CN205396479U - On -board side drinking water detecting system - Google Patents

On -board side drinking water detecting system Download PDF

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CN205396479U
CN205396479U CN201520796687.4U CN201520796687U CN205396479U CN 205396479 U CN205396479 U CN 205396479U CN 201520796687 U CN201520796687 U CN 201520796687U CN 205396479 U CN205396479 U CN 205396479U
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ultrasonic
sensor module
line array
angle
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熊木地
李然
齐俊麟
王培滨
郑卫力
金锋
陈新
王海江
张�杰
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Dalian Maritime University
Three Gorges Navigation Authority
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Three Gorges Navigation Authority
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Abstract

一种船载侧吃水检测系统,所述的系统包括角度传感器模块、超声波发射模块、发射端压力传感器模块、接收端压力传感器模块、超声波接收模块、同步使能模块、数据处理模块和显示模块;所述的超声波发射模块由2N+1个超声波发射线阵、2N+1个安装支架、浮体和固定板组成。由于本实用新型以一种互成角度的多发射线阵代替单一发射线阵,解决了当浮体上仰或下俯角度过大时单一发射线阵的探头偏离水平线角度过大,从而导致超声波发射探头不在合理的工作范围,进一步影响接收线阵无法正确接收发射线阵相对应的信号。

A ship-mounted side draft detection system, said system comprising an angle sensor module, an ultrasonic transmitting module, a transmitting end pressure sensor module, a receiving end pressure sensor module, an ultrasonic receiving module, a synchronization enabling module, a data processing module and a display module; The ultrasonic emitting module is composed of 2N+1 ultrasonic emitting line arrays, 2N+1 mounting brackets, floating bodies and fixing plates. Since the utility model replaces a single emission line array with a multi-radiation line array that forms an angle with each other, it solves the problem that the probe of the single emission line array deviates from the horizontal line when the angle of the floating body is too large, which causes the ultrasound emission probe If it is not within a reasonable working range, it will further affect that the receiving line array cannot correctly receive the signal corresponding to the transmitting line array.

Description

一种船载侧吃水检测系统A Shipborne Side Draft Detection System

技术领域technical field

本实用新型一种船载侧吃水检测系统,应用于船舶吃水检测和船舶安全检测等领域。The utility model relates to a ship-mounted side draft detection system, which is applied to the fields of ship draft detection, ship safety detection and the like.

背景技术Background technique

目前,随着内河航运量不断增大,船舶密度大幅提高。船舶吃水检测对于保障通航船舶安全具有十分重要的意义。现有的船载侧吃水检测系统是构建单一线阵列的超声波发射模块,然后利用同步使能模块分时控制超声波发射传感器等间隔地依次循环发射超声波,再根据超声波传感器接收端接收的直达波推出船舶吃水深度。此方法适用于固定安装或满足发射换能器阵列摆角很小的情况,当摆角过大时,因接收线阵列无法正确接收发射线阵列相对应的信号,造成系统无法正常工作,因此该方法无法直接用于船载安装,使得其应用受到很大的限制。At present, with the increasing volume of inland waterway shipping, the density of ships has increased significantly. Ship draft detection is of great significance to ensure the safety of navigable ships. The existing shipboard side draft detection system is to build a single line array of ultrasonic transmitting modules, and then use the synchronous enabling module to control the ultrasonic transmitting sensors to transmit ultrasonic waves at equal intervals in sequence, and then push out according to the direct waves received by the receiving end of the ultrasonic sensors. The ship's draft. This method is suitable for fixed installation or when the swing angle of the transmitting transducer array is very small. When the swing angle is too large, the system cannot work normally because the receiving line array cannot correctly receive the signal corresponding to the transmitting line array. The method cannot be directly used for shipboard installation, so its application is greatly limited.

发明内容Contents of the invention

为解决上述技术问题,本实用新型提供一种船载侧吃水检测系统,以一种互成角度的多发射线阵代替单一发射线阵,解决了当浮体上仰或下俯角度过大时单一发射线阵的探头偏离水平线角度过大,从而导致超声波发射探头不在合理的工作范围,进一步影响接收线阵无法正确接收发射线阵相对应的信号问题。该系统可以补偿倾角过大而引起接收端不能准确接收信号。In order to solve the above technical problems, the utility model provides a ship-borne side draft detection system, which replaces a single emission line array with an angled multi-emission line array, which solves the problem of single emission when the floating body is raised or lowered too much. The angle of the probe of the line array deviates too much from the horizontal line, which leads to the fact that the ultrasonic transmitting probe is not in the reasonable working range, which further affects the problem that the receiving line array cannot correctly receive the signal corresponding to the transmitting line array. The system can compensate for the inability of the receiving end to accurately receive signals caused by excessive inclination angles.

