CN105711768B - A kind of ship borne type drauht automatic checkout system - Google Patents
A kind of ship borne type drauht automatic checkout system Download PDFInfo
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- CN105711768B CN105711768B CN201610046484.2A CN201610046484A CN105711768B CN 105711768 B CN105711768 B CN 105711768B CN 201610046484 A CN201610046484 A CN 201610046484A CN 105711768 B CN105711768 B CN 105711768B
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- 238000001514 detection method Methods 0.000 claims abstract description 98
- 239000003651 drinking water Substances 0.000 claims abstract description 52
- 235000020188 drinking water Nutrition 0.000 claims abstract description 52
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- 238000005259 measurement Methods 0.000 claims description 42
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of ship borne type drauht automatic checkout system, it includes boat-carrying detection device, long-distance management system, the setting of boat-carrying detection device is on detection ship, drinking water data for obtaining detected ship, the boat-carrying detection device include high density sonar array, ship gap measuring device, positioning device for ship, ship automatic identification equipment, video apparatus for obtaining evidence and data acquisition device.The present invention is based on the drauht detections that the drauht detection technique of underwater sonar sounding system realizes active, digitlization, automation, efficiently reduce manpower and materials demand, improve detection efficiency and precision.It may insure that navigation channel is unimpeded, avoid the occurrence of the situation for hindering navigation, it is ensured that the normal of industrial and agricultural production is smoothed out, and reliable material guarantee is provided for economic development.
Description
Technical field
The present invention relates to fields of measurement, more particularly to a kind of ship borne type drauht automatic checkout system
Background technology
With the continuous increase of the rivers such as the Changjiang river Provincial Shipping Volume, ship development is absorbed water also increasingly in enlarged development trend
It is deep.Calculation of Ship Grounding's accident happens occasionally, and not only breaks up navigation channel and seriously threatens shipping safety, also affects shipping efficiency and causes ship
The stranded reason of oceangoing ship is various, wherein surpassing drinking water most serious of all, i.e. ship actual load drinking water is more than navigation channel department
The channel maintenance depth of water of announcement.
The reason of causing ship to surpass drinking water is various, and existing odjective cause also has subjective reason.Objectively upstream and downstream
The different navigation channel water level depths are different, and same navigation channel different times allow the extreme draft of navigation ship also to be passed through according to the variation of water level
Often it is adjusted.Ship just needs landing pier to unload cargo to open the navigation or air flight safely, extends the time of delivery.It is subjective, individually
Shipowner takes to pursue the maximization of interests and lies about, conceals drinking water or even distort privately the inspection that water line escapes law enforcement agency
It looks into, sets national shipping and overload ban in ignoring, not only give the safety of related navigation ship to bring hidden danger, also seriously affected logical
Boat efficiency.
The key for administering drauht problem is to be detected drauht, and traditional approach is exactly to be arranged on ship
Water line judges the draft amount of ship by estimating, the mode of this drinking water detection it is simple by manpower and there may be
Drauht line scale is fuzzy, or even by artificial modification, and drauht detection is inaccurate.On the other hand this mode needs
Ship pulls in shore to be checked, influences the normal/cruise of ship, greatly reduce working efficiency.Work effect can effectively improved
Rate does not influence relevant technological means can be taken to be detected drauht under the premise of ship normal/cruise again, realization pair
Drauht carries out real time monitoring and early warning, and to reduce Calculation of Ship Grounding's, hit a submerged reef etc., the generation of safety accidents, has ensured navigation channel
Safety,
Existing drauht detection method is mainly the following：
One, pressure sensor method
This method is to design the principle changed with water depth ratio using hydraulic pressure.In ship in ballast, will press
Force snesor is mounted on the outside of hull, and after ship loading cargo, pressure sensor is with Hull sinkage, the reading of pressure sensor
Number changes, and has reacted the size of hydraulic pressure, and variation this method precision that the depth of water is can be obtained by scientific algorithm is not high, and
And pressure sensor is mounted on the outside of hull, it be easy to cause damage during navigation.
Two, electric water gauge
Electric water gauge uses data collecting instrument and digital display instrument is combined.Its operation principle is the conduction using water
The potential difference of two electrode of feature measurement, it is not high to measure waterlevel data this method precision, and also this method is needed electronics
Water gauge is mounted on the outside of hull, and electric water gauge working environment is severe, is easy to cause sensor degradation.
