CN106405562B - A kind of monitoring system for ship's fix - Google Patents
A kind of monitoring system for ship's fix Download PDFInfo
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- CN106405562B CN106405562B CN201610852519.1A CN201610852519A CN106405562B CN 106405562 B CN106405562 B CN 106405562B CN 201610852519 A CN201610852519 A CN 201610852519A CN 106405562 B CN106405562 B CN 106405562B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 93
- 238000007667 floating Methods 0.000 claims abstract description 105
- 238000005259 measurement Methods 0.000 claims abstract description 50
- 238000012806 monitoring device Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000012800 visualization Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 6
- 239000003651 drinking water Substances 0.000 description 5
- 235000020188 drinking water Nutrition 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000000691 measurement method Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000035800 maturation Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
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- 238000003786 synthesis reaction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of monitoring systems for ship's fix, comprising: laser monitoring positioning device, encoder positioning device, PLC, first network interchanger, second network switch, first server, second server.When ship enters floating dock, the relative position of encoder Position monitoring devices measurement ship and floating dock, and the first measurement data is respectively transmitted to first server and second server, so that first server or second server control PLC, and then control control hydraulic wireline winch dragging ship and enter floating dock；When ship carries out falling pier positioning, the relative position of ship and floating dock is measured by laser monitoring positioning device, and the second measurement data is respectively transmitted to first server and second server, pass through first server or second server control PLC, and then control hydraulic wireline winch dragging ship realization and falls pier positioning, so that dockage, falling pier positioning full automatic control and positioning accuracy is high.
Description
Technical field
This application involves ship more particularly to a kind of monitoring systems for ship's fix.
Background technique
Ship first arranges pier position according to the size of ship, and mark is carried out on floating dock before entering floating dock,
Determine the position that the ship to lie up should stop.
And during ship's fix, by the Steel wire tensioner and wirerope encoder of hydraulic wireline winch, read respectively
The tension and length for taking wirerope are observed ship by the naked eyes of the multiple personnel in scene and whether fall pier (ship rests in correspondence
Pier position) in place, overall process is by manually adjusting and control.
Since the test position of ship is equipped with the important instruments such as detecting instrument/sensor, in order to avoid ship is lying up
The important instruments such as bad sensor are collided during falling pier, need to carry out ship real-time position measurement and entire loading process
Monitoring, to realize accurate positioning of the ship on floating dock.
But current positioning method the degree of automation is not high, positioning accuracy is poor, the time needed for ship's fix is very long,
Be not able to satisfy current ship falls pier positioning requirements.
Summary of the invention
Invention provides a kind of monitoring systems for ship's fix, how to solve in control ship automatic positioning
While guarantee that ship falls the precision of pier positioning, and then realize ship the accurate positioning on floating dock the technical issues of.
In order to solve the above technical problems, the present invention provides a kind of monitoring systems for ship's fix, comprising: control terminal
Network system, the positioning for controlling ship and floating dock are aligned, and make the ship's fix in the floating dock；
The control terminal network system, comprising:
Laser monitoring positioning device is installed on the floating dock, fixed for falling pier in the ship and the floating dock
The relative position of the ship and the floating dock is monitored during position；
Encoder positioning device is installed on the shaft end of hydraulic wireline winch, for entering the mistake at the floating dock in the ship
The relative position of the ship and the floating dock is monitored in journey；
PLC connects the hydraulic wireline winch, is positioned for controlling the hydraulic wireline winch dragging ship；
First network interchanger and second network switch, are separately connected the PLC；
First server connects the first network interchanger；
Second server connects second network switch；
The first server and the second server are connected with each other, and are mutually redundant backup；
When the ship enters the floating dock, the encoder Position monitoring devices measure the ship and described floating
The relative position of dock, and the first measurement data is passed through into the first network interchanger, second network switch respectively
Send the first server and the second server to, the first server or the second server are based on described the
One measurement data sends first control signal to the PLC, and the PLC control control hydraulic wireline winch drags the ship
Oceangoing ship enters the floating dock；
When the ship fall pier positioning, the ship and described floating is measured by the laser monitoring positioning device
The relative position of dock, and the second measurement data is passed through into the first network interchanger, second network switch respectively
It sends the first server and the second server to, institute is based on by the first server or the second server
It states the second measurement data and sends second control signal to the PLC, the hydraulic wireline winch is controlled by the PLC and drags the ship
Oceangoing ship realization falls pier positioning.