本实用新型所采用的技术方案是:The technical scheme adopted in the utility model is:

一种船载侧吃水检测系统,包括角度传感器模块、超声波发射模块、发射端压力传感器模块、接收端压力传感器模块、超声波接收模块、同步使能模块、数据处理模块、显示模块。所述数据处理模块通过数据线分别与发射端压力传感器模块、接收端压力传感器模块、超声波接收模块和显示模块连接。同步使能模块通过数据线分别与角度传感器模块、超声波发射模块连接,超声波发射模块构成发射端,超声波接收模块构成接收端。A ship-mounted side draft detection system includes an angle sensor module, an ultrasonic transmitting module, a transmitting-end pressure sensor module, a receiving-end pressure sensor module, an ultrasonic receiving module, a synchronization enabling module, a data processing module, and a display module. The data processing module is respectively connected with the pressure sensor module at the transmitting end, the pressure sensor module at the receiving end, the ultrasonic receiving module and the display module through data lines. The synchronization enabling module is respectively connected to the angle sensor module and the ultrasonic transmitting module through data lines, the ultrasonic transmitting module constitutes a transmitting end, and the ultrasonic receiving module constitutes a receiving end.

所述超声波发射模块由2N+1个超声波发射线阵、2N+1个安装支架、浮体、固定板组成。所述超声波发射线阵由多个超声波发射探头排成一列,安装于安装支架上,每个超声波发射探头发出的超声波中心线与安装支架长度方向中心线垂直,同一安装支架上的多个超声波发射探头发出的超声波中心线构成的平面与固定板平面垂直。The ultrasonic transmitting module is composed of 2N+1 ultrasonic transmitting line arrays, 2N+1 mounting brackets, floating bodies and fixing plates. The ultrasonic emission line array is arranged in a row by a plurality of ultrasonic emission probes and installed on the mounting bracket. The ultrasonic center line emitted by each ultrasonic emission probe is perpendicular to the center line of the length direction of the mounting bracket. The plane formed by the ultrasonic center line emitted by the probe is perpendicular to the plane of the fixed plate.

安装支架从左至右的编号依次为-N、-N+1、…、0、…、N-1、N;则第i个安装支架长度方向中心线与固定板平面之间具有夹角Qi:The numbers of the mounting brackets from left to right are -N, -N+1, ..., 0, ..., N-1, N; then there is an angle Qi between the centerline of the i-th mounting bracket in the length direction and the plane of the fixing plate :

Qi=i*θ;Qi=i*θ;

i=-N、-N+1、…、0、…、N-1、N;i=-N,-N+1,...,0,...,N-1,N;

θ的取值范围为1-3度。The value range of θ is 1-3 degrees.

所述固定板固定在靠近航道中心、且浸没于水中的浮体朝向航道中心的一侧,保证超声波发射线阵完全浸没水中,并且固定板平面与水平面垂直。The fixed plate is fixed on the side of the floating body submerged in water facing the center of the channel, which is close to the center of the channel, so as to ensure that the ultrasonic emitting line array is completely immersed in the water, and the plane of the fixed plate is perpendicular to the horizontal plane.

所述角度传感器模块1固定安装在浮体上,因为固定板和浮体固定安装,所以角度传感器模块测得的浮体上仰或下俯的角度β就是超声波发射线阵上仰或下俯的角度β,角度传感器模块将角度β实时传输给同步使能模块,这里规定上仰角度为正值,下俯角度为负值。The angle sensor module 1 is fixedly installed on the floating body, because the fixed plate and the floating body are fixedly installed, so the angle β of the floating body measured by the angle sensor module is the angle β of the ultrasonic emission line array rising or falling, The angle sensor module transmits the angle β to the synchronization enabling module in real time, where it is stipulated that the upward angle is a positive value, and the downward angle is a negative value.

所述发射端压力传感器模块安装在超声波发射模块中的固定板平面上,发射端压力传感器模块通过测量超声波发射线阵中心位置距离水面的压力,来测量超声波发射线阵中心位置距离水面的深度H。The transmitting-end pressure sensor module is installed on the fixed plate plane in the ultrasonic transmitting module, and the transmitting-end pressure sensor module measures the depth H between the center position of the ultrasonic transmitting line array and the water surface by measuring the pressure at the center position of the ultrasonic transmitting line array from the water surface .

所述超声波接收模块由超声波接收探头和一个安装支架组成,所述超声波接收探头排成一列,安装于一个安装支架上,每个超声波接收探头接收的超声波中心线与安装支架所在的平面垂直,构成单一超声波接收线阵;单一超声波接收线阵固定安装在航道另一侧、且与安装支架所在的平面与水平面垂直。接收端压力传感器模块安装在单一超声波接收线阵的中心位置,其通过测量超声波接收线阵中心位置距离水面的压力来测量超声波接收线阵中心位置距离水面的深度L。The ultrasonic receiving module is composed of ultrasonic receiving probes and a mounting bracket. The ultrasonic receiving probes are arranged in a row and installed on a mounting bracket. The ultrasonic center line received by each ultrasonic receiving probe is perpendicular to the plane where the mounting bracket is located, forming a Single ultrasonic receiving line array: The single ultrasonic receiving line array is fixedly installed on the other side of the channel, and is perpendicular to the plane where the mounting bracket is located and the horizontal plane. The pressure sensor module at the receiving end is installed at the center of a single ultrasonic receiving line array, which measures the depth L between the center of the ultrasonic receiving line array and the water surface by measuring the pressure between the center of the ultrasonic receiving line array and the water surface.

