CN103213657B - A kind of drauht amount detection systems and method of inspection thereof - Google Patents
A kind of drauht amount detection systems and method of inspection thereof Download PDFInfo
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- CN103213657B CN103213657B CN201310152924.9A CN201310152924A CN103213657B CN 103213657 B CN103213657 B CN 103213657B CN 201310152924 A CN201310152924 A CN 201310152924A CN 103213657 B CN103213657 B CN 103213657B
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Abstract
The invention discloses a kind of drauht amount detection systems and method of inspection thereof, described system comprises buoyancy aid, winding plant, hawser, detecting gate, array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem, data acquisition transmission unit and error compensation and data processing unit, buoyancy aid is fixed on the water surface by anchor chain, detecting gate through winding plant cable suspended on buoyancy aid, by winding plant adjustment detecting gate depth under water, winding plant is installed on above the center of gravity of both sides buoyancy aid, buoyancy aid riding position is selected according to detection needs.Because detecting gate is arranged on moveable buoyancy aid by the present invention, make draft amount checking system installation and repairing convenient, be no longer dependent on fixing Infrastructure, to installation site without particular/special requirement, can move according to navigation channel water level conditions and actual demand.The present invention, by hawser pendulum angle and length data, just can carry out error compensation to shipping draft detecting gate attitude.
Description
Technical field
The present invention relates to a kind of ship draught detection technique, particularly a kind of drauht amount detection systems and method of inspection thereof.
Background technology
Ship draught detecting gate adopts single beam array of ultrasonic sensors to measure, sensor array is arranged in detecting gate under water, detecting gate is realized by the hard-wired mode in two ends, and by hard-wired synchro-lift system adjustment height, measured the draft amount of navigation boats and ships by ultrasonic ranging, realize boats and ships full automaticity draft amount and detect.Existing ship draught detecting gate adopts hard-wired form, and namely the two ends of detecting gate must be arranged in existing Infrastructure, as ship lock, floating embankment, guide wall etc.This form has following shortcoming:
1, hard-wired ship draught detecting gate, need in waterway construction Infrastructure, cost is very high;
2, particular/special requirement is equipped with for installation position: navigation channel is too narrow, when checkout facility is safeguarded, easily hinders boat, the too wide too dark then constructional difficulties in navigation channel, and impact navigation safety;
3, most suitable installation site constantly changes with navigation channel change of level, namely fixedly mounts checking system and likely can not use because hindering boat in low water season;
4, maintenance difficulty, can only overhaul in original place, restriction factor is many.
Summary of the invention
For solving the problems referred to above that prior art exists, the present invention will design that a kind of construction cost is low, to be easy to installation, maintenance convenient, can according to the drauht amount detection systems of navigation channel change of level adjustment installation site and method of inspection thereof.
To achieve these goals, technical scheme of the present invention is as follows: a kind of drauht amount detection systems, comprise buoyancy aid, winding plant, hawser, detecting gate, array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem, data acquisition transmission unit and error compensation and data processing unit, described buoyancy aid is fixed on the water surface by anchor chain, described detecting gate through winding plant cable suspended on buoyancy aid, by winding plant adjustment detecting gate depth under water, winding plant is installed on above the center of gravity of both sides buoyancy aid, buoyancy aid riding position is selected according to detection needs,
Described array of ultrasonic sensors is installed under water on detecting gate with arrangement mode, measures the range information of detecting gate and tested boats and ships under water; Described position of floating body sensing subsystem is installed on above the hawser end points of two buoyancy aids, measures position coordinate both sides buoyancy aid hanging the hawser end points of detecting gate; Described rope angle sensing subsystem is installed on the hawser of detecting gate two ends, measures the angle that detecting gate two ends hawser swings; Described data acquisition transmission unit is installed on buoyancy aid, is responsible for gathering and transmission array of ultrasonic sensors, position of floating body sensing subsystem and rope angle sensing subsystem take off data; Described error compensation and data processing unit are PC on the bank, mainly carry out Error Compensation Algorithm; Described array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem and error compensation are connected with data acquisition transmission unit respectively with data processing unit through data line or Radio Transmission Technology.
