats and ships profile field of measuring technique, particularly relates to a kind of boats and ships profile real-time automatic measuring system under water.
Background technology
At present, the charging mode both at home and abroad for lockage boats and ships is varied, but all needs the physical dimension understanding lockage boats and ships.Inspection for lockage dimension of ship and dead weight capacity mainly relies on the archives of boats and ships, and the measurement of important physical dimension will rely on artificial mode.For the boats and ships of water sailing, due to the difference of measuring condition, the measurement of underwater portion profile is different on measure from the measurement of above water profile, and difficulty is larger.
Single beam or multi-beam measuring system is mainly adopted automatically to detect boats and ships profile in prior art, but, also there is a lot of problem in the measurements, single beam systems subject matter in ship shape is measured is that measuring speed is slow, when cross-sectional shape measurement is carried out to the boats and ships in motion, abundant sampled point cannot be obtained; The measurement range of multiple-beam system cannot cover boats and ships underwater portion, and expensive, greatly will increase instrument cost.Therefore, in order to while surveying vessel at the bottom of and shipboard facial contour data, and consider that the installation of measuring system can not affect the current of boats and ships, the problems such as the cost of the impact that ship motion produces measuring accuracy and instrument, single beam systems and multiple-beam system are not just suitable for be measured boats and ships underwater portion separately.
Therefore, in order to solve boats and ships under water profile measure in Problems existing, research one efficiently, automatically, boats and ships profile real-time automatic measuring system under water fast, the efficiency of service improving ship lock has become a vital task.
Utility model content
The technical matters that the utility model solves is to provide a kind of boats and ships profile real-time automatic measuring system under water, object be adopt single beam, multi-beam Integrated Measurement System to boats and ships under water profile automatically measure, improve stability and the measuring accuracy of boats and ships topography system, and reduce costs, also improve the work efficiency of Shiplock management department and the lockage efficiency of boats and ships simultaneously.
The technical solution of the utility model is:
In order to solve the problems of the technologies described above, the utility model provides a kind of boats and ships profile real-time automatic measuring system under water, the data processing comprising measuring system and be connected with measuring system and control system, described measuring system comprises hull bottom measuring system and shipboard planar survey system, described hull bottom measuring system comprises the single beam transducer array being arranged on river bed, and the single beam transducer cleaning systems be arranged on single beam transducer array, described shipboard planar survey system comprises the multi-beam being arranged on Zha Qiang both sides, river course and measures array, described multi-beam is measured array and is comprised broad beam transmitting transducer and receiving transducer.
Described data processing and control system comprise industrial control computer, be arranged on the single beam controller in industrial control computer, signal generator and I/O controller, be connected to the signal processor between I/O controller and receiving transducer, be connected to the multi-beam controller between signal generator and broad beam transmitting transducer, and the single beam signal converter be connected between single beam controller and single beam transducer array, single beam transducer array is connected with the single beam signal converter in pulpit by four-core signal wire, single beam signal converter is connected with single beam controller by industrial control computer bus, for change single beam signal level, single beam controller is connected with industrial control computer by industrial control computer bus, switches for the reception and emission state controlling single beam transducer array, broad beam transmitting transducer is installed on the lock wall of both sides, river course by steelframe, for the acoustic signal in emission measurement shipboard face, receiving transducer is installed on the lock wall of both sides, river course by steelframe together with broad beam transmitting transducer, for receiving the acoustic signal of boats and ships reflection, and be connected with signal processor by four-core signal wire, signal processor for the treatment of the return path signal of receiving transducer, and is sent to I/O controller, and signal processor is connected with I/O controller by two core signal wires, I/O controller is connected with industrial control computer by industrial-controlled general line, for receiving transducer signal is sent to industrial control computer.