Preferably, the control terminal network system, further includes:
Tension sensor, the tension data of the wirerope for measuring the hydraulic wireline winch, and the tension data is passed
It is defeated by the first server and the second server, the first server or the second server are based on the tension
Data are monitored and alarm to the stress condition of the hydraulic wireline winch.
Preferably, the control terminal network system, further includes:
Sensor is absorbed water, is handed over for measuring the draft amount at the floating dock, and by measurement data by the first network
Change planes, second network switch is respectively transmitted to the first server and the second server, and then described
One server or the second server show that situation is absorbed water at floating dock.
Preferably, the control terminal network system, further includes:
Transverse and longitudinal is inclined monitoring device, for monitoring the transverse and longitudinal at the floating dock heartily condition.
Preferably, the system also includes monitoring client network systems, for ship and the floating dock described in complete monitoring
Positioning, realize load overall process visualization.
Preferably, the monitoring client network system, comprising:
Multiple photographic devices, the video data of the relative position for acquiring the ship and the floating dock；
First video server connects the multiple photographic device, for receiving the view of the multiple photographic device transmission
Frequency evidence；
Video display connects first video server, and the control for receiving first video server is aobvious
Show the video data.
Preferably, the monitoring client network system, further includes:
Second video server connects the multiple photographic device and the video display；
Second video server and first video server are connected with each other, for the video counts that are mutually backups
According to.
Preferably, the control terminal network system and the monitoring client network system are mutually indepedent and mutually obstructed each other
Letter.
Positioning method of the invention is laser positioning, assists passing through PLC and video monitoring system with coder locating system
System realizes automation and the visualizing monitor of floating dock operation process.
One or more technical solution through the invention, the invention has the advantages that advantage:
The invention discloses a kind of monitoring system for ship's fix, the control terminal network system therein, comprising:
Laser monitoring positioning device, encoder positioning device, PLC, first network interchanger, second network switch, first server,
Second server.When the ship enters the floating dock, the encoder Position monitoring devices measure the ship and institute
The relative position at floating dock is stated, and the first measurement data is passed through into the first network interchanger, second network friendship respectively
It changes planes and sends the first server and the second server to, the first server or the second server are based on institute
It states the first measurement data and sends first control signal to the PLC, the PLC control control hydraulic wireline winch drags institute
Ship is stated into the floating dock；When the ship carries out falling pier positioning, institute is measured by the laser monitoring positioning device
It states the relative position of ship and the floating dock, and the second measurement data is passed through into the first network interchanger, described respectively
Second network switch sends the first server and the second server to, passes through the first server or described
Two servers are based on second measurement data and send second control signal to the PLC, are controlled by the PLC described hydraulic
Winch drags the ship realization and falls pier positioning.The present invention uses laser monitoring positioning device, both encoder positioning device phase
Auxiliary to coordinate to realize the lying up of ship, fall pier positioning, the precision of positioning is high.In addition, present invention employs Redundancy Design, by setting
Two sets of network switch and server are counted, and carries out data backup.When a server falls the process squatted and positioned in control ship
In when break down, it is another set of to be directly replaced, and then guarantee ship normally falls pier positioning.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the monitoring system for ship's fix in the embodiment of the present invention；
Fig. 2 is a kind of operation schematic diagram of the monitoring system for ship's fix in the embodiment of the present invention；
Fig. 3 enters status diagram when floating dock for ship in the embodiment of the present invention；
Fig. 4 enters floating dock for ship in the embodiment of the present invention and falls the status diagram after positioning of squatting；
Fig. 5 leaves status diagram when floating dock for ship in the embodiment of the present invention；
Fig. 6 leaves another status diagram when floating dock for ship in the embodiment of the present invention.
Description of symbols: control terminal network system 1, monitoring client network system 2, laser monitoring positioning device 11, coding
Device Position monitoring devices 12, first network interchanger 13, second network switch 14, first server 15, second server 16,
PLC17, winch 18, drinking water sensor 19, transverse and longitudinal incline monitoring device 20, multiple cameras 21, the first video server 22, second
Video server 23, video display 24, ship 31, floating dock 32, tugboat 33, pier position 34, wirerope 35, laser range finder
111, reflector 112, left dock wall 321, right dock wall 322, antetheca 323.