所述同步使能模块固定安装在浮体上,同步使能模块用于对角度传感器模块传来的角度β进行判断,获取当前符合要求的一个超声波发射线阵,然后依次分时等间隔的循环发射使能信号。The synchronization enabling module is fixedly installed on the floating body, and the synchronization enabling module is used to judge the angle β transmitted by the angle sensor module, obtain an ultrasonic emission line array that currently meets the requirements, and then sequentially transmit time-sharing and equal intervals enable signal.

所述数据处理模块安装在浮体上,数据处理模块用于根据发射端压力传感器模块和接收端压力传感器模块传送的深度信息,以及超声波接收线阵接收的信号强弱,计算出出船舶吃水深度。The data processing module is installed on the floating body, and the data processing module is used to calculate the draft of the ship according to the depth information transmitted by the transmitter pressure sensor module and the receiver pressure sensor module, and the strength of the signal received by the ultrasonic receiving line array.

所述显示模块安装在浮体上,用来通知工作人员过往船只是否超限。The display module is installed on the buoyant body, and is used to inform staff whether passing ships exceed the limit.

一种船载侧吃水检测方法,包括以下步骤,A kind of shipboard side draft detection method, comprises the following steps,

步骤1:采集浮体角度信息;Step 1: Collect the angle information of the floating body;

步骤2:采集超声波发射线阵中心位置深度;Step 2: Collect the depth of the center position of the ultrasonic emission line array;

步骤3:采集超声波接收阵列中心位置深度;Step 3: Collect the depth of the center position of the ultrasonic receiving array;

步骤4:角度判断并使能同步信号;Step 4: Determine the angle and enable the synchronization signal;

步骤5:发射超声波;Step 5: emit ultrasonic waves;

步骤6:接收超声波;Step 6: Receive ultrasound;

步骤7:数据处理。Step 7: Data processing.

本实用新型提供一种船载侧吃水检测系统,技术效果如下:The utility model provides a ship-borne side draft detection system, and the technical effects are as follows:

1)、互成角度的超声波发射线阵,解决了当浮体上仰或下俯角度过大时单一发射线阵的探头偏离水平线角度过大,从而导致超声波发射探头不在合理的工作范围,进一步影响接收线阵无法正确接收发射线阵相对应的信号问题;1) Ultrasonic emission line arrays with mutual angles solve the problem that when the upward or downward angle of the floating body is too large, the probe of a single emission line array deviates too much from the horizontal line, which leads to the fact that the ultrasonic emission probes are not in a reasonable working range, which further affects The receiving line array cannot correctly receive the signal corresponding to the transmitting line array;

2)、互成角度的超声波发射线阵,补偿浮体上仰或下俯角度过大问题,因此适合在浮体上安装,应用范围比较广。2) Ultrasonic emission line arrays at an angle to each other can compensate for the problem of excessive upward or downward angles of the floating body, so it is suitable for installation on the floating body and has a wide range of applications.

3)、互成角度的超声波发射线阵安装在浮体上,检修方便。3) Ultrasonic emission line arrays at an angle to each other are installed on the floating body, which is convenient for maintenance.

附图说明Description of drawings

图1为本实用新型系统的流程图。Fig. 1 is the flowchart of the utility model system.

图2为本实用新型的浮体上仰角度β,第i个安装支架上的超声波发射线阵作为发射线阵。Fig. 2 is the elevation angle β of the floating body of the present invention, and the ultrasonic emission line array on the i-th mounting bracket is used as the emission line array.

图3为本实用新型的互成角度的超声波发射线阵主视图。Fig. 3 is a front view of the ultrasonic emission line arrays at angles to each other of the present invention.

图4为本实用新型的互成角度的超声波发射线阵左剖面图。Fig. 4 is a left cross-sectional view of the ultrasonic emission linear arrays at angles of each other of the present invention.

图5为本实用新型的互成角度的超声波发射线阵右剖面图。Fig. 5 is a right cross-sectional view of ultrasonic emitting linear arrays at angles of each other of the present invention.