Also be connected with power amplifier between described multi-beam controller and signal generator, multi-beam controller is connected with power amplifier by two core signal wires, amplifies the signal that sends and control broad beam transmitting transducer for received power; Power amplifier is connected with signal generator, for the signal of amplifying signal generator by two core signal wires; Signal generator is connected with industrial control computer by industrial-controlled general line, receives industrial control computer software control and produces measuring-signal.
Described single beam transducer array comprises 6 single beam transducers, 6 single beam transducers vertically upward and be evenly placed in concrete foundation, and are laid in river bed, and single beam transducer adopts concrete foundation deadweight to be placed on river bed, do not need to fix, installation process is simple.
The geometric center place of described single beam transducer array is also provided with attitude instrument, for ensureing that concrete foundation is laid steadily in river bed, concrete foundation has been installed attitude instrument, attitude instrument monitoring of software can show installation foundation pose deviation initial point angular dimension in instrumentation, frogman's adjustment direction and yardstick is notified by workboat, ensure that installation accuracy is within zone of reasonableness, in measuring process, due to current scour, certain drift angle may be there is in concrete foundation, this just needs to be corrected by attitude instrument, thus reach the requirement of measuring accuracy.
Described attitude instrument is connected with industrial control computer by RS232 serial ports.
Described single beam transducer array adopts scan round metering system.
Described multi-beam measurement array comprises a broad beam transmitting transducer and 12 and receives only transducer, and the field angle of broad beam transmitting transducer is greater than 60 °.
Described single beam transducer cleaning systems comprise the water pipeline be communicated with river levee and the hydraulic spray be oppositely arranged with single beam transducer, because Canal-water sediment charge is larger, so need regularly to clean transducer, hydraulic spray directly aims at each single beam transducer, be connected to river levee by water pipeline, automatically desilting carried out to transducer.
Described single beam controller, signal generator and I/O controller are all arranged in industrial control computer by Industry Control line.
The measuring principle of whole boats and ships profile real-time automatic measuring system is under water as follows:
Transducer array is vertical with hull direction of motion, and when hull is through the plane at transducer array place, each transducer sends sound wave respectively to hull.Utilize the principle of acoustic range, the relative position of several positions of hull to transducer can be obtained, thus extrapolate the cross-sectional shape of underbody.Due to the motion of ship, utilize transducer array to scan some sections of hull cross sections, integration is carried out in these cross sections, thus extrapolates the profile of whole underbody.
Transducer launches the acoustic signals of a certain frequency to tested point position, and sound wave is propagated with the speed of about 1500m/s in water.When sound wave arrives this, the energy of acoustic wave segment reflects, when reflective sound wave arrives transducer face, transducer converts acoustic signals to electric wave signal, amplified and data processing by signal, signal is converted to the air line distance between tested point to transducer, the coordinate of this point can be determined according to the directive property of transducer.
The acoustic emission end that multi-beam measures array is a broad beam transmitting transducer, and broad beam angle is greater than 60 °, and receiving end is a narrow beam receiving transducer, and the echo only in received beam angle, can be approximately the center line perpendicular to receiving transducer face.
Transmitting transducer " illuminates " testee in its beam angle range, and wherein sound wave b along the line propagates into testee, and a direction along the line of the reflection through G point, namely perpendicular to the center line in receiving transducer face, propagates into receiving transducer.Sound wave can be recorded through transmitting transducer to G point, be reflexed to the acoustic transit time t of receiving transducer by it, have following relation:
a+b＝v*t (1)
In formula (1), v is that sound wave is in water transmission speed.
The distance c between transmitting transducer, receiving transducer can be recorded according to the installation site of transducer, and angle Φ, there is following equation according to triangle geometry relation:
a
2+c
2-2*a*c*cosΦ＝b
2(2)
Calculate:
Relative to the coordinate system that upper figure defines, finally obtain G point coordinate position:
X
1＝X
1+a*cosθ (4)
Y
1＝Y
1+a*sinθ (5)
As arranged more receiving transducers, the position of testee outer shape difference can be obtained:
X＝X
n+a
n*cosθ (6)
Y＝Y
n+a
n*sinθ (7)
In formula (6), (7), n is the quantity of receiving transducer.