Specific embodiment
In order to make the application the technical staff in the technical field be more clearly understood that the application, with reference to the accompanying drawing,
Technical scheme is described in detail by specific embodiment.
The present invention devises a kind of monitoring system for ship's fix, is mainly used for realizing that ship is entering floating dock
The automation control and visualizing monitor of alignment procedures.The monitoring system that the present invention designs has used industrial economical development skill
Art, field bus technique, Computer Control Technology, intelligent instrumentation technology and integrated supervision and control system peculiar to vessel
Etc. technologies.
(1) using mature industrial Ethernet technology, network is generally divided into three-decker form: bottom is hardwired knot
Fieldbus networks are closed, middle layer is process control network, and upper layer is video monitoring net, the information sharing between each subsystem, each son
The soft and hardware of system is independent, even if subsystem fault, will not influence whole network function.
(2) Signal Collection Technology is used, 18 forming wire-rope into interlocking-wire of signal and winch of the laser monitoring positioning device of acquisition is utilized
The signal of code device carries out real-time measurement, display to the distance between ship 31 and floating dock 32, and it is accurate fixed between the two to realize
Position.
(3) use signal processing technology, to collected signal completion handle, realize floating dock 32 loading process (on
It is floating and sink) accurate control.
(4) it by Video Supervision Technique, realizes and loads overall process visualization and the inquiry of history video information.
(5) system has Remote Control Automatic control function, and equipment can (such as: PLC17, computer be soft by automatic control system
Part etc.) it is adjusted the operation intervened without operator.
Referring to Fig. 1-Fig. 2, in the specific implementation process, a kind of monitoring system positioned for ship 31 that the present invention designs
System, comprising: control terminal network system 1 and monitoring client network system 2.The control terminal network is for controlling ship 31 and floating dock
Positioning alignment between 32, is located in the ship 31 in the floating dock 32.2 complete monitoring of monitoring client network system
The positioning of the ship 31 and the floating dock 32 is realized and loads overall process visualization.
It should be noted that control terminal network system 1 and monitoring client network system 2 of the invention are mutually only each other
It is vertical, it does not communicate mutually (i.e. between the two without data communication), the two is independent of each other.
The specific implementation schematic diagram of control terminal network system 1 is first introduced below.
Control terminal network system 1 uses both laser monitoring positioning device 11, encoder Position monitoring devices 12 to ship
Oceangoing ship 31 is lain up, falls pier positioning.At 31 entry/exit floating dock 32 of ship, led using encoder Position monitoring devices 12
It measures, using 11 subsidiary of laser monitoring positioning device.The process fallen in pier pair is carried out in floating dock 32 in ship 31
In, it uses based on laser monitoring positioning device 11, encoder Position monitoring devices 12 are the measurement method of auxiliary.It does so
The reason is that, the technology maturation of encoder Position monitoring devices 12, system risk itself is lower, and acquisition signal is reliable, still
Positioning accuracy is not high.And the time of measuring of laser monitoring positioning device 11 is short, can measure the object of movement, positioning accuracy is very
Height, particularly suitable for severe industrial environment, and then the measurement method of this synthesis form in system, in terms of have
Apparent advantage can significantly improve the precision that ship 31 stops floating dock 32.The addition of laser monitoring positioning device 11, effectively
The positioning accuracy for improving ship 31, can control the precision of 31 position of ship in ± 15cm, maximum positioning in relative position misses
Difference is can be controlled within 30cm, and positional accuracy is greatly improved, while can obviously reduce 31 positioning time of ship.
Lower mask body introduces laser monitoring positioning device 11, encoder Position monitoring devices 12.
Laser monitoring positioning device 11, for being monitored during the ship 31 and the floating dock 32 fall pier positioning
The relative position of the ship 31 and the floating dock 32.Laser monitoring positioning device 11 includes laser range finder 111 and reflective
Plate 112.Each laser range finder 111 is corresponding with a reflector 112, and laser range finder 111 is installed on the floating dock 32,
And reflector 112 is mounted on ship 31, by the cooperation of laser range finder 111 and reflector 112, can measure ship 31 and institute
State the distance between the relative position at floating dock 32.
Specifically, Fig. 3-Fig. 4 is please referred to, is status diagram when ship 31 enters floating dock 32.