具体实施方式detailed description

如图1所示,一种船载侧吃水检测系统,包括角度传感器模块1、超声波发射模块3、发射端压力角传感器模块6、接收端压力传感器模块5、超声波接收模块4、同步使能模块2、数据处理模块7、显示模块8。所述数据处理模块7通过数据线分别与发射端压力传感器模块6、接收端压力传感器模块5、超声波接收模块4和显示模块8连接。同步使能模块2通过数据线分别与角度传感器模块1、超声波发射模块3连接,超声波发射模块3构成发射端,超声波接收模块4构成接收端。As shown in Figure 1, a shipboard side draft detection system includes an angle sensor module 1, an ultrasonic transmitting module 3, a transmitting end pressure angle sensor module 6, a receiving end pressure sensor module 5, an ultrasonic receiving module 4, and a synchronization enabling module 2. Data processing module 7 and display module 8 . The data processing module 7 is respectively connected with the transmitter pressure sensor module 6, the receiver pressure sensor module 5, the ultrasonic receiver module 4 and the display module 8 through data lines. The synchronization enabling module 2 is respectively connected to the angle sensor module 1 and the ultrasonic transmitting module 3 through data lines, the ultrasonic transmitting module 3 constitutes a transmitting end, and the ultrasonic receiving module 4 constitutes a receiving end.

角度传感器模块1采用俯仰精度为0.1度、采样速率为50Hz,适合远距离传输的485通信方式的角度传感器;超声波发射模块3采用发射频率为500K,发射角度为1-3度的超声波发射传感器;发射端压力传感器模块6采用精度为±0.2%F.S、输入为4-20mA,适合远距离传输的485通信方式的压力传感器;接收端压力传感器模块5采用精度为±0.2%F.S、输入为4-20mA,适合远距离传输的485通信方式的压力传感器;超声波接收模块4采用接收频率为500K的超声波接收传感器;同步使能模块2采用Xilinx系列的FPGA,利用Verilog语言编程产生同步信号;数据处理模块7采用多通道同步数据采集卡,采样频率为200Kps;显示模块8为液晶显示屏。The angle sensor module 1 adopts an angle sensor with a pitch accuracy of 0.1 degrees and a sampling rate of 50 Hz, which is suitable for long-distance transmission in the 485 communication mode; the ultrasonic transmitting module 3 adopts an ultrasonic transmitting sensor with a transmitting frequency of 500K and a transmitting angle of 1-3 degrees; The pressure sensor module 6 at the transmitting end adopts a pressure sensor with an accuracy of ±0.2% F.S and an input of 4-20mA, which is suitable for long-distance transmission in the 485 communication mode; the pressure sensor module 5 at the receiving end adopts an accuracy of ±0.2% F.S. 20mA, 485 communication pressure sensor suitable for long-distance transmission; ultrasonic receiving module 4 adopts ultrasonic receiving sensor with a receiving frequency of 500K; synchronization enabling module 2 adopts Xilinx series FPGA, and uses Verilog language programming to generate synchronization signals; data processing module 7 adopts a multi-channel synchronous data acquisition card with a sampling frequency of 200Kps; the display module 8 is a liquid crystal display.

所述超声波发射模块3由2N+1个超声波发射线阵、2N+1个安装支架10、浮体11、固定板12组成;所述超声波发射线阵由多个超声波发射探头9排成一列,安装于安装支架10上,每个超声波发射探头9发出的超声波中心线与安装支架10长度方向中心线垂直,同一安装支架10上的多个超声波发射探头9发出的超声波中心线构成的平面与固定板12平面垂直;The ultrasonic transmitting module 3 is composed of 2N+1 ultrasonic transmitting linear arrays, 2N+1 mounting brackets 10, floating bodies 11, and fixed plates 12; the ultrasonic transmitting linear array is arranged in a row by a plurality of ultrasonic transmitting probes 9, installed On the mounting bracket 10, the ultrasonic center line that each ultrasonic transmitting probe 9 sends is perpendicular to the center line of the longitudinal direction of the mounting bracket 10, and the plane formed by the ultrasonic center lines that multiple ultrasonic transmitting probes 9 on the same mounting bracket 10 send and the fixed plate 12 plane vertical;

安装支架10从左至右的编号依次为-N、-N+1、…、0、…、N-1、N;则第i个安装支架长度方向中心线与固定板12平面之间具有夹角Qi:The numbering of the mounting bracket 10 from left to right is -N, -N+1, ..., 0, ..., N-1, N; Angle Qi:

Qi=i*θ;Qi=i*θ;

i=-N、-N+1、…、0、…、N-1、N;i=-N,-N+1,...,0,...,N-1,N;

θ的取值范围为1-3度,由于浮体上仰或下俯角度较小,控制θ在1-3度,不但可以提高整个系统的测量范围,也可以提高系统的测量精度。The value range of θ is 1-3 degrees. Since the upward or downward angle of the floating body is small, controlling θ at 1-3 degrees can not only improve the measurement range of the entire system, but also improve the measurement accuracy of the system.

