CN205209490U - Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water - Google Patents
Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water Download PDFInfo
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- CN205209490U CN205209490U CN201520250239.4U CN201520250239U CN205209490U CN 205209490 U CN205209490 U CN 205209490U CN 201520250239 U CN201520250239 U CN 201520250239U CN 205209490 U CN205209490 U CN 205209490U
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- angle sensor
- rake
- suction inlet
- drag arm
- gyro compass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water, including the drag arm position system of drag arm equipment and programmable controller constitution, the boats and ships position system of GPS beacon machine and gyro compass and control your computer constitution, data process system and figure generate display system to be constituteed, installs measurement drag arm angle sensor on the drag arm, detects the suction inlet pressure sensor of drag arm suction inlet state, driver's cabin top installation GPS beacon machine, installation gyro compass in the middle of the navigation platform, characterized by angle sensor and suction inlet pressure sensor connect through the detection signal input part of signal cable and drag arm position system, the signal input part of drag arm position system is connected with programmable logic controler's collection system, GPS beacon machine and gyro compass are connected through data transmission line with control your computer, programmable controller's collection system and control your computer pass through gateway and data process system connection, data process system passes through the gateway and figure display system connects.
Description
Technical field
The utility model belongs to waterway dredging application system, especially for trailing suction hopper dredger construction provides the system of 3D landform under water.
Background technology
The more advanced bathymetric survey equipment of current use is multibeam sounding system, its distinguishing feature once to transmit and receive a train wave bundle, when measuring the factor controllings such as ship's speed and being proper, multibeam echosounder can carry out the face depth measurement of all standing to a region, improve the operating efficiency that surveying vessel is measured, for bathymetric survey is provided convenience.But because multibeam sounding system needs to carry out bathymetric survey by multi-sensor cooperation, observed reading is many, source of error also many (as location and the delay of depth measurement, submarine topography impact, weather condition, the mounting means of instrument, dredging disposal route, the error that depth of water screening principle etc. produces), the accuracy of parametric measurement and the severe degree of working environment, affect the quality of depth measurement result all to a great extent, thus have influence on the accurate display of water-bed landform.
Traditional underwater topography display uses surveying vessel measurement result to make, and does not have real time effect, and causes the most latter made underwater topography to there is larger difference with the strand submarine topography inhaled when ship is formally constructed due to the error produced in surveying vessel measuring process.
Existing advanced trailing suction hopper dredger is installed beam transmitting receiving transducer battle array (sonar probe), multibeam signals control treatment electronic system, the DGPS differential satellite positioning system (GPS beacon machine) of terrestrial coordinate is provided, there is provided rake inhale stem to gyro compass, rake is provided to inhale ship rolling, pitching, the sensor of the attitude datas such as sedimentation.Multibeam sounding system adopts extensive angle and multichannel directive reception technology, obtains high density vertically hung scroll formula submarine topography data under water.Transmitting transducer arrays is utilized to launch the sound wave of wide sector covering to seabed, receiving transducer array is utilized to carry out narrow beam reception to sound wave, the irradiation footprint to submarine topography is formed by the orthogonality of launching, receiving sector sensing, appropriate process is carried out to these footprints, once detection just can provide the water depth value of the measured point, seabed of in the vertical plane vertical with course up to a hundred, measure along the size of submarine target in the one fixed width of course line, shape and height change, depict the three-dimensional feature of submarine topography.The rolling deviation that the lateral angles existed in multiple-beam system installation process in measuring process and regulation of longitudinal angle cause and pitching deviation, the navigation delay caused during boat trip and gyro compass deviation, the change of tidal level (reference datum), the change of Seawater sound velocity structure all can cause the displacement of measuring point, thus have influence on sounding survey precision, cause the distortion of seabed form.
Summary of the invention
The utility model needs the problem solved to be to provide a kind of working-yard in varied situations, gets rid of multibeam sounding system detecting error, is directly generated the manufacturing system of 3D landform under water by trailing suction hopper dredger drag head construction location.