Floating dock 32 is in groove-like, including antetheca 323, left dock wall 321, right dock wall 322.Continuing with reference to Fig. 2-Fig. 3, float
Left dock wall 321, the right dock wall 322 of dock 32 are symmetrically installed with hydraulic wireline winch 18, and hydraulic wireline winch 18 passes through the steel of hydraulic wireline winch 18
Cord 35 drags the pier position 34 that the disengaging of ship 31 floating dock 32 simultaneously and in floating dock 32 is arranged and is aligned.
In order to preferably measure the distance between ship 31 and the relative position at the floating dock 32, the present invention can be used 3
Set 11,3 laser range finders 111 of laser monitoring positioning device are separately mounted to the antetheca 323, left dock wall 321, the right side at floating dock 32
Dock wall 322.It is corresponding, reflector 112 is installed in the stem, left ship side, right ship side of ship 31, for accurate ship 31
The relative position of stem, left and right ship side to floating dock 32.
Encoder Position monitoring devices 12 are installed on the shaft end of hydraulic wireline winch 18, described in entering in the ship 31
The relative position of the ship 31 and the floating dock 32 is monitored during floating dock 32.Specifically, encoder positioning prison
Surveying device 12 includes: photoelectric encoder, the variable rotated by measurement hydraulic wireline winch 18, to detect the income of hydraulic wireline winch 18 or put
35 length of wirerope out, and then calculate the relative position of ship 31 and the floating dock 32.The change that hydraulic wireline winch 18 rotates
Amount can provide wirerope 35 length parameter for control terminal network system 1, while also can be used as the controling parameter of hydraulic wireline winch 18.?
Before ship 31 falls pier, this system can be carried out encoder Position monitoring devices 12 according to the data of laser monitoring positioning device 11
35 length reference curve of wirerope is established in calibration, is realized and is accurately positioned.
The positioning of ship 31 of the present invention is combined using laser monitoring positioning device 11 with encoder Position monitoring devices 12
Composite measurement mode, the time of measuring of laser range finder 111 is short, the object of movement can be measured, particularly suitable for severe
Industrial environment；The photoelectric encoder technology maturation of the wirerope 35 of winch 18, system risk itself is lower, and acquisition signal can
It leans on.
It is higher to positioning accuracy request in ship 31 and during falling pier positioning of floating dock 32, therefore use laser
Monitoring positioning device 11 carries out falling pier positioning.During falling pier positioning, the phase of meeting real-time measurement ship 31 and floating dock 32
To position, while by the relative position Real-time Feedback to server, server controls hydraulic wireline winch according to the relative position of the two
18, realize that ship 31 falls pier positioning.Server calculates the deviation (ship of control position behind the relative position for obtaining ship 31
The offset of 31 opposite pier positions 34), and drive hydraulic wireline winch 18 to act by PLC17, dynamic corrections are carried out to deviation.Winch 18
Wirerope 35 photoelectric encoder as subsidiary means, by the acquisition process to steel wire rope tension, to each winch 18
Stress condition real time monitoring and alarm, guarantee 35 stress of wirerope of each winch 18 in certain safe range.
PLC17 connects the hydraulic wireline winch 18；The ship 31 is dragged for controlling the hydraulic wireline winch 18 to be determined
Position.
First network interchanger 13 and second network switch 14, are separately connected the PLC17.
First server 15 connects the first network interchanger 13；
Second server 16 connects second network switch 14；In addition, first server 15 and second server 16
It is connected with each other, is mutually redundant backup.
Control terminal network system 1 of the invention uses Redundancy Design, is provided with 2 industrial network switch, has double
The good feature of power supply power supply, fault alarm output, high temperature resistant, Electro Magnetic Compatibility.The measurement of laser monitoring positioning device 11
Data and the measurement data of encoder Position monitoring devices 12 are sent to two network switch and carry out data distribution.
Two identical servers (containing keyboard, mouse, display) are further provided with, two-server is mutually redundant backup,
When a failure, in addition a server is automatically engaged.
Continuing with reference to Fig. 3-Fig. 4, when ship 31 enters floating dock 32, encoder Position monitoring devices 12 measure described
The relative position of ship 31 and the floating dock 32, and by the first measurement data pass through respectively the first network interchanger 13,
Second network switch 14 sends the first server 15 and the second server 16, the first server 15 to
Or the second server 16 is based on first measurement data and sends first control signal to the PLC17, the PLC17 control
It makes the control hydraulic wireline winch 18 and drags the ship 31 into the floating dock 32.