所述固定板12固定在靠近航道中心、且浸没于水中的浮体11朝向航道中心的一侧,保证超声波发射线阵完全浸没水中,并且固定板12平面与水平面垂直。The fixed plate 12 is fixed on the side of the floating body 11 that is close to the center of the waterway and submerged in water and faces the center of the waterway, so as to ensure that the ultrasonic emitting line array is completely immersed in the water, and the plane of the fixed plate 12 is perpendicular to the horizontal plane.

所述角度传感器模块1固定安装在浮体11上,因为固定板12和浮体11固定安装,所以角度传感器模块1测得的浮体11上仰或下俯的角度β就是超声波发射线阵上仰或下俯的角度β,角度传感器模块1将角度β实时传输给同步使能模块2,这里规定上仰角度为正值,下俯角度为负值。The angle sensor module 1 is fixedly installed on the floating body 11, because the fixed plate 12 and the floating body 11 are fixedly installed, so the angle β of the floating body 11 measured by the angle sensor module 1 is the upward or downward angle of the ultrasonic emission line array. For the pitch angle β, the angle sensor module 1 transmits the angle β to the synchronization enabling module 2 in real time, where it is stipulated that the upward angle is a positive value, and the downward angle is a negative value.

所述发射端压力传感器模块6安装在超声波发射模块3中的固定板12平面上,发射端压力角传感器模块6通过测量超声波发射线阵中心位置距离水面的压力,来测量超声波发射线阵中心位置距离水面的深度H。The transmitting end pressure sensor module 6 is installed on the plane of the fixed plate 12 in the ultrasonic transmitting module 3, and the transmitting end pressure angle sensor module 6 measures the center position of the ultrasonic emitting line array by measuring the pressure of the center position of the ultrasonic emitting line array from the water surface Depth H from the water surface.

所述超声波接收模块4由超声波接收探头和一个安装支架10组成,所述超声波接收探头排成一列,安装于一个安装支架10上,每个超声波接收探头接收的超声波中心线与安装支架10所在的平面垂直,构成单一超声波接收线阵;单一超声波接收线阵固定安装在航道另一侧、且与安装支架10所在的平面与水平面垂直;The ultrasonic receiving module 4 is made up of ultrasonic receiving probes and a mounting bracket 10. The ultrasonic receiving probes are arranged in a row and installed on a mounting bracket 10. The plane is vertical to form a single ultrasonic receiving line array; the single ultrasonic receiving line array is fixedly installed on the other side of the channel, and is perpendicular to the plane where the mounting bracket 10 is located and the horizontal plane;

接收端压力传感器模块5安装在单一超声波接收线阵的中心位置,其通过测量超声波接收线阵中心位置距离水面的压力来测量超声波接收线阵中心位置距离水面的深度L。The pressure sensor module 5 at the receiving end is installed at the center of a single ultrasonic receiving line array, which measures the depth L between the center of the ultrasonic receiving line array and the water surface by measuring the pressure between the center of the ultrasonic receiving line array and the water surface.

所述同步使能模块2固定安装在浮体11上,同步使能模块2用于对角度传感器模块1传来的角度β进行判断,获取当前符合要求的一个超声波发射线阵,然后依次分时等间隔的循环发射使能信号。The synchronization enabling module 2 is fixedly installed on the floating body 11, and the synchronization enabling module 2 is used to judge the angle β transmitted from the angle sensor module 1, obtain an ultrasonic emission line array that currently meets the requirements, and then time-sharing etc. The enable signal is transmitted cyclically at intervals.

所述数据处理模块7安装在浮体11上,数据处理模块7用于根据发射端压力传感器模块6和接收端压力传感器模块5传送的深度信息,以及超声波接收线阵接收的信号强弱,计算出出船舶吃水深度。The data processing module 7 is installed on the floating body 11, and the data processing module 7 is used to calculate the depth information transmitted by the pressure sensor module 6 at the transmitting end and the pressure sensor module 5 at the receiving end, and the strength of the signal received by the ultrasonic receiving line array. Out of the ship's draft.

所述显示模块8安装在浮体11上,用来通知工作人员过往船只是否超限。The display module 8 is installed on the floating body 11, and is used to notify the staff whether the passing ships exceed the limit.

一种船载侧吃水检测方法,包括以下步骤:A method for detecting side draft on a ship, comprising the following steps:

步骤1:采集浮体11角度信息;Step 1: collect the angle information of the floating body 11;

角度传感器模块1将浮体11上仰或下俯的角度β实时传输给同步使能模块2,因为固定板12和浮体11固定安装,所以浮体11上仰或下俯的角度β即为超声波发射线阵上仰或下俯的角度β。The angle sensor module 1 transmits the upward or downward angle β of the floating body 11 to the synchronization enabling module 2 in real time. Because the fixed plate 12 and the floating body 11 are fixedly installed, the upward or downward angle β of the floating body 11 is the ultrasonic emission line The angle β of the array up or down.