Three, laser water level mensuration
This method mainly utilize laser range finder, since laser has the characteristics of smoothed-spline surface, good directionality, using swash
Light measurement, the face on the basis of hull bottle side, the distance of detection main ship deck to the water surface calculate drauht by conversion
Amount.Laser range finder is necessarily mounted on ship, be cannot achieve disembarkation and is detected to drauht.
Four, the water gauge marker recognition based on image procossing
Capture is carried out to six water lines on the outside of hull by picture pick-up device, and carries out technology identification, obtains ship
Data are absorbed water, and are accordingly calculated, the final drinking water situation of ship is obtained.When environmental factor very severe such as greasy weather, wind
Waves etc. or water line are damaged the identification that will all influence image, influence to identify that longitude even the failure of algorithm occurs.
Five, salt cavern gas storage
Sonar to measure is the effective ways being monitored to underwater object.It is mainly used in water in channel maintenance work
Lower topographic survey, underwater obstacle, shipwreck detection and Underwater Engineering facility measure.For the underwater portion of current the Changjiang river ship
Main external form scale, in conjunction with existing measuring technique means and equipment, the application of metering computer software and exploitation, Yangtze River waterway
The composite factors such as natural conditions feature, there are mainly three types of be based on sonar drauht dynamic testing method at present：The bottom is fixed
The method of sweeping is faced upward, water-bed half floating affixed side in the method for sweeping, water faced upward and sweeps method.But at present both at home and abroad for utilizing sonar technique to drauht
The research for being detected method and system is seldom, and sonar equipment type is various, now the sonar still without detecting drauht
Apparatus and method are mainly the following sonar detection device：
1) water-bed fixation
Water-bed fixation is to be arranged in a row multiple scanning sonars to be fixed on the bottom, and scanning sonar is to water surface emission detection wave
The ship that beam scanning is passed through above sonar forms the image outline of inner bottom hull, to judge shipping draft.Using this
The advantages of mode be high certainty of measurement still, this mode be applied to Yangtze River Water on ships that transport drinking water detection there are the problem of
It is to be easy to be covered by the mud in river, or covered by rubbish in water plant, water, and do not allow easy-clear after capped, masking, after
Phase is difficult in maintenance.
2) it moves water-bed semi-floating and faces upward Scanning Detction method
It is on the flying fish set up scanning sonar in water that removable bottom semi-floating, which faces upward Scanning Detction method, and flying fish is in water
Keep posture steady, sonar transducer emission detection wave beam vertically upward, when ship passes through above flying fish, scanning sonar shape
At the sonar image of inner bottom hull, analyzed by the sonar processing center of water-bed cable transmission ashore.Using removable water
Bottom semi-floating face upward the advantages of Scanning Detction method be test point setting it is convenient, flexible, convenient for safeguard.But quilt is easy in measurement process
Rubbish covers in water plant, water, and reliability is not high.
3) affixed side scanning method in water
Affixed side scanning method is by side-scan sonar emission array and to receive array and be separately mounted on two bridge piers in water, is sent out
It is one-to-one relationship that array, which is penetrated, with receiving array.When there is ship to pass through, the signal by approximately level part Firing Sonar is by ship
Oceangoing ship, which blocks, can not reach receiving array, may determine that shipping draft according to the depth for the sonar array that can receive signal.This
The advantages of kind mode, does not influence Navigation in Navigable when being installation, is not specially required to fairway depth, and maintaining is convenient.Disadvantage
It is as follows：1. the device is necessarily mounted on bridge pier or the fixed building on navigation channel both sides, in shallow draft waterway upstream hardly possible
To find suitable bridge for installation；2. the bridge span on current the Changjiang river is generally very big, generally between 100-800m, such as
Under this big bridge span, there are prodigious difficulty for sonar array alignment；3. when carrying out drauht detection, it is easy by water
The influence for the bubble that propeller generates when middle suspended matter such as water plant, polybag and ship's navigation.
Invention content
The present invention provides a kind of ship borne type ship to solve the disadvantage that existing drauht detection mentioned above exists
Oceangoing ship absorbs water automatic checkout system, and ranging is realized based on sonar technique, and giving full play to sound wave, conduction of velocity is fast in water, decaying is slow
Advantage, overcome the problems, such as the modes such as photoelectricity, laser, infrared, radar rapid decay in water.Distance-measuring equipment uses motor driven portion
Administration can overcome fixed drinking water detection device and dispose with the completion of high efficient and flexible to being detected the measurement of drauht information
The easily covered shielding of difficult, signal is unfavorable for the shortcomings of later maintenance.