When the ship 31 carries out falling pier positioning, 31 He of ship is measured by the laser monitoring positioning device 11
The relative position at the floating dock 32, and the second measurement data is passed through into the first network interchanger 13, described second respectively
The network switch 14 sends the first server 15 and the second server 16 to, passes through the first server 15 or institute
It states second server 16 and is based on second measurement data transmission second control signal to the PLC17, controlled by the PLC17
It makes the hydraulic wireline winch 18 and drags the ship 31 realization and fall pier positioning.
Certainly, this system can also comprehensively consider lying up, falling the operations such as pier positioning for two measurement data progress ships 31.
When ship 31 enter floating dock 32 when, after encoder Position monitoring devices 12 measure the first measurement data,
The first server 15 and described is sent to by the first network interchanger 13, second network switch 14 respectively
Second server 16, and first server 15 and second server 16 can also receive the second of the measurement of laser monitoring positioning device 11
Measurement data, the first server 15 or second server 16 pass through the first measurement data of comprehensive descision and the second measurement data
Between weight ratio, send first control signal to the PLC17, the PLC17 control control hydraulic wireline winch 18
It drags the ship 31 and enters the floating dock 32, wherein the weight of the first measurement data is greater than the weight of the second measurement data.
When the ship 31 carries out falling pier positioning, the second measurement number is measured by the laser monitoring positioning device 11
According to later, the first server is sent to by the first network interchanger 13, second network switch 14 respectively
15 and the second server 16, and first server 15 and second server 16 can also receive first measurement data, lead to
Cross the weight of the second measurement data and the first data described in 16 comprehensive descision of the first server 15 or the second server
Than, and then second control signal is sent to the PLC17, the hydraulic wireline winch 18 is controlled by the PLC17 and drags the ship
The realization of oceangoing ship 31 falls pier positioning, wherein weight of the weight of the first measurement data less than the second measurement data.
Fig. 5-Fig. 6 is please referred to, is status diagram when ship 31 undocks, when ship 31 needs to undock, then by dragging
33 dragging ship 31 of wheel undocks, and hydraulic wireline winch 18 unclamps wirerope 35, removes after ship 31 undocks to a certain extent
Wirerope 35.
As a kind of optional embodiment, in order to further increase the positioning accuracy of ship 31, guarantee the normal fortune of positioning
Row, the control terminal network system 1, further includes:
Tension sensor, the tension data of the wirerope 35 for measuring the hydraulic wireline winch 18, and by the tensile figure
According to being transferred to the first server 15 and the second server 16, the first server 15 or the second server 16
It is monitored and alarms based on stress condition of the tension data to the hydraulic wireline winch 18.
As a kind of optional embodiment, the monitoring client network system 2, further includes:
Sensor 19 is absorbed water, for measuring the draft amount at the floating dock 32, and measurement data is transferred to first respectively
Server 15 and the second server 16, and then floating dock can be shown in first server 15 or the second server 16
Absorb water situation.Here display is shown on the server of work, if two-server all works, can be shown
Show.
As a kind of optional embodiment, the monitoring client network system 2, further includes: transverse and longitudinal is inclined monitoring device 20, is used for
Monitor the transverse and longitudinal at the floating dock 32 heartily condition.
It is the process of monitoring client network system 2 specifically positioned above.And in order to further monitor the positioning of ship 31
Monitoring client network system 2 has also been devised in situation, the present invention.
Monitoring client network system 2 includes:
Multiple cameras 21 are separately mounted to each position on the ship 31, for acquiring the ship 31 and institute
State the video data of the relative position at floating dock 32；
First video server 22, connects the multiple photographic device, for receiving the multiple photographic device transmission
Video data；
Video display 24 connects first video server 22, for receiving first video server 22
Control shows the video data.
As a kind of optional embodiment, the monitoring client network system 2, further includes: the second video server 23, connection
The multiple photographic device and the video display 24；Second video server 23 and first video server 22
It is connected with each other, for the video data that is mutually backups, so that the first video server 22 is breaking down or loss of data
In the case where, the second video server 23 can substitute the work of the first video server 22, or by the video data transmitting of backup
It gives the first video server 22 and carries out data recovery, prevent loss of data.
To sum up, monitoring client network system 2 of the invention, in crucial control point (such as hull bottom, stem, left and right ship side etc.
Equal positions) setting camera observes in real time, and vision signal is transferred to video server by network system by each camera, in
It entreats control room to be equipped with video display 24 and connects video server, 32 operating condition of floating dock can be monitored in real time, improve floating dock
Accuracy and safety when 32 operation.
Monitoring client network system 2 uses Redundancy Design, and the hardware performance of monitoring client network system 2 is carried out redundant configuration,
The second video server 23 is devised, when monitoring client network system 2 breaks down, the second Video service of redundant configuration
Device 23 can bear the work of faulty component, to reduce the downtime of monitoring system.
To sum up, the present invention is designed for floating dock 32, and the safe entry/exit floating dock 32 of ship 31 may be implemented when in use,
Realization precisely falls pier in floating dock 32, and the elements such as the instrument being mounted on outside ship 31, instrument are effectively protected.
It is one embodiment of the present invention in a practical situation below continuing with reference to Fig. 2.
Publicity of the present invention a set of a set of network switch to work and server (computer).
In the specific implementation process, for control terminal network system 1, multiple drinking water sensors 19, multiple transverse and longitudinals
Monitoring device of inclining 20, multiple laser range finders 111, winch 18 etc. all connect PLC17, can acquire corresponding drinking water signal,
Incline distance that signal, laser range finder 111 acquire, encoder Position monitoring devices 12 installed on winch 18 of transverse and longitudinal collect letter
Number etc..Then computer is sent to by the network switch, is uniformly controlled by computer.It is connected with keyboard on computer, shows
Show device etc..Certainly, the network switch has the element, such as adapter, some gateways etc. of some outfits.In addition, in order to
The trend of ship 31 is preferably controlled, the present invention also acquires GPS signal, analyzes and uses for computer.
In addition, the present invention is powered by power supply box to each equipment, such as searchlight (for illuminating), each display
Device gives camera, ship power supply etc..
For monitoring client network system 2, hull bottom camera, column camera (can certainly be mounted on other positions
Set) video server that video data passes to outfit can be acquired, it is then passed to display, video display is with keyboard mouse
Mark etc..
The accessible performance indicator of whole system is as follows:
Tentative module and 32 relative position measurement precision of floating dock: 20cm
Tentative module position control accuracy: ± 15cm
Tentative module relative position maximum positioning error: 30cm
Wirerope encoder resolution: 1/8192 pulse/week
Realize ship 31 floating dock 32 positioning accuracy within 30cm, effectively ensure the positioning accurate of ship 31
Degree.
System of the invention combines currently advanced signal acquisition, control technology, the redundancy of system, safety and can
High by property, operation, control are flexible.
System of the invention has good application value to the floating dock 32 for having precision positioning requirements.
The present invention can reach multiple technical effects:
(1) positioning method is flexible:
The composite measurement side that the positioning of this system is combined using laser monitoring positioning device 11 with encoder positioning device
Formula.The time of measuring of laser monitoring positioning device 11 is short, can measure the object of movement, particularly suitable for severe industrial ring
Border；Encoder positioning device technology maturation, risk is lower, and acquisition signal is reliable.
It at 31 entry/exit depressed place of ship, is mainly measured using encoder positioning device, using laser monitoring positioning device
11 subsidiaries；During ship 31 falls pier positioning in floating dock 32, use based on laser monitoring positioning device 11,
Encoder positioning device is the measurement method of auxiliary.The measurement method of this synthesis system form, in terms of have
Apparent advantage.
(2) registration is high:
The addition of laser distance measuring locating device effectively raises the positioning accuracy of ship 31, can control ship 31
The precision set is can be controlled within 30cm in ± 15cm, relative position maximum positioning error, and positional accuracy is greatly mentioned
It rises, while can obviously reduce the positioning time of ship 31.
(3) system run all right:
The positioning of ship 31, the drinking water measurement of floating dock 32, control terminal network system 1 all use redundancy design technique, when appointing
When one Single Point of Faliure occurs, do not influence entirely to position the normal work for falling pier operation.For example, when encoder positioning device failure it
After laser distance measuring locating device replacement can be used, or single drinking water sensor 19 damages the number that other book of eating sensors can be used
According to or first server 15 damage can using second server 16 replacement etc..