A method of inspection for drauht amount detection systems, comprises the following steps:
A, installation and measuring door
Selecting buoyancy aid riding position, buoyancy aid anchor chain is fixed on the water surface, above center of gravity winding plant being installed on both sides buoyancy aid, is that the hawser of L hangs on buoyancy aid through winding plant by detecting gate length, and by the winding plant adjustment detecting gate degree of depth under water;
B, structure position of floating body sensing subsystem
Position of floating body sensing subsystem adopts RTK real time dynamic differential method location technology, and measure detecting gate two ends hawser end points position coordinate, described RTK is the abbreviation of real-time dynamic English Real-timekinematic, and concrete construction step is as follows:
In B1, on the coast RTK Data-Link coverage, the fixed position R point of known coordinate installs GPS as base station, above two buoyancy aid hawser end points, install RTK location receiver respectively as rover station;
Its GPS observed value is formed differential corrections amount by Data-Link and sends rover station to by B2, base station together with known coordinate information, rover station does not divide correction by means of only data link astigmat, also to gather its GPS observed value, and real time differential correcting process is carried out to observed value, exact solution calculates rover station three-dimensional coordinate positioning result; Determine the coordinate figure of the two hawser end points hanging detecting gate;
C, structure rope angle sensing subsystem
Rope angle sensing subsystem adopts angular transducer, difference setting angle sensor on the hawser of detecting gate two ends, and when detecting gate, with stormy waves motion, skew occurs, the angle of detecting gate two ends hawser swing measured by angular transducer;
D, error compensation and data processing
Error compensation and data processing unit, to the cable end point coordinate value received and hawser pendulum angle data, calculate the tilt angle theta of detecting gate by detecting gate mounting structure geometric relationship; If tilt angle theta is less than θ
0, then go to step D1, otherwise go to step D2; Described θ
0for 2-4 °;
The distance that D1, error compensation and data processing unit measure itself and the water surface by ultrasonic transduter is demarcated its degree of depth, obtains degree of depth calibration value array [H
1, H
2..., H
m], represent the predetermined depth of ultrasonic transduter; When there being tested boats and ships to arrive, ultrasonic transduter take off data is observed reading dot matrix [X
1, X
2..., X
m], represent the distance of ultrasonic transduter and tested bottom of ship, i.e. ship draught testing result; Go to step D3;
The cable end point coordinate value received and hawser pendulum angle data are carried out real time calibration by detecting gate mounting structure geometric relationship to the degree of depth of detecting gate under water and its tilt angle theta and are compensated value array [δ by D2, error compensation and data processing unit
1, δ
2..., δ
m], by compensation value array to ultrasonic transduter degree of depth calibration value array [H
1, H
2..., H
m] compensate and draw ultrasonic transduter actual grade value array
; Actual grade value array and ultrasonic transduter distance synchronous observed reading dot matrix [X
1, X
2..., X
m] difference be the ship draught testing result after compensation;
D3, output ship draught testing result.
Compared with prior art, advantage of the present invention is as follows:
1, because detecting gate is arranged on moveable buoyancy aid by the present invention, make draft amount checking system installation and repairing convenient, be no longer dependent on fixing Infrastructure, to installation site without particular/special requirement, can move according to navigation channel water level conditions and actual demand.
2, position of floating body sensing subsystem of the present invention can provide the three-dimensional coordinate of detecting gate two ends cable suspended end points in real time accurately, and speed is fast, and error is little, meets the requirement of real-Time Compensation; Angular transducer can detect hawser pendulum angle exactly; By pendulum angle and necessary length data, just error compensation can be carried out to shipping draft detecting gate attitude.
3, the present invention solves by error compensation the impact that stormy waves measures portable ship draught, effectively raises the accuracy of result of a measurement, decreases erroneous judgement, ensure that the safe in operation in navigation channel, improve shipping efficiency.
Accompanying drawing explanation
The present invention has accompanying drawing 6 width, wherein:
Fig. 1 is portable drauht amount detection systems schematic diagram.
Fig. 2 is portable drauht amount detection systems mathematical logic block diagram.
Fig. 3 is detecting gate section-drawing.
Fig. 4 is detecting gate pose compensation schematic diagram.
Fig. 5 is the setting of RTK positioning reference station and data receiver schematic diagram.
Fig. 6 is hawser pendulum angle schematic diagram.
In figure: 1, buoyancy aid, 2, winding plant, 3, hawser, 4, detecting gate, 5, array of ultrasonic sensors, 6, position of floating body sensing subsystem, 7, rope angle sensing subsystem, 8, data acquisition transmission unit, 9, error compensation and data processing unit.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated:
A kind of portable drauht amount detection systems forms primarily of buoyancy aid 1, winding plant 2, hawser 3, detecting gate 4, array of ultrasonic sensors 5, position of floating body sensing subsystem 6, rope angle sensing subsystem 7, data acquisition transmission unit 8 and error compensation and data processing unit 9, as shown in Figure 1-2.Array of ultrasonic sensors 5 is arranged on detecting gate 4, and detecting gate 4 is exactly an erecting frame, and its two ends are that to be suspended in predetermined depth under water by two winding plants 2 be the position of H to the hawser 3 of L by length.Two winding plants 2 are separately fixed at above the center-of-gravity position of two buoyancy aids 1.
Figure 3 shows that detecting gate 4 section-drawing.Detecting gate 4 is installed M ultrasonic transduter, the distance between adjacent two sensors is N.When not having tested ship to arrive, by the distance of the ultrasonic transduter measurement water surface, its degree of depth is demarcated under quiescence, obtain degree of depth calibration value array [H
1, H
2..., H
m].When there being tested boats and ships to arrive, ultrasonic transduter take off data is [X
1, X
2..., X
m].Under static stress balance state, the three dimensional space coordinate of both sides winding plant 2 hawser 3 end points is X
1, Y
1, Z
1, X
2, Y
2, Z
2, the ultrasonic transduter degree of depth is under water calibration value array [H
1, H
2..., H
m], by H
i-X
ii=1,2 ..., M can detect ship draught.
When stormy waves is larger, buoyancy aid 1 and detecting gate 4 can produce with water movement and wave or move, and the degree of depth of ultrasonic transduter is no longer H, needs to compensate according to the attitude of detecting gate 4, as shown in Figure 4.Concrete operations are as follows:
The RTK receiver rover station that in S1, on the coast RTK Data-Link coverage, the base station of the known coordinate that correct position is set up is installed on buoyancy aid 1 sends location difference correction in real time, the real time differential correction that rover station provides according to the locating data of oneself GPS and base station, realizes accurately locating in real time winding plant 2.Fig. 5 provides the setting of RTK positioning reference station and data receiver schematic diagram.By the three-dimensional coordinate (X of measurement hawser 3 end points that RTK location receiver can be real-time
1', Y
1', Z
1'), (X'
2, Y
2', Z'
2), when buoyancy aid 1 produces mobile or inclination with wave, the distance, delta Z of winding plant 2 vertical direction movement can be measured
1=Z
1-Z
1', Δ Z
2=Z'
2-Z
2.
S2, can be measured hawser 3 and XOZ plane included angle α and hawser 3 and YOZ plane included angle β by the angular transducer that hawser 3 is installed, hawser 3 move angle schematic diagram as shown in Figure 6.Because the length of hawser 3 is always L, then winding plant 2 is to the vertical distance L'=Lcos α cos β of detecting gate 4.
S3, by hawser 3 extreme coordinates changing value Δ Z
1, Δ Z
2and pendulum angle α, β, α, β of hawser 3 calibrate the degree of depth and its tilt angle theta of detecting gate 4 under water.
Suppose in certain measurement process, both sides winding plant 2 result of a measurement vertical miles of relative movement Δ Z
1=Z
1-Z
1', Δ Z
2=Z
2-Z'
2, both sides hawser 3 measurement of angle is respectively α, β, α, β, then geometric relationship can draw detecting gate 4 two ends degree of depth changes values as shown in Figure 3
ΔH
1＝L'
1+ΔZ
1-L＝ΔZ
1+L(cosα
1·cosβ
1-1)
ΔH
2＝L'
2+ΔZ
2-L＝ΔZ
2+L(cosα
2·cosβ
2-1)
Detecting gate 4 is installed M ultrasonic transduter, the distance between adjacent two sensors is N, and detecting gate 4 total length is (M-1) × N.The then angle of inclination of detecting gate 4
The depth offset that i-th ultrasonic transduter causes due to the fluctuation of water wave
δ
i＝ΔH
1-N×(i-1)×sinθ,(i＝1,2,...,M)
The real-Time Compensation value array [δ of the ultrasonic transduter degree of depth is can be calculated by said method
1, δ
2..., δ
m].With the degree of depth calibration scale [H of ultrasonic transduter
1, H
2..., H
m] do and can be compensated after the real-time deep table of ultrasonic transduter
.
In actual installation process, if use many hawsers 3 to hang detecting gate 4, detecting gate 4 has certain pulling force to buoyancy aid 1 due to Action of Gravity Field, and hawser 3 pendulum angle deviation is little, affects the vertical displacement delta Z of the mainly buoyancy aid 1 of detecting gate 4 attitude
1, Δ Z
2.The then angle of inclination of detecting gate 4
The depth offset δ of i-th ultrasonic transduter
i=Δ Z
1-N × (i-1) × sin θ, (i=1,2 ..., M).The degree of depth real-Time Compensation value array [δ obtained by above-mentioned formula
1, δ
2..., δ
m] degree of depth calibration scale [H to ultrasonic transduter
1, H
2..., H
m] compensate and obtain actual grade table
By the real-time deep table of the ultrasonic transduter after compensation
observed reading array [the X synchronous with it
1, X
2..., X
m] real navigation ship draught testing result can be drawn.
Claims (2)
1. a drauht amount detection systems, it is characterized in that: comprise buoyancy aid (1), winding plant (2), hawser (3), detecting gate (4), array of ultrasonic sensors (5), position of floating body sensing subsystem (6), rope angle sensing subsystem (7), data acquisition transmission unit (8) and error compensation and data processing unit (9), described buoyancy aid (1) is fixed on the water surface by anchor chain, described detecting gate (4) hangs on buoyancy aid (1) through winding plant (2) hawser (3), by winding plant (2) adjustment detecting gate (4) depth under water, winding plant (2) is installed on above the center of gravity of both sides buoyancy aid (1), buoyancy aid (1) riding position is selected according to detection needs,
Described array of ultrasonic sensors (5) is installed under water on detecting gate (4) with arrangement mode, measures the range information of detecting gate (4) and tested boats and ships under water; Described position of floating body sensing subsystem (6) is installed on above hawser (3) end points of two buoyancy aids (1), measures position coordinate both sides buoyancy aid (1) hanging hawser (3) end points of detecting gate (4); Described rope angle sensing subsystem (7) is installed on detecting gate (4) two ends hawser (3), measures the angle that detecting gate (4) two ends hawser (3) swing; Described data acquisition transmission unit (8) is installed on buoyancy aid (1), is responsible for gathering and transmission array of ultrasonic sensors (5), position of floating body sensing subsystem (6) and rope angle sensing subsystem (7) take off data; Described error compensation and data processing unit (9) are PC on the bank, mainly carry out Error Compensation Algorithm; Described array of ultrasonic sensors (5), position of floating body sensing subsystem (6), rope angle sensing subsystem (7) and error compensation are connected with data acquisition transmission unit (8) by data line or Radio Transmission Technology respectively with data processing unit (9).