Specifically, the present invention provides a kind of ship borne type drauht automatic checkout system comprising boat-carrying detection device with
And long-distance management system,
The boat-carrying detection device setting is on detection ship, the drinking water data for obtaining detected ship, the boat-carrying
Detection device includes high density sonar array, ship gap measuring device, positioning device for ship, ship automatic identification equipment, video
Apparatus for obtaining evidence and data acquisition device,
The high density sonar array is mounted on by array installing mechanism on detection ship,
The ship gap measuring device is arranged near the sonar array, for obtain detection ship and detected ship it
Between distance,
The positioning device for ship is used to obtain the location information of detection ship,
The ship automatic identification equipment is used to obtain the location information and dimensional information of detected ship,
The video apparatus for obtaining evidence is used to obtain the evidence obtaining image information of detected ship,
The data acquisition device is used to obtain the drinking water related data of detected ship.
Preferably, the positioning device for ship, the ship automatic identification equipment and video apparatus for obtaining evidence difference
Suitable position on the top layer deck of detection ship is set, and the data acquisition device is arranged in the suitable position of navigation deck of detection ship
It sets.
Preferably, the high density sonar array includes emitting the transmitting battle array of acoustical signal and connecing for reception reflective echo signal
Battle array is received,
The transmitting paroxysm goes out a fan-shaped beam perpendicular to flight path, the reception battle array receives echo-signal, through delay
Or rear be added is summed after phase shift, forms tens or hundreds of adjacent wave beams.
Preferably, the angle of release of the fan-shaped beam of the transmitting battle array is 60 °~150 °, the angle of release in flight path direction is 0.5 °~
5 °,
It is described receive formation at wave beam angle of release be 1 °~3 °, perpendicular to flight path angle of release be 0.5 °~3 °.
Preferably, the video apparatus for obtaining evidence obtains detected ship image by the way of photoelectric tracking, described tested
It includes stem image, name of vessel image and drinking water ruler image to survey ship image, can be extracted from detected ship image tested
Survey the drinking water data that shipping depth gauge is presented.
Preferably, the long-distance management system includes remote management shipborne system, remote management bank end centring system and remote
Thread management bank end pipe manages system,
The remote management shipborne system obtains the coherent detection data for being detected ship from detection ship, passes through wireless remote
Transmission unit sends data to remote management bank end centring system, and bank end centring system parses related data, stores
And it is distributed to remote management bank end pipe reason system,
The detection process of the remote management bank end pipe reason system real-time remote monitoring detection ship, and can be by selecting one
The data of interior storage of fixing time are detected the playback of data, can also be for statistical analysis to historical data.
The remote management shipborne system by local communication unit acquisition be computed revised tested drauht value,
The data such as GPS, AIS information of this detected ship, the image information for being detected ship, are transmitted after processing is packaged by wireless remote
Unit sends data to remote management bank end centring system,
Remote management bank end centring system is responsible for all detection ship remote management shipborne systems in whole system
System, the reception and distribution and storage and analysis of responsible data are managed with remote management bank end pipe.
The remote management bank end pipe reason system can remotely monitor the real-time working dynamic for detecting ship in real time, and can
Duty history to detecting ship is recalled, is played back and statistical analysis.
Preferably, further include host computer, the host computer setting passes through data acquisition device and institute inside detection ship
It states ship gap measuring device, positioning device for ship, ship automatic identification equipment and communicates connection respectively, for carrying out data processing simultaneously
Real-time display is detected the drinking water testing result of ship.
Preferably, the long-distance management system is provided with drinking water detection threshold value, when the extreme draft for being detected ship is more than
Or when equal to drinking water threshold value, detects ship and remote management bank end pipe reason system is simultaneously emitted by alarm.
Preferably, the array installing mechanism includes positioning device, support device, high density sonar array and high density
Sonar array supporting installation device, the support device are mounted on by means of the positioning device on the bottom of detection ship hull,
The high density sonar array is mounted on the positioning device and institute by means of the high density sonar array supporting installation device
It states between support device.
Advantages of the present invention is as described below：
The present invention is based on sonar techniques to realize ranging, gives full play to the sound wave advantage that conduction of velocity is fast in water, decaying is slow,
Overcome the problems, such as the modes such as photoelectricity, laser, infrared, radar rapid decay in water.Efficiently spirit is realized using boat-carrying mounting means
It is easily covered to overcome fixed drinking water detection device deployment difficulty, signal for measurement to being detected drauht information living
It shields, be unfavorable for the shortcomings of later maintenance.
By installing sonar array combination multidimensional data amendment round-the-clock be directed to is realized using intelligent correction algorithm
Detected drauht accurately measures, and solves that existing detection method precision is not high, has the shortcomings that strict demand to weather environment.
Detection data, ship basic data, historical data etc. are organically blended, data fusion is realized, improves pipe
Manage efficiency, realize law enforcement and disclose just transparent, solve evidence obtaining difficulty, management process is easily practised fraud, information sharing not in time etc.
Disadvantage.
Drauht detection technique based on underwater sonar sounding system realizes the ship of active digitlization, automation
Oceangoing ship drinking water detection, efficiently reduces manpower and materials demand, improves detection efficiency and precision.It may insure that navigation channel is unimpeded, avoid out
Now hinder the situation of navigation, it is ensured that the normal of industrial and agricultural production is smoothed out, and reliable material guarantee is provided for economic development.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic block diagram of the present invention；
Fig. 3 is the structural schematic diagram of the long-distance management system of the present invention；
Fig. 4 is the structural schematic diagram of the array installing mechanism of the present invention；
Fig. 5 is the work flow diagram of the drauht measurement method of the present invention；
Fig. 6 is the drauht instrumentation plan of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment is further explained the structure and working principle of the present invention：
The present invention provides a kind of ship borne type drauht automatic checkout system, as shown in Figure 1 comprising boat-carrying detection device
1 and long-distance management system, long-distance management system include remote management shipborne system 21, remote management bank end centring system 22 with
And remote management bank end pipe manages system 23.Remote management shipborne system 21 obtains the phase of boat-carrying detection device 1 by communication unit
Remote management bank end centring system 22, remote management bank end are sent data to by wireless remote transmission unit after the detection data of pass
Management system 23 carries out network connection by internet and remote management bank end centring system 22 and completes data interaction.
The setting of boat-carrying detection device 1 is on detection ship, the drinking water data for obtaining detected ship.It is provided with boat-carrying inspection
The drinking water data of detected ship can be detected at any time by surveying the detection ship of device 1.As shown in Fig. 2, boat-carrying detection device 1 includes height
Density sonar array 4, ship gap measuring device 5, positioning device for ship 6, ship automatic identification equipment 7, video apparatus for obtaining evidence 3 with
And data acquisition device 8.
High density sonar array 4 is mounted on by array installing mechanism 9 on detection ship, and high density sonar array 4 includes hair
It penetrates the transmitting battle array of acoustical signal and receives the reception battle array of reflective echo signal,
Transmitting paroxysm goes out a fan-shaped beam perpendicular to flight path, battle array receives echo-signal is received, after delay or phase shift
It is added summation afterwards, forms tens or hundreds of adjacent wave beams.
The angle of release for emitting the fan-shaped beam of battle array is 60 °~150 °, and the angle of release in flight path direction is about 0.5 °~5 °, receives formation
At wave beam angle of release be 1 °~3 °, perpendicular to flight path angle of release be 0.5 °~3 °.
Tens or hundreds of narrow depth measurement wave beams can be obtained in combination transmitting and reception wave beam.In order to ensure measurement accuracy,
The influence of ship labor in navigation must be eliminated, in practical applications, high density sonar array is integrated with attitude transducer.
Ship gap measuring device 5 is arranged near high density sonar array 4, and is arranged in ship with high density sonar array 4
The same side of body obtains detection the distance between ship and detected ship, obtains detection ship by opto-electronic conversion and is detected
The distance between ship, the distance will be as one of the foundations of drinking water detection.
Positioning device for ship 6 is used to obtain the location information of detection ship, and ship automatic identification equipment 7 is detected for obtaining
The location information and dimensional information of ship, video apparatus for obtaining evidence 3 are detected ship evidence obtaining image information for obtaining.
In the present embodiment, positioning device for ship 6, ship automatic identification equipment 7 and video apparatus for obtaining evidence 3 are respectively set
The suitable position in navigation deck is arranged in suitable position on the top layer deck of detection ship, data acquisition device 8.
Preferably, further including host computer 10, host computer 10, which is arranged, to be detected inside ship, and cabin interior is generally located on,
It is filled by data acquisition device 8 and ship gap measuring device 5, positioning device for ship 6, ship automatic identification equipment 7, video evidence obtaining
3 communication connections respectively are set, for carrying out data processing and showing result.
As shown in figure 3, long-distance management system include remote management shipborne system 21, remote management bank end centring system 22,
Remote management bank end pipe manages system 23.
Remote management shipborne system 21 includes local data communication unit 211, data processing unit 212, teledata biography
Defeated unit 213.Local data communication unit 211 obtains every detection data of this ship drinking water detection device, passes through data processing
After unit 212 handles tissue, remote management bank end centring system 22 is transmitted to by remote data transmission unit 213.
Remote management bank end centring system 22 include network communication administrative unit 221, data organization and management unit 222, in
Heart Database Unit 223.The management of network communication administrative unit manages system with remote management shipborne system 21, remote management bank end pipe
Network connection, rights management between 23, data transmission；Data organization unit administrative unit 222 carries out the data received
Decompression, decryption and parsing preserve data to central database according to certain rule；Centre data library unit 223 is for managing
Center relationship database, and the work such as storage, query and search, statistics, backup for completing data.
It includes network communication administrative unit 231, terminal management unit 232, history number that remote management bank end pipe, which manages system 23,
According to playback unit 233.The network that network communication administrative unit 231 is used to manage between remote management bank end centring system 22 connects
It connects；The remote management capability of ship is detected in terminal management unit 232 comprising every drinking water, for example real time data detects, remotely refers to
Enable publication, drinking water budget threshold value setting etc.；Historical data playback unit 233 is used to recall the drinking water detection data of history, return
Put, consult and count
Array installing mechanism 9：
As shown in Figure 4 comprising hull 91, positioning device 92, support device 93, high density sonar array 94 and highly dense
Sonar array supporting installation device 95 is spent, support device 93 is mounted on by means of positioning device 92 on the bottom of hull 91, highly dense
Spend sonar array 94 by means of high density sonar array supporting installation device 95 be mounted on positioning device 92 and support device 93 it
Between.
Preferably, it is carried out by fixing bolt 96 between high density sonar array supporting installation device 95 and positioning device 92
It is fixed.The section of positioning device 92 is taper.
Preferably, support device 93 is fixedly connected by a fixed seat 97 with the side wall of hull 91.
Preferably, the top of fixed seat 97 is provided with support regulation ring 98, and support regulation ring 98 passes through solid with fixed seat 97
Determine the connection of bolt 96, the setting angle for adjusting high density sonar array 94 and locking supporting device 93.
Preferably, the top of support regulation ring 98 is fixed with support fixed plate 99.
Preferably, it supports and is fixed by fixing bolt 96 between regulation ring 98 and support fixed plate 99.
Drauht measurement method：
A kind of drauht measurement method：It includes the following steps：
The side that S1, detection ship are equipped with high density sonar array is close towards tested ship, and relatively moves, and uses
High density sonar array carries out recalled echo scan to being detected ship oceangoing ship shipboard, obtains the water surface, is detected the underwater portion of ship oceangoing ship shipboard
Divide and the measurement hardwood data in riverbed, measurement frame data include time, energy and the field angle etc. of all wave beams.
S2, by measure hardwood data calculated and handled, obtain each wave beam and correspond to measured point with respect to sonar source
Horizontal distance and height value；
S3, the ship distance measurement information obtained according to ship gap measuring device 5, filter the water surface and bed configuration measures number
According to acquisition is detected ship oceangoing ship shipboard underwater portion measurement data set；Measurement data set includes that several wave beams correspondences are tested in S3
The height value in the opposite sonar source of point.
S4, measurement data set is calculated, obtains detected ship oceangoing ship drinking water measured value；
S5, in conjunction with detection ship rolling, pitching, GPS positioning information, high density sonar array installation site information, tested
It surveys ship oceangoing ship AIS information and data correction is carried out to the drinking water measured value obtained in S4, obtain and be detected ship oceangoing ship in the measurement hardwood
Drinking water Value Data；
S6, S1-S5 is repeated, if obtaining the drinking water Value Data of the detected ship oceangoing ship of dry measure hardwood in a measurement period simultaneously
It is for statistical analysis, obtain the extreme draft amount of detected ship oceangoing ship.
The computational methods that ship oceangoing ship drinking water measured value is detected in S4 are as described below：
S41, high density sound is obtained according to the installation site of the high density sonar array of detection ship boat-carrying drinking water measuring device
Array is received away from the mounting height H for detecting ship hull bottom2；
S42, N number of beam information is detected using high density sonar array, and calculates each wave beam to correspond to measured point opposite
The horizontal distance value S in sonar sourceiWith height value Zi, i values 1-N；
S43, a certain detection ship for measuring hardwood time point and the two of detected ship oceangoing ship is obtained using ship gap measuring device
Ship interval S；
S44, according to two ship interval Ss and beam information, detect and be detected ship oceangoing ship shipboard underwater portion measurement data set Ze
To Zf, take detected ship oceangoing ship shipboard underwater portion measurement data set ZeTo ZfIn maximum value ZfIt is detected ship for the measurement hardwood
Oceangoing ship oceangoing ship absorbs water measured value.