The rake arms position system that the Programmable Logic Controller that the technical solution of the utility model comprises a set of rake arms equipment and is positioned at dredging control desk is formed, the GPS beacon machine of a set of acquisition Ship GPS position and ship bow to gyro compass and the vessel position system controlling computer and form, a set of calculating drag head terrestrial coordinate and set up data model data handling system and be positioned at dredging control desk graphic hotsopt display system composition, rake arms is provided with the upper rake pipe horizontal angle sensor measuring rake arms angle, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor, detect the suction inlet pressure transducer of rake arms suction inlet state, pilothouse top is provided with the GPS beacon machine detecting vessel position, navigation platform in the middle of be provided with detect ship bow to gyro compass, it is characterized in that described upper rake pipe horizontal angle sensor, upper rake pipe vertical angle sensor is connected with the detection signal input end of rake arms position system through signal cable with lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor and suction inlet pressure transducer, the signal input part of rake arms position system is connected with the acquisition system being positioned at the programmable logic controller (PLC) (PLC) dredging control desk, described GPS beacon machine and ship bow to gyro compass be connected by data transmission link with control computer, the acquisition system of the Programmable Logic Controller of dredging control desk is connected with data handling system by gateway with control computer, data handling system is connected with graphic display system by gateway.
Advantageous Effects of the present utility model: can by calculating the terrestrial coordinate of drag head based on technique scheme, application Direct3D technology generates 3D topomap under water.Inhale in ship work progress at rake, by upper rake pipe horizontal angle sensor, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, the angle change calculations that lower rake pipe vertical angle sensor detects upper rake pipe and lower rake pipe goes out the height of drag head relative to suction inlet, the pressure change calculations detected by suction inlet pressure transducer goes out the suction inlet degree of depth, drag head actual grade is calculated by the relative suction inlet height of drag head and suction inlet depthometer, drag head is calculated apart from hull horizontal range with rake tube angulation by suction inlet bend pipe and hull horizontal range, design parameter in conjunction with hull parameters and rake arms can calculate the position of drag head in hull coordinate system, based on the GPS beacon machine installed in vessel position system and gyro compass, obtain the terrestrial coordinate of GPS beacon machine and the hull place coordinate system deviation angle relative to earth coordinates.In conjunction with before calculate the position of drag head in hull coordinate system and the position of drag head in hull coordinate system can be converted to earth coordinates and calculate the terrestrial coordinate of drag head by deviation angle.The terrestrial coordinate at drag head construction location place is converted to orderly array of values and represents ground elevation, set up digital terrain model (DEM), represent the elevation change of underwater topography in the utility model with the point of mathematical definition, utilize the terrestrial coordinate of drag head to set up digital terrain model (DEM).In the utility model, main multi-resolution models simplification technology (LOD) that adopts generates landform graticule mesh, landform graticule mesh information is input in 3D drawing DLL (dynamic link library) (Direct3D) and draws, and the color value on degree of depth CLUT is composed in the three-dimensional model be made up of digital terrain model (DEM) data.The utility model directly adopts drag head position to set up underwater digit relief block, effectively can reduce and use in multibeam sounding system due to data distortion that water sports causes, the echo impact that water body foreign matter produces, the data distortion that sound wave secondary reflection causes, the data distortion that causes of extreme terrain under water, the problem that the factors such as the data error that Sound speed profile adopts different empirical model to cause cause, can reduce the multibeam sounding system later stage needs to carry out data processing thus the further data distortion problem caused.Degree of depth CLUT is utilized to play up by the difference of the height of vertex position in grid, the digital terrain model (DEM) adopted makes computing machine can describe relief representation by the resolution of different levels, adopt multi-resolution models to simplify technology (LOD) and generate landform graticule mesh, can by the more accurate underwater topography that performance is more complicated in real time of less room and time under specific resolution, minimizing data processing time realization rake is inhaled underwater topography in ship work progress and is shown in real time.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 is the upper rake pipe of rake arms and lower rake pipe geometric parameter schematic diagram.
Fig. 3 is rake arms side view.
Fig. 4 is rake arms vertical view.