2. a method of inspection for drauht amount detection systems as claimed in claim 1, is characterized in that: comprise the following steps:
A, installation and measuring door (4)
Select buoyancy aid (1) riding position, buoyancy aid (1) is fixed on the water surface with anchor chain, winding plant (2) is installed on above the center of gravity of both sides buoyancy aid (1), detecting gate (4) hawser (3) that length is L is hung on buoyancy aid (1) through winding plant (2), and by winding plant (2) adjustment detecting gate (4) degree of depth under water;
B, structure position of floating body sensing subsystem (6)
Position of floating body sensing subsystem (6) adopts RTK real time dynamic differential method location technology, detecting gate (4) two ends hawser (3) endpoint location coordinate is measured, described RTK is the abbreviation of real-time dynamic English Real-timekinematic, and concrete construction step is as follows:
In B1, on the coast RTK Data-Link coverage, the fixed position R point of known coordinate installs GPS as base station, above two buoyancy aid (1) hawser (3) end points, install RTK location receiver respectively as rover station;
Its GPS observed value is formed differential corrections amount by Data-Link and sends rover station to by B2, base station together with known coordinate information, rover station does not divide correction by means of only data link astigmat, also to gather its GPS observed value, and real time differential correcting process is carried out to observed value, exact solution calculates rover station three-dimensional coordinate positioning result; Determine the coordinate figure of two hawser (3) end points hanging detecting gate (4);
C, structure rope angle sensing subsystem (7)
Rope angle sensing subsystem (7) adopts angular transducer, the upper setting angle sensor respectively at detecting gate (4) two ends hawser (3), when detecting gate (4), with stormy waves motion, skew occurs, the angle that detecting gate (4) two ends hawser (3) swing measured by angular transducer;
D, error compensation and data processing
Error compensation and data processing unit (9), to the hawser received (3) extreme coordinates value and hawser (3) pendulum angle data, calculate the tilt angle theta of detecting gate (4) by detecting gate (4) mounting structure geometric relationship; If tilt angle theta is less than θ
0, then go to step D1, otherwise go to step D2; Described θ
0for 2-4 °;
The distance that D1, error compensation and data processing unit (9) measure itself and the water surface by ultrasonic transduter is demarcated its degree of depth, obtains degree of depth calibration value array [H
1, H
2..., H
m], represent the predetermined depth of ultrasonic transduter; When there being tested boats and ships to arrive, ultrasonic transduter take off data is observed reading dot matrix [X
1, X
2..., X
m], represent the distance of ultrasonic transduter and tested bottom of ship, i.e. ship draught testing result; Go to step D3;
The hawser received (3) extreme coordinates value and hawser (3) pendulum angle data are carried out real time calibration by detecting gate (4) mounting structure geometric relationship to the degree of depth of detecting gate (4) under water and its tilt angle theta and are compensated value array [δ by D2, error compensation and data processing unit (9)
1, δ
2..., δ
m], by compensation value array to ultrasonic transduter degree of depth calibration value array [H
1, H
2..., H
m] compensate and draw ultrasonic transduter actual grade value array
actual grade value array and ultrasonic transduter distance synchronous observed reading dot matrix [X
1, X
2..., X
m] difference be the ship draught testing result after compensation;
D3, output ship draught testing result.
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| CN106143829B (en) * | 2015-04-21 | 2017-11-03 | 水科远大(北京）交通设计院有限公司 | Single floating mobile disembarkation detection platform |
| CN106143828B (en) * | 2015-04-21 | 2017-11-03 | 水科远大(北京）交通设计院有限公司 | Double floating mobile disembarkation detection platforms |
| WO2018184058A1 (en) * | 2017-04-07 | 2018-10-11 | Technological Resources Pty. Limited | Automated draft survey |
| CN109693976B (en) * | 2017-10-24 | 2024-06-11 | 深圳光启空间技术有限公司 | Device capable of correcting cable arrangement |
| CN110717680B (en) * | 2019-10-14 | 2020-09-01 | 集美大学 | Monitoring method and system for dredging operation of dredging ship |
| CN112389601B (en) * | 2020-10-20 | 2022-03-08 | 中船澄西船舶修造有限公司 | Ship draft measurement tool and measurement method using same |
| CN113247197B (en) * | 2021-07-01 | 2022-03-15 | 金睛兽数字科技(重庆)有限公司 | Ship electronic water gauge measuring method and system |
| CN115201832B (en) * | 2022-05-25 | 2023-11-24 | 福建省昊立建设工程有限公司 | Monitoring system and monitoring method for amphibious excavator |
| CN117705243B (en) * | 2024-02-06 | 2024-04-30 | 中理检验有限公司 | Water gauge weighing method and system based on mobile ultrasonic sensor |
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| JP3009830B2 (en) * | 1994-10-13 | 2000-02-14 | 株式会社カイジョー | Ship draft measurement device and draft measurement method |
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