Technique effect of the present utility model is:
The utility model provides a kind of boats and ships profile real-time automatic measuring system under water, by single beam and multi-beam Integrated Measurement System to boats and ships under water profile automatically measure, and the shape data under water of ship is preserved, this system improves stability and the measuring accuracy of boats and ships topography system, and reduce cost, also improve the work efficiency of Shiplock management department and the lockage efficiency of boats and ships simultaneously.
Accompanying drawing explanation
Fig. 1 is the utility model boats and ships profile real-time automatic measuring system structural representations under water.
Fig. 2 is the utility model boats and ships profile real-time automatic measuring system scheme of installations under water.
Fig. 3 is the utility model boats and ships profile real-time automatic measuring system measuring principle schematic diagram under water.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described:
As shown in Figure 1-Figure 3, the utility model provides a kind of boats and ships profile real-time automatic measuring system under water, the data processing comprising measuring system and be connected with measuring system and control system, described measuring system comprises hull bottom measuring system and shipboard planar survey system, and described hull bottom measuring system comprises the single beam transducer array 2 being arranged on river bed and the single beam transducer cleaning systems 1 be arranged on single beam transducer array 2; Described shipboard planar survey system comprises the multi-beam being arranged on Zha Qiang both sides, river course and measures array, and described multi-beam measurement array comprises a broad beam transmitting transducer 6 and 12 and receives only transducer 10, and the field angle of broad beam transmitting transducer 6 is greater than 60 °; Described data processing and control system comprise industrial control computer 13, the single beam controller 4 be arranged in industrial control computer 13, signal generator 9 and I/O controller 12, the single beam signal converter 3 that is connected to signal processor 11 between I/O controller 12 and receiving transducer 10, is connected to the multi-beam controller 7 between signal generator 9 and broad beam transmitting transducer 6 and is connected between single beam controller 4 and single beam transducer array 2, be also connected with power amplifier 8 between multi-beam controller 7 and signal generator 9.Single beam transducer array 2 is connected with the single beam signal converter 3 in pulpit by four-core signal wire, and single beam signal converter 3 is connected with single beam controller 4 by industrial control computer bus, for change single beam signal level; Single beam controller 4 is connected with industrial control computer 13 by industrial control computer bus, switches for the reception and emission state controlling single beam transducer array 2.Described single beam transducer array 2 adopts scan round metering system, single beam transducer array 2 comprises 6 single beam transducers, 6 single beam transducers vertically upward and be evenly placed in concrete foundation, and be laid in river bed, single beam transducer adopts concrete foundation deadweight to be placed on river bed, do not need to fix, installation process is simple.The geometric center place of described single beam transducer array 2 is also provided with attitude instrument 5, attitude instrument 5 is directly connected with industrial control computer 13 by RS232 serial ports, for ensureing that concrete foundation is laid steadily in river bed, concrete foundation has been installed attitude instrument 5, attitude instrument 5 monitoring of software can show installation foundation pose deviation initial point angular dimension in instrumentation, frogman's adjustment direction and yardstick is notified by workboat, ensure that installation accuracy is within zone of reasonableness, in measuring process, due to current scour, certain drift angle may be there is in concrete foundation, this just needs to be corrected by attitude instrument 5, thus reach the requirement of measuring accuracy.Single beam transducer array 2 is also provided with single beam transducer cleaning systems 1, comprise the water pipeline be communicated with river levee and the hydraulic spray be oppositely arranged with single beam transducer, because Canal-water sediment charge is larger, so need regularly to clean transducer, hydraulic spray directly aims at each single beam transducer, be connected to river levee by water pipeline, automatically desilting carried out to transducer.Signal generator 9 is connected with industrial control computer 13 by industrial-controlled general line, receives industrial control computer 13 software control and produces measuring-signal; Multi-beam controller 7 is connected with power amplifier 8 by two core signal wires, amplify for received power the signal that sends and broad beam transmitting transducer 6 is controlled, power amplifier 8 is connected with signal generator 9, for the signal of amplifying signal generator 9 by two core signal wires; Broad beam transmitting transducer 6 is installed on the lock wall of both sides, river course by steelframe, for the acoustic signal in emission measurement shipboard face, receiving transducer 10 is installed on the lock wall of both sides, river course by steelframe together with broad beam transmitting transducer 6, for receiving the acoustic signal of boats and ships reflection, and be connected with signal processor 11 by four-core signal wire.Signal processor 11 is connected with I/O controller 12 by two core signal wires, signal processor 11 is for the treatment of the return path signal of receiving transducer 10, and be sent to I/O controller 12, I/O controller 12 is connected with industrial control computer 13 by industrial-controlled general line, for receiving transducer 10 signal is sent to industrial control computer 13.