Preferably, the method that the drinking water Value Data for measuring detected ship oceangoing ship in hardwood is obtained in S5 is as follows：
The drinking water value that ship oceangoing ship is detected in a certain measurement hardwood is Z=Zf+H1+H3-H2；
Wherein：ZfIt is detected ship oceangoing ship for the measurement hardwood and absorbs water measured value, H1To be detected ship oceangoing ship turn of the bilge correction value, H3
For the hull bottom drinking water value of high density sonar array installation place, H2For mounting height of the high density sonar array away from detection ship hull bottom
Preferably, in a drauht measurement period, several hardwoods is obtained and are detected ship oceangoing ship drinking water value Z, by all Z
Maximum value is to be detected the extreme draft value A of ship oceangoing ship in value one manifold A of composition, access collection Amax。
Preferably, detection ship and two ship interval Ss of detected ship oceangoing ship are surveyed by the ship spacing on detection boat deck
Amount device measures, and in practical applications, ship gap measuring device measures ship spacing using laser measuring device for measuring.
Preferably, ship oceangoing ship turn of the bilge correction value H1 is detected by being obtained in database, and the database root is according on detection ship
The detected ship oceangoing ship relevant information of ship automatic identification equipment acquisition simultaneously combines long-distance management system bank end centring system center
The mass data of database is calculated.
When needing to be detected ship, detection ship is moved to ship stern (or from ship stern close to detected ship, from stem
It is moved to stem), side sweeping type measurement continuously is carried out to shipboard, if obtaining dry measure frame data in a measurement period, is passed through
Above-mentioned calculation formula the processing such as is parsed, calculates, counts to measuring frame data, obtains detected drauht.This method machine
Dynamic flexible, accurate reliable, maintenance is convenient, effectively avoid existing several measurement method deployment are difficult, be easily disturbed, maintenance inconvenience,
The shortcomings of life cycle cost is high.
Specifically, recalled echo scan is carried out to being detected ship shipboard using high density sonar array, obtains the water surface, shipboard water
The measurement hardwood data of lower part and riverbed, it includes the information such as time, energy, the field angle of all wave beams to measure frame data, is passed through
Hardwood data are calculated and are handled, horizontal distance and height value that each wave beam corresponds to measured point with respect to sonar source are obtained.According to ship
Oceangoing ship distance measurement information filters the water surface and bed configuration measurement data, obtains and is detected ship shipboard underwater portion measurement data
Group corresponds to horizontal distance and height value of the measured point with respect to sonar source in data group comprising several wave beams, by above-mentioned algorithm into
Row statistical analysis obtains detected drauht measured value.In conjunction with detection ship rolling, pitching, GPS positioning information, high density
The data of carry out for information about for the ship to be checked that automatic identification equipment obtains in sonar array installation site information, detection ship are repaiied
Just, the drinking water value that ship is detected in the measurement hardwood is finally obtained.If in a measurement period data of pair dry measure hardwood into
Row statistical analysis obtains the drinking water of detected ship.
Concrete application example
The operation principle of the present invention is further explained with reference to concrete application example：
Site Detection drauht：
Place：The Changjiang river Wuhan river section
Detection name of vessel claims：Chinese road surveys 201
It is detected ship oceangoing ship title：Henan aviation fuel 5
It is 3.0-3.2 meters to be detected ship oceangoing ship scale drinking water reading value, and wave effect, it is 3.1 meters to be averaged,
High density sonar array is H away from detection ship hull bottom mounting height2It is 0.74 meter, high density sonar array installation place
Hull bottom absorbs water H3It is 1.21 meters, is detected ship oceangoing ship turn of the bilge correction value H1It it is 0.05 meter, it is 2.53 which, which absorbs water measured value Zf,
Rice, it is maximum value in a measurement period which, which absorbs water measured value,.
The drinking water value for being detected ship oceangoing ship is Z=Zf+H1+H3-H2=2.53+0.05+1.21-0.74=3.05 meters,
Measurement error value is 3.1-3.05=0.05 meters, index of 0.2 meter better than dynamic draft detection allowable error value.