In addition, control terminal network system 1 and monitoring client network system 2 are mutually indepedent, it is isolated each other, is independent of each other.
(4) control maneuverability pattern multiplicity:
System includes multiple control maneuverability patterns: field control, remote manual control control, remote control semiautomatic control, remote control are certainly
Dynamic control, emergent control, system automation degree are higher.
Different control modes is mainly by (symmetrically setting #1-4 hydraulic wireline winch 18 on the left and right wall at floating dock 32
The hydraulic wireline winch 18 set) control realize.
Field control:
Field control refers to that operator provides on the panel of power supply by operation panel or for equipment to mechanical equipment at the scene
The operation of progress, field control operate after needing operator to confirm depending on the site environment, but by equipment internal security item
Part constraint.
Remote manual control control:
Remote manual control control refers to that operator by the man-machine interface of two servers of connection in work station, carries out equipment
Operation at a distance.
Remote manual control control can pass through the logical operation and judgement of PLC17, necessary safety precautions be taken, to prevent
Maloperation bring equipment damage.When operator operates, if not being able to satisfy control condition, PLC17 be would not allow for
The damage to prevent equipment is acted to relevant device, the movement of remote manual control is usually single movement.
It is remotely controlled semiautomatic control:
Remote control semiautomatic control is that operator passes through the control deck plate of PLC17 or man-machine interface (the connection clothes of work station
The man-machine interface of business device) a certain combinative movement is triggered, the operation completed by PLC17 logic.
Remote Control Automatic control:
It is Remote Control Automatic control refer to equipment it is automatic starting and stopping, or refer to equipment pass through automatic control system (such as:
PLC17, computer software etc.) it is adjusted the operation intervened without operator.
Emergent control:
Emergent control refers to the control taken in the case where causing danger for guarantee equipment or 31 safety of ship.Urgent control
System is using the driving equipment of hardwired connection #1-4 hydraulic wireline winch or the control loop of equipment.This system emergent control include with
Lower content: main mechanical emergent stopping, related accessory machinery emergent stopping, hydraulic system emergent stopping.
System has used industrial economical development technology, field bus technique, Computer Control Technology, intelligent instrumentation
Advance and the equipment reliability of operation of technology are effectively combined utilization by technology, advanced positioning measurement technology.
It is low to solve the problems, such as that ship 31 falls pier precision in 32 positioning operation of floating dock, passes through precise measurement, control ship
The effective protection of high accuracy positioning and equipment is realized in the position of oceangoing ship 31 and floating dock 32.
One or more embodiment through the invention, the invention has the advantages that advantage:
The invention discloses a kind of monitoring systems for ship's fix, comprising: control terminal network system and monitoring client net
Network system；The control terminal network is for controlling ship's fix in the floating dock, and the monitoring client network system is for complete
The positioning of ship described in range monitoring and the floating dock；Control terminal network system and monitoring client network system of the invention is mutually only
It is vertical, without data communication.Specifically, the control terminal network system, comprising: laser monitoring positioning device, encoder are fixed
Position device, PLC, first network interchanger, second network switch, first server, second server.When the ship enters
When the floating dock, the encoder Position monitoring devices measure the relative position of the ship and the floating dock, and by
One measurement data respectively by the first network interchanger, second network switch send to the first server and
The second server, the first server or the second server are based on first measurement data and send the first control
Signal gives the PLC, and the PLC control control hydraulic wireline winch drags the ship and enters the floating dock；Work as institute
When stating ship and fall pier positioning, the opposite position at the ship and the floating dock is measured by the laser monitoring positioning device
Set, and the second measurement data is passed through into the first network interchanger respectively, second network switch sends described to
One server and the second server are based on the second measurement number by the first server or the second server
According to second control signal is sent to the PLC, the hydraulic wireline winch dragging ship is controlled by the PLC and realizes that falling pier determines
Position.The present invention uses laser monitoring positioning device, and both encoder positioning device complements each other to realize the lying up of ship, fall pier
The precision of positioning, positioning is high.In addition, present invention employs Redundancy Design, by two sets of network switch of design and server, and
Carry out data backup.When a server breaks down during controlling ship and falling pier positioning, it is another set of can be with
It is directly replaced, and then guarantees that the pier that normally falls of ship positions.