The measuring principle of whole boats and ships profile real-time automatic measuring system is under water as follows:
Transducer array is vertical with hull direction of motion, and when hull is through the plane at transducer array place, each transducer sends sound wave respectively to hull.Utilize the principle of acoustic range, the relative position of several positions of hull to transducer can be obtained, thus extrapolate the cross-sectional shape of underbody.Due to the motion of ship, utilize transducer array to scan some sections of hull cross sections, integration is carried out in these cross sections, thus extrapolates the profile of whole underbody.
Transducer launches the acoustic signals of a certain frequency to tested point position, and sound wave is propagated with the speed of about 1500m/s in water.When sound wave arrives this, the energy of acoustic wave segment reflects, when reflective sound wave arrives transducer face, transducer converts acoustic signals to electric wave signal, amplified and data processing by signal, signal is converted to the air line distance between tested point to transducer, the coordinate of this point can be determined according to the directive property of transducer.
The acoustic emission end that multi-beam measures array is a broad beam transmitting transducer 6, and broad beam angle is greater than 60 °, and receiving end is a narrow beam receiving transducer 10, and the echo only in received beam angle, can be approximately the center line perpendicular to receiving transducer face.
Transmitting transducer 6 " illuminates " testee 14 in its beam angle range, and wherein sound wave b along the line propagates into testee 14, and a direction along the line of the reflection through G point, namely perpendicular to the center line of receiving transducer 10, propagates into receiving transducer 10.Sound wave can be recorded and arrive G point through transmitting transducer 6, be reflexed to the acoustic transit time t of receiving transducer 10 by it, have following relation:
a+b＝v*t (1)
In formula (1), v is that sound wave is in water transmission speed.
The distance c between transmitting transducer 6, receiving transducer 10 can be recorded according to the installation site of transducer, and angle Φ, there is following equation according to triangle geometry relation:
a
2+c
2-2*a*c*cosΦ＝b
2(2)
Calculate:
Relative to the coordinate system that upper figure defines, finally obtain G point coordinate position:
X
1＝X
1+a*cosθ (4)
Y
1＝Y
1+a*sinθ (5)
As arranged more receiving transducers 10, the position of testee 14 outer shape difference can be obtained:
X＝X
n+a
n*cosθ (6)
Y＝Y
n+a
n*sinθ (7)
In formula (6), (7), n is the quantity of receiving transducer 10.
The utility model provides a kind of boats and ships profile real-time automatic measuring system under water, by single beam and multi-beam Integrated Measurement System to boats and ships under water profile automatically measure, and the shape data under water of ship is preserved, this system improves stability and the measuring accuracy of boats and ships topography system, and reduce cost, also improve the work efficiency of Shiplock management department and the lockage efficiency of boats and ships simultaneously.