The present invention is based on sonar techniques to realize ranging, gives full play to the sound wave advantage that conduction of velocity is fast in water, decaying is slow,
Overcome the problems, such as the modes such as photoelectricity, laser, infrared, radar rapid decay in water.It can be with the completion of high efficient and flexible to being detected
The measurement of drauht information, overcome the deployment of fixed drinking water detection device is difficult, the easily covered shielding of signal, be unfavorable for after
The shortcomings of phase safeguards.
By installing sonar array combination multidimensional data amendment round-the-clock be directed to is realized using intelligent correction algorithm
Detected drauht accurately measures, and solves that precision is not high, has the shortcomings that strict demand to weather environment.
Detection data, ship basic data, historical data etc. are organically blended, data fusion is realized, improves pipe
Manage efficiency, realize law enforcement and disclose just transparent, solve evidence obtaining difficulty, management process is easily practised fraud, information sharing not in time etc.
Disadvantage.
Drauht detection technique based on underwater sonar sounding system realizes the ship of active digitlization, automation
Oceangoing ship drinking water detection, efficiently reduces manpower and materials demand, improves accuracy of detection.It may insure that navigation channel is unimpeded, avoid the occurrence of obstruction
The situation of navigation, it is ensured that the normal of industrial and agricultural production is smoothed out, and reliable material guarantee is provided for economic development.
Finally it should be noted that：Above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify to the technical solution recorded in previous embodiment, or to which part or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (8)
1. a kind of ship borne type drauht automatic checkout system, it is characterised in that：It includes boat-carrying detection device and long-range pipe
Reason system,
The boat-carrying detection device setting is on detection ship, the drinking water data for obtaining detected ship, the boat-carrying detection
Device includes high density sonar array, ship gap measuring device, positioning device for ship, ship automatic identification equipment, video evidence obtaining
Device and data acquisition device,
The high density sonar array is mounted on detection shipboard face underwater by array installing mechanism,
The ship gap measuring device is arranged near the sonar array, for obtaining between detection ship and detected ship
Distance,
The positioning device for ship is used to obtain the location information of detection ship, the ship automatic identification equipment, for obtaining quilt
The location information and dimensional information of ship are detected,
The video apparatus for obtaining evidence is used to obtain tested ship evidence obtaining image information,
The data acquisition device is used to obtain the drinking water information and associated ancillary information of detected ship；
The high density sonar array includes the transmitting battle array for emitting acoustical signal and the reception battle array for receiving reflective echo signal, the hair
It penetrates paroxysm and goes out a fan-shaped beam perpendicular to flight path, the reception battle array receives echo-signal is added after delay or phase shift and asks
With formation tens or hundreds of adjacent wave beams；
The angle of release of the fan-shaped beam of the transmitting battle array is 60 °~150 °, and the angle of release in flight path direction is 0.5 °~5 °, the reception battle array
The angle of release of the wave beam of formation is 1 °~3 °, and the angle of release perpendicular to flight path is 0.5 °~3 °；
Following steps are specifically included using the method that the automatic checkout system detects ship max water yield：
The side that S1, detection ship are equipped with high density sonar array is close towards tested ship, and relatively moves, and use is highly dense
It spends sonar array and carries out recalled echo scan to being detected ship shipboard, obtain the water surface, be detected ship shipboard underwater portion and riverbed
Measurement hardwood data；
S2, by measure hardwood data calculated and handled, obtain each wave beam and correspond to level of the measured point with respect to sonar source
Distance and height value；
S3, the ship distance measurement information obtained according to ship gap measuring device, filter the water surface and bed configuration measurement data, obtain
Take detected ship shipboard underwater portion measurement data set；
S4, measurement data set is calculated, obtains detected drauht measured value；
S5, in conjunction with detection ship rolling, pitching, GPS positioning information, high density sonar array installation site information, be detected ship
Oceangoing ship AIS information carries out data correction to the drinking water measured value obtained in S4, obtains the drinking water value that ship is detected in the measurement hardwood
Data；
S6, S1-S5 is repeated, if obtaining the drinking water Value Data of the detected ship of dry measure hardwood in a measurement period and uniting
Meter analysis, obtains the extreme draft amount of detected ship.
2. ship borne type drauht automatic checkout system according to claim 1, it is characterised in that：The ship's fix dress
It sets, the ship automatic identification equipment and video apparatus for obtaining evidence are separately positioned on the suitable position for detecting ship top layer deck, institute
Data acquisition device setting is stated in detection ship navigation deck suitable position.