Embodiment
The rake arms position system that the Programmable Logic Controller that present embodiment includes a set of rake arms equipment and is positioned at dredging control desk is formed, the GPS beacon machine of a set of acquisition Ship GPS position and ship bow to gyro compass and the vessel position system controlling computer and forms, a set of calculating drag head terrestrial coordinate and the data handling system setting up data model and the graphic hotsopt display system being positioned at dredging control desk form.Rake arms is provided with the upper rake pipe horizontal angle sensor measuring rake arms angle, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor, detect the suction inlet pressure transducer of rake arms suction inlet state, the installation site of each sensor above-mentioned is: above harrow pipe vertical angle sensor (2) and be installed on rake pipe side and vertically locate, be used for measuring rake pipe vertical angle; Upper rake pipe horizontal angle sensor (3) is installed on rake pipe surface level place, is used for measuring rake pipe level angle; Lower rake pipe vertical angle sensor (5) is installed on lower rake pipe side and vertically locates, and is used for measuring lower rake pipe vertical angle; Lower rake pipe horizontal angle sensor (4) is installed on lower rake pipe surface level place, is used for measuring lower rake pipe level angle; Suction inlet pressure transducer (1) is installed on suction inlet place, is used for calculating the current suction inlet degree of depth; Each sensor above-mentioned is connected with the detection signal input end of rake arms position system through signal cable; The detection signal input end of rake arms position system is connected with the acquisition system being positioned at the Programmable Logic Controller dredging control desk; Described GPS beacon machine and ship bow to gyro compass be connected by data transmission link with control computer, GPS beacon machine is installed on pilothouse top, is used for obtaining the WGS84 coordinate of installed position; Gyro compass is installed on pilothouse navigation platform middle, is used for obtaining the deviation angle relative to earth coordinates; All information of collecting is converged with transferring in data handling system by TCP gateway and is carried out data processing and set up digital terrain model by data; Digital terrain model is transferred in graphic hotsopt display system by TCP gateway and generates and be presented in man-machine interface.
In drag head work progress, adopt the upper rake pipe horizontal angle sensor that rake arms is installed, the primary voltage (V that upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor obtain
01) and output voltage (V
1) calculate angle (A
1, B
1,, A
2, B
2), the primary voltage (V that suction inlet pressure transducer (1) obtains
02) and output voltage (V
2) calculate drinking water, suction inlet bend pipe length (L
0), upper rake pipe (F
0f
1, length L
1), lower rake pipe (F
1f
2, length L
2), suction inlet bend pipe and hull horizontal range (r
1), calculate the drag head degree of depth and horizontal offset:
Drag head is apart from suction inlet vertical height (h
y):
h
y=h
0+h
1+h
2=L
0sinB
1+F
0H
1+F
1H
2
=L
0sinB
1+F
0F
1sinB
1+F
1F
2sinB
2=(L
0+L
1)sinB
1+L
2sinB
2
Drag head is apart from hull horizontal range (r
y):
r
y=r
0+r
1+r
2=r
0+L
1sinA
1+L
2cosB
2sin(A
1’+A
2’)
=r
0+L
1sinA
1+L
2[sinA
1(cos
2B
2-sin
2A
2)
1/2+sinA
2(cos
2B
1-sin
2A
1)
1/2]/cosB
1
Drag head actual grade h and drag head are apart from suction inlet vertical height h
y, suction inlet pressure transducer drinking water h
3, suction inlet pressure transducer and suction inlet difference in height h
4one-tenth relation: h=h
y+ h
3+ h
4
Drag head is traversing: r
x=L
1-L
1((cosB
1)
2-(sinA
1)
2)
1/2+
L
2-L
2[(cos
2B
1-sin
2A
1)
1/2(cos
2B
2-sin
2A
2)
1/2-sinA
1sinA
2]/cosB
1
Rake arms angle θ (A
1, A
2, B
1, B
2) and angular transducer output voltage V
1, initial voltage V
01with initial angle θ
0relation: θ=K
1(V
1-V
01)+θ
0
Suction inlet drinking water sensor drinking water h
3sensor output voltage V is absorbed water with suction inlet
2, initial voltage V
02initially absorb water h
03one-tenth relation: h
3=K
2(V
2-V
02)+h
03
Obtaining the current WGS84 coordinate being arranged on this point on boats and ships by GPS beacon machine, is terrestrial coordinate by converting this coordinate conversion.The position on boats and ships is arranged on according to GPS, with the head and the tail center line of boats and ships for the longitudinal axis, the afterbody vertical center line of ship is transverse axis, set up the coordinate system of hull, obtain the coordinate of GPS in this coordinate system, by the measurement of gyro compass, calculate and obtain the deviation angle of boats and ships coordinate system relative to earth coordinates.In hull coordinate system, according to the coordinate of GPS and the design parameter of hull, obtain the coordinate of drag head in hull coordinate system.The relativity shift angle of the pre-test then passed through and hull coordinate conversion are the computing formula of terrestrial coordinate, obtain the terrestrial coordinate (geodetic longitude L, geodetic latitude B and the earth elevation H) of drag head.