Claims (10)
1. boats and ships profile real-time automatic measuring system under water, the data processing comprising measuring system and be connected with measuring system and control system, it is characterized in that: described measuring system comprises hull bottom measuring system and shipboard planar survey system, described hull bottom measuring system comprises the single beam transducer array being arranged on river bed, and the single beam transducer cleaning systems be arranged on single beam transducer array, described shipboard planar survey system comprises the multi-beam being arranged on Zha Qiang both sides, river course and measures array, described multi-beam is measured array and is comprised broad beam transmitting transducer and receiving transducer.
2. boats and ships profile real-time automatic measuring system under water as claimed in claim 1, is characterized in that: described data processing and control system comprise industrial control computer, the single beam controller be arranged in industrial control computer, signal generator and I/O controller, the single beam signal converter that is connected to signal processor between I/O controller and receiving transducer, is connected to the multi-beam controller between signal generator and broad beam transmitting transducer and is connected between single beam controller and single beam transducer array.
3. boats and ships profile real-time automatic measuring system under water as claimed in claim 2, is characterized in that: be also connected with power amplifier between described multi-beam controller and signal generator.
4. boats and ships profile real-time automatic measuring system under water as claimed in claim 2, it is characterized in that: described single beam transducer array comprises 6 single beam transducers, 6 single beam transducers vertically upward and be evenly placed in concrete foundation, and are laid in river bed.
5. boats and ships profile real-time automatic measuring system under water as claimed in claim 4, is characterized in that: the geometric center place of described single beam transducer array is also provided with attitude instrument.
6. boats and ships profile real-time automatic measuring system under water as claimed in claim 5, is characterized in that: described attitude instrument is connected with industrial control computer by RS232 serial ports.
7. boats and ships profile real-time automatic measuring system under water as claimed in claim 5, is characterized in that: described single beam transducer array adopts scan round metering system.
8. boats and ships profile real-time automatic measuring system under water as claimed in claim 5, is characterized in that: described multi-beam measurement array comprises a broad beam transmitting transducer and 12 and receives only transducer, and the field angle of broad beam transmitting transducer is greater than 60 °.
9. boats and ships profile real-time automatic measuring system under water as claimed in claim 4, is characterized in that: described single beam transducer cleaning systems comprise the water pipeline be communicated with river levee and the hydraulic spray be oppositely arranged with single beam transducer.
10. boats and ships profile real-time automatic measuring system under water as claimed in claim 2, is characterized in that: described single beam controller, signal generator and I/O controller are all arranged in industrial control computer by Industry Control line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520168820.1U CN204461382U (en) | 2015-03-24 | 2015-03-24 | A kind of boats and ships profile real-time automatic measuring system under water |
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|---|---|---|---|
| CN201520168820.1U CN204461382U (en) | 2015-03-24 | 2015-03-24 | A kind of boats and ships profile real-time automatic measuring system under water |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675195A (en) * | 2016-02-03 | 2016-06-15 | 中国海洋石油总公司 | Real-time analysis system for operation of working ship based on ship attitude measurement |
| CN110375891A (en) * | 2019-07-17 | 2019-10-25 | 西湖大学 | A kind of underwater cleaning disk acting force test device and Force measurement method |
-
2015
- 2015-03-24 CN CN201520168820.1U patent/CN204461382U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675195A (en) * | 2016-02-03 | 2016-06-15 | 中国海洋石油总公司 | Real-time analysis system for operation of working ship based on ship attitude measurement |
| CN105675195B (en) * | 2016-02-03 | 2018-04-24 | 中国海洋石油总公司 | Working ship operation real-time analyzer based on attitude of ship measurement |
| US10295083B2 (en) | 2016-02-03 | 2019-05-21 | China National Offshore Oil Corporation | Real-time analysis system for operation of working ship based on ship attitude measurement |
| CN110375891A (en) * | 2019-07-17 | 2019-10-25 | 西湖大学 | A kind of underwater cleaning disk acting force test device and Force measurement method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150708 Termination date: 20160324 |