3. ship borne type drauht automatic checkout system according to claim 1, it is characterised in that：The video evidence obtaining dress
It sets, detected ship image is obtained by the way of photoelectric tracking, which includes stem image, name of vessel image and drinking water ruler
Image can extract the drinking water data that detected shipping depth gauge is presented from detected ship image.
4. ship borne type drauht automatic checkout system according to claim 1, it is characterised in that：The data acquisition dress
It sets for acquiring each item data needed for drinking water detection.
5. ship borne type drauht automatic checkout system according to claim 1, it is characterised in that：The remote management system
System includes remote management shipborne system, remote management bank end centring system, remote management bank end pipe reason system, the remote management
Shipborne system obtains the coherent detection data for being detected ship from detection ship, is sent data to by wireless remote transmission unit
Remote management bank end centring system, bank end centring system parse related data, are stored and be distributed to remote management bank end
Management system, the detection process of the remote management bank end pipe reason system real-time remote monitoring detection ship, and can be by selected
The data stored in certain time are detected the playback of data, can also be for statistical analysis to historical data.
6. ship borne type drauht automatic checkout system according to claim 1, it is characterised in that：Further include host computer,
The host computer setting is filled in detection ship driver's cabin suitable position by data acquisition device and the ship distance measurement
Set, positioning device for ship, ship automatic identification equipment communicate connection respectively, be detected ship for carrying out data processing and real-time display
The drinking water testing result of oceangoing ship.
7. ship borne type drauht automatic checkout system according to claim 5, it is characterised in that：The remote management system
System setting drinking water detection threshold value, when the extreme draft for being detected ship is greater than or equal to drinking water detection threshold value, detection ship and remote
Thread management bank end pipe reason system is simultaneously emitted by alarm.
8. ship borne type drauht automatic checkout system according to claim 1, it is characterised in that：The array fitting machine
Structure includes positioning device, support device, high density sonar array and high density sonar array supporting installation device, the support
Device is mounted on by means of the positioning device on the bottom of detection ship hull, and the high density sonar array is by means of the height
Density sonar array supporting installation device is mounted between the positioning device and the support device.
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| CN107340031A (en) * | 2017-06-20 | 2017-11-10 | 华电电力科学研究院 | A kind of shipping depth gauge metering system and method based on unmanned plane |
| CN107607956A (en) * | 2017-06-28 | 2018-01-19 | 舟山遨拓海洋工程技术有限公司 | It is a kind of to carry out drauht measuring method using multifrequency digital profile sonar technology |
| CN108502109B (en) * | 2018-03-01 | 2020-04-21 | 煤炭科学技术研究院有限公司 | Ship cargo weighing method and system |
| WO2020105105A1 (en) * | 2018-11-20 | 2020-05-28 | バルチラジャパン株式会社 | Draught meter and vessel |
| CN109799748A (en) * | 2018-12-25 | 2019-05-24 | 西安华雷船舶实业有限公司 | A kind of ships that transport overload monitoring system and its monitoring method |
| CN109828492A (en) * | 2019-01-10 | 2019-05-31 | 安徽天帆智能科技有限责任公司 | It is a kind of based on the ship adapter system scanned the two-dimensional code |
| CN111401120B (en) * | 2019-11-19 | 2023-09-05 | 浙江机电职业技术学院 | System and method for flow analysis of river vessels |
| CN111426365B (en) * | 2020-03-31 | 2021-10-08 | 天津开发区瑞锋科技有限公司 | Crowd funding type intelligent water depth data acquisition system and method |
| CN112200175B (en) * | 2020-12-09 | 2021-02-23 | 思创数码科技股份有限公司 | Ship density observation method and system, readable storage medium and computer equipment |
| CN116353785A (en) * | 2023-02-08 | 2023-06-30 | 中国科学院声学研究所东海研究站 | Ship draft calculation method and system |
| CN117273197B (en) * | 2023-08-28 | 2024-05-28 | 长江水上交通监测与应急处置中心 | Ship operation state prediction method and system based on track and production information fusion |
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| CN101913415B (en) * | 2010-07-15 | 2013-06-05 | 重庆大学 | Dynamic detection system and method for ship draught |
| CN201800887U (en) * | 2010-09-07 | 2011-04-20 | 河海大学 | Ship draft overrun early warning system based on ultrasonic wave sensor |
| CN102616346A (en) * | 2012-03-12 | 2012-08-01 | 江苏舾普泰克自动化科技有限公司 | Automatic detection system for super draught of navigation vessel |
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