步骤2:采集超声波发射线阵中心位置深度;Step 2: Collect the depth of the center position of the ultrasonic emission line array;

发射端压力传感器模块6实时采集超声波发射线阵中心位置距离水面深度H然后传输给数据处理模块7。The transmitter pressure sensor module 6 collects the distance H from the center position of the ultrasonic transmitter line array to the water surface in real time and then transmits it to the data processing module 7 .

步骤3:采集超声波接收阵列中心位置深度;Step 3: Collect the depth of the center position of the ultrasonic receiving array;

接收端压力传感器模块5实时获得超声波接收阵列中心位置距离水面的深度L并传输给数据处理模块7。The pressure sensor module 5 at the receiving end obtains the depth L between the center position of the ultrasonic receiving array and the water surface in real time and transmits it to the data processing module 7 .

步骤4:角度判断并使能同步信号;Step 4: Determine the angle and enable the synchronization signal;

同步使能模块2对角度传感器模块1实时传送的浮体11上仰或下俯的角度β进行处理,即计算:The synchronous enabling module 2 processes the angle β of the floating body 11 raised or lowered in real time transmitted by the angle sensor module 1, that is, calculates:

I=-INT(β/θ+0.5)I=-INT(β/θ+0.5)

INT表示取整数。INT means take an integer.

θ表示编号为1的安装支架10长度方向中心线与固定板12平面之间的夹角。θ represents the angle between the center line of the mounting bracket 10 in the longitudinal direction numbered 1 and the plane of the fixing plate 12 .

编号为0的安装支架夹角为0;编号为0的安装支架构成基准安装支架;The included angle of the mounting bracket numbered 0 is 0; the mounting bracket numbered 0 constitutes the reference mounting bracket;

编号为-1的安装支架夹角为-θ。The included angle of the mounting bracket numbered -1 is -θ.

同步使能模块2依次等间隔的给超声波发射模块3中的第I个安装支架10上的超声波发射线阵循环发射使能信号;Synchronization enables module 2 to give the ultrasonic emission line array circulation transmission enabling signal on the 1st mounting bracket 10 in the ultrasonic emission module 3 at equal intervals successively;

步骤5:发射超声波;Step 5: emit ultrasonic waves;

第I个安装支架10上的超声波发射线阵获取同步使能模块2传送的使能信号后,发射超声波信号。After the ultrasonic emission line array on the 1st mounting bracket 10 obtains the enabling signal transmitted by the synchronous enabling module 2, it emits an ultrasonic signal.

步骤6:接收超声波;Step 6: Receive ultrasound;

安装在航道另一侧的超声波接收模块4接收信号并实时传给数据处理模块7。The ultrasonic receiving module 4 installed on the other side of the channel receives the signal and sends it to the data processing module 7 in real time.

步骤7:数据处理;Step 7: data processing;

数据处理模块7根据发射端压力传感器模块6传送的超声波发射线阵中心位置距离水面的深度H计算出第I个安装支架10上的超声波发射线阵第一个超声波发射探头9距离水面的深度H1以及接收端压力传感器模块5传送的超声波接收线阵中心位置距离水面的深度L计算出水下第一个超声波接收探头距离水面的深度L1,H1和L1取平均后的值D作为水下第一个超声波接收探头距离水面的深度,再结合超声波接收线阵接收的信号强弱计算出下端最后一个被遮挡超声波接收探头距离第一个超声波接收探头的长度X进而计算出吃水深度为D+X。The data processing module 7 calculates the depth H of the first ultrasonic emission line array on the I mounting bracket 10 from the first ultrasonic emission probe 9 of the ultrasonic emission line array to the water surface according to the depth H of the ultrasonic emission line center position transmitted by the transmitter pressure sensor module 6 from the water surface 1 and the depth L of the center position of the ultrasonic receiving linear array transmitted by the pressure sensor module 5 at the receiving end from the water surface to calculate the depth L 1 of the first underwater ultrasonic receiving probe from the water surface, and the average value D of H 1 and L 1 is used as the water surface The depth of the first ultrasonic receiving probe from the water surface, combined with the strength of the signal received by the ultrasonic receiving line array, calculates the length X of the last blocked ultrasonic receiving probe at the lower end from the first ultrasonic receiving probe, and then calculates the draft as D +X.

以下通过附图对互成角度的多发射线阵补偿浮体11上仰角度β带来的误差做进一步地描述:The error caused by the elevation angle β of the buoyant body 11 is further described by the mutually angled multi-emission linear array compensation in the following drawings:

如图2所示,当浮体上仰角度β,同步使能模块2对角度传感器模块1实时传送的浮体11上仰角度β进行处理,即计算:As shown in Figure 2, when the floating body is raised at an angle β, the synchronization enabling module 2 processes the raised angle β of the floating body 11 transmitted by the angle sensor module 1 in real time, that is, calculates:

i=-INT(β/θ+0.5),INT表示取整数,则选取第i个安装支架10上的超声波发射线阵作为发射线阵,如果β值远远小于θ值,则选取编号为0安装支架10上的超声波发射线阵作为发射线阵。i=-INT(β/θ+0.5), INT means taking an integer, then select the ultrasonic emission line array on the i-th installation bracket 10 as the emission line array, if the β value is far less than the θ value, then select the number as 0 The ultrasonic emission line array on the mounting bracket 10 is used as the emission line array.

Claims (9)

1.一种船载侧吃水检测系统,包括角度传感器模块(1)、超声波发射模块(3)、发射端压力角传感器模块(6)、接收端压力传感器模块(5)、超声波接收模块(4)、同步使能模块(2)、数据处理模块(7)、显示模块(8);其特征在于,所述数据处理模块(7)分别连接发射端压力角传感器模块(6)、显示模块(8)、超声波接收模块(4)、接收端压力传感器模块(5); 1. A ship-borne side draft detection system, comprising an angle sensor module (1), an ultrasonic transmitting module (3), a transmitting end pressure angle sensor module (6), a receiving end pressure sensor module (5), an ultrasonic receiving module (4 ), synchronous enabling module (2), data processing module (7), display module (8); it is characterized in that, described data processing module (7) connects transmitter end pressure angle sensor module (6), display module ( 8), ultrasonic receiving module (4), receiving end pressure sensor module (5); 角度传感器模块(1)连接同步使能模块(2),同步使能模块(2)连接超声波发射模块(3);超声波发射模块(3)构成发射端,超声波接收模块(4)构成接收端。 The angle sensor module (1) is connected to the synchronization enabling module (2), and the synchronization enabling module (2) is connected to the ultrasonic transmitting module (3); the ultrasonic transmitting module (3) constitutes a transmitting end, and the ultrasonic receiving module (4) constitutes a receiving end. 2.根据权利要求1所述一种船载侧吃水检测系统,其特征在于,所述超声波发射模块(3)由2N+1个超声波发射线阵、2N+1个安装支架(10)、浮体(11)、固定板(12)组成;所述超声波发射线阵由多个超声波发射探头(9)排成一列,安装于安装支架(10)上,每个超声波发射探头(9)发出的超声波中心线与安装支架(10)长度方向中心线垂直,同一安装支架(10)上的多个超声波发射探头(9)发出的超声波中心线构成的平面与固定板(12)平面垂直; 2. A kind of shipboard side draft detection system according to claim 1, characterized in that, the ultrasonic transmitting module (3) consists of 2N+1 ultrasonic transmitting line arrays, 2N+1 mounting brackets (10), floating body (11), fixed plate (12) is made up of; Described ultrasonic emission linear array is arranged in a row by a plurality of ultrasonic emission probes (9), is installed on the mounting bracket (10), the ultrasonic wave that each ultrasonic emission probe (9) sends The center line is perpendicular to the center line in the length direction of the mounting bracket (10), and the plane formed by the center line of ultrasonic waves sent by a plurality of ultrasonic transmitting probes (9) on the same mounting bracket (10) is perpendicular to the plane of the fixed plate (12); 安装支架(10)从左至右的编号依次为-N、-N+1、…、0、…、N-1、N;则第i个安装支架长度方向中心线与固定板(12)平面之间具有夹角Qi: The numbering of mounting brackets (10) from left to right is -N, -N+1, ..., 0, ..., N-1, N; There is an included angle Qi between them: Qi=i*θ; Qi=i*θ; i=-N、-N+1、…、0、…、N-1、N; i=-N,-N+1,...,0,...,N-1,N; θ的取值范围为1-3度。 The value range of θ is 1-3 degrees. 3.根据权利要求2所述一种船载侧吃水检测系统,其特征在于,所述固定板(12)固定在靠近航道中心、且浸没于水中的浮体(11)朝向航道中心的一侧,并且固定板(12)平面与水平面垂直。 3. A ship-mounted side draft detection system according to claim 2, characterized in that, the fixed plate (12) is fixed on the side of the floating body (11) that is close to the center of the channel and submerged in water towards the center of the channel, And the plane of the fixed plate (12) is perpendicular to the horizontal plane. 4.根据权利要求2所述一种船载侧吃水检测系统,其特征在于,所述角度传感器模块(1)固定安装在浮体(11)上,角度传感器模块(1)将浮体(11)上仰或下俯的角度β实时传输给同步使能模块(2),这里规定上仰角度为正值,下俯角度为负值。 4. A kind of shipboard side draft detection system according to claim 2, characterized in that, the angle sensor module (1) is fixedly installed on the buoy (11), and the angle sensor module (1) places the angle sensor module (1) on the buoy (11) The angle β of pitching or pitching down is transmitted to the synchronization enabling module (2) in real time, where it is specified that the pitching angle is a positive value, and the pitching angle is a negative value. 5.根据权利要求2所述一种船载侧吃水检测系统,其特征在于,所述发射端压力角传感器模块(6)安装在超声波发射模块(3)中的固定板(12)平面上,发射端压力角传感器模块(6)通过测量超声波发射线阵中心位置距离水面的压力,来测量超声波发射线阵中心位置距离水面的深度H。 5. a kind of ship-borne side draft detection system according to claim 2, is characterized in that, described transmitting end pressure angle sensor module (6) is installed on the fixed plate (12) plane in ultrasonic transmitting module (3), The pressure angle sensor module (6) at the transmitting end measures the depth H between the center position of the ultrasonic transmitting line array and the water surface by measuring the pressure between the center position of the ultrasonic transmitting line array and the water surface. 