The terrestrial coordinate at drag head construction location place is converted to orderly array of values ({ V
i(X
i, Y
i, Z
i), i=1,2,3,---n, } wherein (X
i, Y
i) represent the planimetric coordinates in this region, Zi is (Xi, Yi) corresponding elevation) represent ground elevation, set up digital terrain model (DEM), utilize the point of mathematical definition to represent the elevation change of underwater topography, digital terrain model is divided into the regular grid (sizing grid representative data precision) of 1m*1m, the earth elevation H of drag head terrestrial coordinate is given to the elevation of each grid, if drag head length is 4m, width is 2m, after each drag head crosses rake, the altitude figures of 4*2 grid is had to be updated to the earth elevation H of drag head terrestrial coordinate.(multi-resolution models simplification technology utilizes the visual redundancy characteristic of human eye mainly to adopt multi-resolution models simplification technology (LOD) to generate landform graticule mesh in the utility model, different with the distance of distance viewpoint and the complexity of atural object itself according to direction of visual lines, adopt level of detail to be in various degree described to the different piece of terrain scene.Number of triangles to be processed is needed in the terrain rendering process reduced greatly, accelerate the real-time rendering speed of landform), landform graticule mesh information is input in 3D drawing DLL (dynamic link library) (Direct3D) and draws, and the color value on degree of depth CLUT is composed in the three-dimensional model be made up of digital terrain model (DEM) data.In graphic hotsopt display system, set up 3D environment, draw out on 3D topomap is under water transferred to dredging control desk display by gateway and show.
Claims (1)
1. the manufacturing system of trailing suction hopper dredger construction location 3D landform under water, the rake arms position system that the Programmable Logic Controller comprising a set of rake arms equipment and be positioned at dredging control desk is formed, the GPS beacon machine of a set of acquisition Ship GPS position and ship bow to gyro compass and the vessel position system controlling computer and form, a set of calculating drag head terrestrial coordinate and set up data model data handling system and be positioned at dredging control desk graphic hotsopt display system composition, rake arms is provided with the upper rake pipe horizontal angle sensor measuring rake arms angle, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor, detect the suction inlet pressure transducer of rake arms suction inlet state, pilothouse top is provided with the GPS beacon machine detecting vessel position, navigation platform in the middle of be provided with detect ship bow to gyro compass, it is characterized in that described upper rake pipe horizontal angle sensor, upper rake pipe vertical angle sensor is connected with the detection signal input end of rake arms position system through signal cable with lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor and suction inlet pressure transducer, the signal input part of rake arms position system is connected with the acquisition system being positioned at the programmable logic controller (PLC) dredging control desk, described GPS beacon machine and ship bow to gyro compass be connected by data transmission link with control computer, the acquisition system of the Programmable Logic Controller of dredging control desk is connected with data handling system by gateway with control computer, data handling system is connected with graphic display system by gateway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520250239.4U CN205209490U (en) | 2015-04-23 | 2015-04-23 | Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520250239.4U CN205209490U (en) | 2015-04-23 | 2015-04-23 | Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water |
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| Publication Number | Publication Date |
|---|---|
| CN205209490U true CN205209490U (en) | 2016-05-04 |
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ID=55847200
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|---|---|---|---|
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| CN (1) | CN205209490U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153014A (en) * | 2015-04-23 | 2016-11-23 | 中交疏浚技术装备国家工程研究中心有限公司 | The manufacturing system of trailing suction hopper dredger construction location 3D landform under water |
| CN111189435A (en) * | 2020-02-28 | 2020-05-22 | 国家海洋技术中心 | Arm-hanging and dragging type water depth measuring system and method |
-
2015
- 2015-04-23 CN CN201520250239.4U patent/CN205209490U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153014A (en) * | 2015-04-23 | 2016-11-23 | 中交疏浚技术装备国家工程研究中心有限公司 | The manufacturing system of trailing suction hopper dredger construction location 3D landform under water |
| CN111189435A (en) * | 2020-02-28 | 2020-05-22 | 国家海洋技术中心 | Arm-hanging and dragging type water depth measuring system and method |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |