CN106697217A - Detecting system for shipping draft and detecting method thereof - Google Patents
Detecting system for shipping draft and detecting method thereof Download PDFInfo
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- CN106697217A CN106697217A CN201510794411.7A CN201510794411A CN106697217A CN 106697217 A CN106697217 A CN 106697217A CN 201510794411 A CN201510794411 A CN 201510794411A CN 106697217 A CN106697217 A CN 106697217A
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- floating body
- sensing subsystem
- door
- hawser
- winding plant
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Abstract
The invention discloses a detecting system for shipping draft and a detecting method thereof. The system comprises a floating body, a winding plant, mooring ropes, a detecting door, an ultrasonic sensor array, a floating body position sensing subsystem, a mooring rope angle sensing subsystem, a datum collecting and transmission unit and an error compensation and datum processing unit. The floating body is fixed to the water surface through an anchor chain, the detecting door is suspended on the floating body with the mooring ropes through the winding plant, and the underwater depth of the detecting door is adjusted through the winding plant. The winding plant is installed above the gravity center of the floating body on the two sides, and the installing position of the floating body is chosen according to detecting requirements.
Description
Technical field
The present invention relates to a kind of ship draught detection technique, particularly a kind of drauht amount detection systems and its detection method.
Background technology
Ship draught detection door is measured using simple beam array of ultrasonic sensors, and sensor array is arranged in and detects door under water, detects door
Realized by way of two ends fixedly mount, and height is adjusted by the synchro-lift system for fixedly mounting, navigation is measured by ultrasonic ranging
The draft amount of ship, realizes the full-automatic draft amount detection of ship.Existing ship draught detection door detects door in the form of fixed installation
Two ends be necessarily mounted in existing infrastructure, such as ship lock, floating embankment, guide wall.This form has the disadvantages that：
1st, the ship draught of fixed installation detects door, it is necessary in waterway construction infrastructure, cost is very high；
2nd, it is equipped with particular/special requirement for installation position：Navigation channel is too narrow, easily hinders boat when checkout facility is safeguarded, navigation channel too deep then constructional difficulties too wide,
And influence navigation safety；
3rd, most suitable installation site is continually changing with navigation channel SEA LEVEL VARIATION, that is, fixedly mount detecting system dry season be possible to because hinder boat and
Can not use；
4th, overhaul difficult, can only original place maintenance, restriction factor is more.
The content of the invention
It is to solve the above mentioned problem that prior art is present, the present invention will design that a kind of construction cost is low, be easily installed, easy to maintenance, can be according to navigation channel
The drauht amount detection systems and its detection method of SEA LEVEL VARIATION adjustment installation site.
To achieve these goals, technical scheme is as follows：A kind of drauht amount detection systems, including floating body, winding plant, cable
Rope, detection door, 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 floating body are fixed on the water surface by anchor chain, and described detection door is by winding plant cable suspended in floating body
On, detection door depth under water is adjusted by winding plant, winding plant is installed on the center of gravity top of both sides floating body, and floating body riding position is according to detection
Needs are selected；
Described array of ultrasonic sensors is installed on detection door under water with arrangement mode, and measurement detects the range information of door and tested ship under water；
Described position of floating body sensing subsystem is installed on two hawser end points tops of floating body, and the hawser end points of detection door is hung on measurement both sides floating body
Position coordinates；Described rope angle sensing subsystem is installed on the hawser of detection door two ends, the angle that measurement detection door two ends hawser swings；Institute
The data acquisition transmission unit stated is installed on floating body, is responsible for collection and transmission array of ultrasonic sensors, position of floating body sensing subsystem and hawser angle
Degree sensing subsystem measurement data；Described error compensation and data processing unit are PC on the bank, are substantially carried out Error Compensation Algorithm；Institute
Array of ultrasonic sensors, position of floating body sensing subsystem, rope angle sensing subsystem and the error compensation and data processing unit stated pass through
Data wire or Radio Transmission Technology are connected with data acquisition transmission unit respectively.
A kind of detection method of drauht amount detection systems, comprises the following steps：
A, installation detection door
Selection floating body riding position, the water surface is fixed on by floating body anchor chain, and winding plant is installed on the center of gravity top of both sides floating body, and detection door is used
Length is hung on floating body for the hawser of L through winding plant, and adjusts detection door depth under water by winding plant；
B, structure position of floating body sensing subsystem
Position of floating body sensing subsystem uses RTK real time dynamic differential method location technologies, and detection door two ends hawser end points position coordinates is surveyed
Amount, described RTK is the abbreviation of dynamic English Real-timekinematic in real time, and specific construction step is as follows：
The fixed position reference point of known coordinate installs GPS as base station in B1, on the coast RTK Data-Links coverage, two
Individual floating body hawser end points top is respectively mounted RTK location receivers as rover station；
Its GPS observation and known coordinate information are constituted differential corrections amount and send rover station to by B2, base station together by Data-Link, flowing
Stand not only by data link astigmat point correction, also to gather its GPS observation, and real time differential correcting process is carried out to observation, accurately
Calculate rover station three-dimensional coordinate positioning result；It is determined that two coordinate values of hawser end points of suspension detection door；
C, structure rope angle sensing subsystem
Rope angle sensing subsystem uses angular transducer, and angular transducer is respectively mounted on the hawser of detection door two ends, is sent out when detection door is moved with stormy waves
During raw skew, the angle that angular transducer measurement detection door two ends hawser swings；
D, error compensation and data processing
Error compensation and data processing unit to the hawser extreme coordinates value and hawser pendulum angle data that receive, by detecting door mounting structure geometry
Relation calculates the tilt angle theta of detection door；If tilt angle theta is less than θ 0, D1 is gone to step, otherwise go to step D2；Described θ 0
It is 2-4 °；
D1, error compensation and data processing unit measure it its depth is demarcated with the distances of the water surface by ultrasonic sensor, obtain depth calibration value
Array [H1, H2 ..., HM], represents the predetermined depth of ultrasonic sensor；When there is tested ship to arrive, ultrasonic sensor measurement data is
Measured value dot matrix [X1, X2 ..., XM], represents the distance of ultrasonic sensor and tested bottom of ship, i.e. ship draught testing result；Turn step
Rapid D3；
The hawser extreme coordinates value and hawser pendulum angle data that D2, error compensation and data processing unit will be received are several by detecting door mounting structure
What relation pair detects that the depth and its tilt angle theta of door carry out real time calibration and be compensated value array [δ 1, δ 2 ..., δ M] under water, by compensating
Value array is compensated to ultrasonic sensor depth calibration value array [H1, H2 ..., HM] and draws ultrasonic sensor actual grade value array；It is real
Border depth value array is the ship draught detection after compensation with the difference of ultrasonic sensor distance synchronous measured value dot matrix [X1, X2 ..., XM]
As a result；D3, output ship draught testing result.
Compared with prior art, advantages of the present invention is as follows：
1st, because be arranged on detection door on moveable floating body by the present invention so that drinking water amount detection systems installation and repairing is convenient, is no longer dependent on fixed
Infrastructure, to installation site without particular/special requirement, can move according to navigation channel water level conditions and actual demand.
2nd, position of floating body sensing subsystem of the invention can accurately provide the three-dimensional coordinate of detection door two ends cable suspended end points in real time, and speed is fast, by mistake
Difference is small, meets the requirement of real-Time Compensation；Angular transducer can exactly detect hawser pendulum angle；By pendulum angle and necessary length
Data, it is possible to which error compensation is carried out to shipping draft detection door attitude.
3rd, the present invention solves influence of the stormy waves to portable drauht measurement by error compensation, effectively raises the accuracy of measurement result,
Reduce erroneous judgement, it is ensured that the operation safety in navigation channel, improve shipping efficiency.
Claims (1)
1. a kind of drauht amount detection systems, it is characterised in that：Including floating body, winding plant, hawser, detection door, 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, it is described
Floating body is fixed on the water surface by anchor chain, and described detection door, on floating body, detection door water is adjusted by winding plant by winding plant cable suspended
Lower depth, winding plant is installed on the center of gravity top of both sides floating body, and floating body riding position is selected according to detection needs；Described ultrasonic wave is passed
Sensor array is installed on detection door under water with arrangement mode, and measurement detects the range information of door and tested ship under water；Described position of floating body is passed
Sense subsystem is installed on two hawser end points tops of floating body, and the position coordinates of the hawser end points of detection door is hung on measurement both sides floating body；Described
Rope angle sensing subsystem is installed on the hawser of detection door two ends, the angle that measurement detection door two ends hawser swings；Described data acquisition transmission
Unit is installed on floating body, is responsible for collection and transmission array of ultrasonic sensors, position of floating body sensing subsystem and rope angle sensing subsystem are surveyed
Amount data；Described error compensation and data processing unit are PC on the bank, are substantially carried out Error Compensation Algorithm；Described supersonic sensing
Device array, position of floating body sensing subsystem, rope angle sensing subsystem and error compensation and data processing unit through data line or wireless biography
Transferring technology is connected with data acquisition transmission unit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510794411.7A CN106697217A (en) | 2015-11-18 | 2015-11-18 | Detecting system for shipping draft and detecting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510794411.7A CN106697217A (en) | 2015-11-18 | 2015-11-18 | Detecting system for shipping draft and detecting method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106697217A true CN106697217A (en) | 2017-05-24 |
Family
ID=58932281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510794411.7A Pending CN106697217A (en) | 2015-11-18 | 2015-11-18 | Detecting system for shipping draft and detecting method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226975A (en) * | 2018-01-18 | 2018-06-29 | 北京港信科技有限公司 | Ship's fix monitoring system |
| CN109131771A (en) * | 2018-09-08 | 2019-01-04 | 南京理工大学 | A kind of inland navigation craft drinking water detection system and detection method based on maritime control |
-
2015
- 2015-11-18 CN CN201510794411.7A patent/CN106697217A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226975A (en) * | 2018-01-18 | 2018-06-29 | 北京港信科技有限公司 | Ship's fix monitoring system |
| CN109131771A (en) * | 2018-09-08 | 2019-01-04 | 南京理工大学 | A kind of inland navigation craft drinking water detection system and detection method based on maritime control |
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Application publication date: 20170524 |