6.根据权利要求1所述一种船载侧吃水检测系统,其特征在于,所述超声波接收模块(4)由超声波接收探头和一个安装支架(10)组成,所述超声波接收探头排成一列,安装于一个安装支架(10)上,每个超声波接收探头接收的超声波中心线与安装支架(10)所在的平面垂直,构成单一超声波接收线阵;单一超声波接收线阵固定安装在航道另一侧、且与安装支架(10)所在的平面与水平面垂直; 6. A kind of shipboard side draft detection system according to claim 1, characterized in that, the ultrasonic receiving module (4) is composed of ultrasonic receiving probes and a mounting bracket (10), and the ultrasonic receiving probes are arranged in a row , installed on a mounting bracket (10), the ultrasonic center line received by each ultrasonic receiving probe is perpendicular to the plane where the mounting bracket (10) is located, forming a single ultrasonic receiving line array; the single ultrasonic receiving line array is fixedly installed on the other side of the channel side, and perpendicular to the plane where the mounting bracket (10) is located and the horizontal plane; 接收端压力传感器模块(5)安装在单一超声波接收线阵的中心位置,其通过测量超声波接收线阵中心位置距离水面的压力,来测量超声波接收线阵中心位置距离水面的深度L。 The pressure sensor module (5) at the receiving end is installed at the center of a single ultrasonic receiving line array, and measures the depth L between the center of the ultrasonic receiving line array and the water surface by measuring the pressure between the center of the ultrasonic receiving line array and the water surface. 7.根据权利要求2所述一种船载侧吃水检测系统,其特征在于,所述同步使能模块(2)固定安装在浮体(11)上,同步使能模块(2)用于对角度传感器模块(1)传来的角度β进行判断,获取当前符合要求的一个超声波发射线阵,然后依次分时等间隔的循环发射使能信号。 7. A kind of shipboard side draft detection system according to claim 2, characterized in that, the synchronization enabling module (2) is fixedly installed on the buoy (11), and the synchronization enabling module (2) is used to adjust the angle The angle β transmitted from the sensor module (1) is judged to obtain an ultrasonic emission line array that currently meets the requirements, and then the enabling signals are transmitted in a time-sharing and equal-interval cycle. 8.根据权利要求2所述一种船载侧吃水检测系统,其特征在于,所述数据处理模块(7)安装在浮体(11)上,数据处理模块(7)用于根据发射端压力角传感器模块(6)和接收端压力传感器模块(5)传送的深度信息,以及超声波接收线阵接收的信号强弱,计算出出船舶吃水深度。 8. A kind of shipboard side draft detection system according to claim 2, characterized in that, the data processing module (7) is installed on the buoy (11), and the data processing module (7) is used to The depth information transmitted by the sensor module (6) and the pressure sensor module (5) at the receiving end, and the strength of the signal received by the ultrasonic receiving line array are used to calculate the draft of the ship. 9.根据权利要求2所述一种船载侧吃水检测系统,其特征在于,所述显示模块(8)安装在浮体(11)上,用来通知工作人员过往船只是否超限。 9. A ship-mounted side draft detection system according to claim 2, characterized in that the display module (8) is installed on the buoy (11) to notify staff whether passing ships exceed the limit.
CN201520796687.4U 2015-10-14 2015-10-14 On -board side drinking water detecting system Withdrawn - After Issue CN205396479U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105270580A (en) * 2015-10-14 2016-01-27 长江三峡通航管理局 Shipborne side draft detecting system and detecting method
CN108226975A (en) * 2018-01-18 2018-06-29 北京港信科技有限公司 Ship's fix monitoring system
CN108860453A (en) * 2018-06-22 2018-11-23 上海船舶运输科学研究所 Shipping agency wave measuring system and method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105270580A (en) * 2015-10-14 2016-01-27 长江三峡通航管理局 Shipborne side draft detecting system and detecting method
CN108226975A (en) * 2018-01-18 2018-06-29 北京港信科技有限公司 Ship's fix monitoring system
CN108860453A (en) * 2018-06-22 2018-11-23 上海船舶运输科学研究所 Shipping agency wave measuring system and method
CN108860453B (en) * 2018-06-22 2023-08-22 上海船舶运输科学研究所 Ship traveling wave measurement system and method

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