Although the preferred embodiment of the application has been described, but one of ordinary skilled in the art once knows substantially
Creative concept, then additional changes and modifications may be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (8)
1. a kind of monitoring system for ship's fix characterized by comprising control terminal network system, for controlling ship
Positioning with floating dock is aligned, and makes the ship's fix in the floating dock；
The control terminal network system, comprising:
Laser monitoring positioning device is installed on the floating dock, for falling pier positioning in the ship and the floating dock
The relative position of the ship and the floating dock is monitored in the process；
Encoder Position monitoring devices are installed on the shaft end of hydraulic wireline winch, for entering the mistake at the floating dock in the ship
The relative position of the ship and the floating dock is monitored in journey；
PLC connects the hydraulic wireline winch, is positioned for controlling the hydraulic wireline winch dragging ship；
First network interchanger and second network switch, are separately connected the PLC；
First server connects the first network interchanger；
Second server connects second network switch；
The first server and the second server are connected with each other, and are mutually redundant backup；
When the ship enters the floating dock, the encoder Position monitoring devices measure the ship and the floating dock
Relative position, and by the first measurement data pass through respectively the first network interchanger, second network switch transmit
To the first server and the second server, the first server or the second server are based on described first and survey
It measures data and sends first control signal to the PLC, the PLC control hydraulic wireline winch dragging ship enters described floating
Dock；
When the ship carries out falling pier positioning, the ship and the floating dock are measured by the laser monitoring positioning device
Relative position, and by the second measurement data pass through respectively the first network interchanger, second network switch transmit
To the first server and the second server, described the is based on by the first server or the second server
Two measurement data send second control signal to the PLC, control the hydraulic wireline winch by the PLC and drag the ship reality
Now fall pier positioning.
2. a kind of monitoring system for ship's fix as described in claim 1, which is characterized in that control terminal network system
System, further includes:
Tension sensor, the tension data of the wirerope for measuring the hydraulic wireline winch, and the tension data is transferred to
The first server and the second server, the first server or the second server are based on the tension data
The stress condition of the hydraulic wireline winch is monitored and is alarmed.
3. a kind of monitoring system for ship's fix as described in claim 1, which is characterized in that control terminal network system
System, further includes:
Absorb water sensor, for measuring the draft amount at the floating dock, and by measurement data by the first network interchanger,
Second network switch is respectively transmitted to the first server and the second server, and then in the first service
Device or the second server show that situation is absorbed water at floating dock.
4. a kind of monitoring system for ship's fix as described in claim 1, which is characterized in that control terminal network system
System, further includes:
Transverse and longitudinal is inclined monitoring device, for monitoring the transverse and longitudinal at the floating dock heartily condition.
5. a kind of monitoring system for ship's fix as described in claim 1, which is characterized in that the system also includes:
Monitoring client network system is realized for the positioning of ship described in complete monitoring and the floating dock and loads overall process visualization.
6. a kind of monitoring system for ship's fix as claimed in claim 5, which is characterized in that monitoring client network system
System, comprising:
Multiple photographic devices, the video data of the relative position for acquiring the ship and the floating dock；
First video server connects the multiple photographic device, for receiving the video counts of the multiple photographic device transmission
According to；
Video display connects first video server, and the control for receiving first video server shows institute
State video data.
7. a kind of monitoring system for ship's fix as claimed in claim 6, which is characterized in that monitoring client network system
System, further includes:
Second video server connects the multiple photographic device and the video display；
Second video server and first video server are connected with each other, for the video data that is mutually backups.
8. a kind of monitoring system for ship's fix as claimed in claim 5, which is characterized in that control terminal network system
System and the monitoring client network system are mutually indepedent each other and do not communicate mutually.
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| CN201610852519.1A CN106405562B (en) | 2016-09-26 | 2016-09-26 | A kind of monitoring system for ship's fix |
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| CN201610852519.1A CN106405562B (en) | 2016-09-26 | 2016-09-26 | A kind of monitoring system for ship's fix |
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| CN111498056A (en) * | 2020-04-17 | 2020-08-07 | 中船黄埔文冲船舶有限公司 | Device and method for monitoring distance between ship and inner wall of floating dock |
| CN112130156B (en) * | 2020-09-01 | 2023-07-07 | 河南护航实业股份有限公司 | Method for positioning and measuring speed of ship in ship lift by utilizing laser grating |
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