CN106441798B - Ship or ship model hydrostatic revolution remote trial system and test method - Google Patents

Abstract

The invention discloses a remote test system for a still water rotation of a ship or a ship model, which comprises an experimental pool, a ship model located in the experimental pool, and a laser distance measuring device located on the ship model. The transmitter of the transmission station is connected, the transmitter of the data transmission station is connected with the receiver of the data transmission station, the receiver of the data transmission station is connected with the computer, and the computer is connected with the client through the remote control module. A remote test system and test method for a ship or ship model still water rotation of the present invention solves the problems of low utilization rate of the laboratory and difficulty in doing tests, and the test data images can be transmitted to the user end in real time, greatly reducing the work difficulty of the user and workload.

Description

Ship or ship model static water rotation remote test system and test method

technical field

The invention relates to a remote test system and a test method for a still water rotation of a ship or a ship model, and belongs to the technical field of ship test.

Background technique

A ship with good maneuverability can keep the sailing direction stably when sailing in a straight line, and can quickly change the sailing direction when it needs to change its course, so that the ship can sail smoothly according to the predetermined route or course. Therefore, ship gyration is an important part of ship navigation performance, which refers to the ship's course stability and sensitivity. The ship model or the new ship should do the turning test to obtain the ship's stable turning diameter, vertical moment, transverse moment and other important turning parameters, so as to study the instantaneous motion of the ship during turning and evaluate the ship's rudder response. The advantages and disadvantages of maneuverability provide technical support.

This type of ship model still water slewing test requires many special test facilities, equipment and instruments, such as open-air maneuvering pool or indoor maneuvering pool, remote control and telemetry devices, autopilot, gyroscope, tracker and environmental perception system, etc. The ship maneuverability test is generally carried out by special personnel at the test site. After the test, according to the data obtained by the data acquisition equipment installed on the shore and on the model, the test personnel will analyze and process the data to obtain the test results. Therefore, it has strong specificity and specificity, a small audience, and a high pool idle rate.

At the same time, due to financial reasons, some ship units do not have pools and related experimental equipment. They need to rent pools and equipment from nearby units for experiments. This requires a lot of manpower, material resources, and financial resources, and is limited by time and space. The main problems are as follows Problems: First, the distance between the two units may be in different cities; second, it is inconvenient to carry the ship model, and damage may occur during the handling; third, the whole process takes a lot of time and the cycle is long.

In addition, when teaching ship experiments in some ship schools, due to the lack of pools or experimental instruments, they usually learn by watching videos. Students cannot do it themselves, and the participation is low, and the learning effect is poor.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a remote test system and test method for still water rotation of ships or ship models, which solves the problems of low laboratory utilization and difficult tests, and the test data images can be real-time It is transmitted to the user end, which greatly reduces the difficulty and workload of the user.

Technical solution: In order to solve the above technical problems, a remote test system for still water rotation of a ship or ship model according to the present invention includes an experimental pool, a ship model located in the experimental pool, and a laser distance measuring device located on the ship model. The distance device is connected to the transmitter of the data transmission station through the central controller, the transmitter of the data transmission station is connected to the receiver of the data transmission station for signals, the receiver of the data transmission station is connected to the computer, and the computer is connected to the client through the remote control module.

Preferably, the laser distance measuring device includes a base located on the ship model, on which there are at least two laser range finders distributed along the center circumference of the base, and the laser range finders are connected to the central controller.

Preferably, there are four laser range finders, namely the first laser range finder, the second laser range finder, the third laser range finder and the fourth laser range finder, and the first laser range finder points to Directly in front of the ship model, the angle formed by the second laser range finder and the first laser range finder is 90°, and the angle formed by the third laser range finder and the first laser range finder and the second laser range finder 135° respectively, the fourth laser range finder is located at the center of the first laser range finder, the second laser range finder, and the third laser range finder.

Preferably, a level is installed on the base, the base is installed on the ship model through adjusting bolts, and the laser rangefinder is powered by a battery.

Preferably, the laser range finder is installed on the base through a fixing mechanism, a camera is installed above the ship model, and images captured by the camera are transmitted to the central controller.

A test method for the above-mentioned ship or ship model hydrostatic rotary remote test system, comprising the following steps:

(1) Install all parts and devices, and install the base on the deck of the test ship model. There are screw holes at the four top corners, and connect with the deck of the test ship through adjusting bolts. When installing, the base is about the longitudinal section of the test ship Symmetrical, the fixing mechanism is connected to the base by bolts;

(2) Adjust the levelness: ensure the levelness of the base of the laser rangefinder by adjusting the adjusting bolt and measuring with a level meter;

(3) Connect the test system circuit: connect each laser rangefinder to the computer and battery through the transfer wire and wire;

(4) Carry out the ship model test and collect the data of the laser range finder: carry out the corresponding ship model test according to the purpose of the test. During the test, collect the data of the laser range finder, specifically: the ship model moves in the pool, the laser range finder When measuring the heading angle of the ship model and the real-time position in the pool by the laser range finder, the distance measured by the laser range finder and the geometric relationship between the pool wall can be obtained. The distances measured by the four laser range finders are L ₁ , L ₂ , L ₃ , L ₄ , the length L and width B of the square pool are known, wherein, angle θ ₁ is the angle between line segment L ₃ and line segment a; angle θ ₂ is the angle between line segment L ₂ and line segment a; Angle θ ₃ is the angle between line segment L ₁ and line segment b, is the angle between the line segment a and the width B of the pool, the vertical distance from the ship model to the upper reference plane is L5, _{and α1} is the heel angle of the ship model;

where α=135°;

heading angle,

Therefore, the distances b and c from the ship model to the two pool walls are:

b=L ₁ ·cosθ ₃

c＝L ₂ ·cosθ ₃

α ₁ =arcos(L ₅ /L ₄ )

(5) Data calculation and processing: the data files collected in step (4) are imported into the computer for calculation and processing, and the results of the ship model test carried out in step (4) are obtained, and the results are transmitted to the client through the remote control module .

Beneficial effects: compared with the prior art, this patent has the following advantages:

1. It solves the problems of low utilization rate of the laboratory and difficulty in doing tests. The test data images can be transmitted to the user terminal in real time, which greatly reduces the difficulty and workload of users.

2. Provide remote test services for units without pools and experimental equipment, which saves a lot of manpower, material resources, and financial resources, overcomes time and space constraints, and enables them to conduct experiments while sitting in front of the computer.

3. Students majoring in shipbuilding can choose the test equipment and test ship type on the user terminal, select the various steps of the test by themselves, watch the test process, and process the test data fed back to the user terminal by themselves. The students have a high degree of participation. The teaching effect is far better than just watching the experiment video.

4. This paper uses a laser ranging module to make up for the shortcomings of the traditional GPS positioning system's poor signal indoors. Using laser measurement can also make up for the shortcomings of traditional inclination sensors that are susceptible to errors caused by temperature and surrounding environments.

Description of drawings

Fig. 1 is the arrangement diagram of the hydrostatic rotary remote test system of the present invention;

Fig. 2 is a schematic diagram of a module of a laser distance measuring device;

Fig. 3 schematic diagram of laser measurement real-time position principle;

Fig. 4 Schematic diagram of real-time measurement principle of heel angle.

Detailed ways

As shown in Fig. 1 and Fig. 2, a kind of ship or ship model hydrostatic rotary remote test system of the present invention comprises an experimental pool 14, a ship model 1 located in the experimental pool 14 and a laser distance measuring device located on the ship model 1, A rudder 2 and a steering gear 3 are installed on the ship model 1, and the laser distance measuring device is connected to the transmitting end 9 of the data transmission station through the central controller 8, the central controller 8 is a single-chip microcomputer, and the transmitting end 9 of the data transmission station is connected to the data transmission station The receiving end 10 is connected to the signal, the receiving end 10 of the data transmission station is connected to the computer 11 , and the computer 11 is connected to the client terminal 13 through the remote control module 12 .

In the present invention, the laser distance measuring device includes a base 5 located on the ship model 1, on which there are at least two laser range finders distributed along the center circumference of the base 5, and the laser range finders pass through The data line 7 is connected with the central controller 8 .

In the present invention, there are four laser range finders, namely the first laser range finder 4-1, the second laser range finder 4-2, the third laser range finder 4-3 and the fourth laser range finder. Range finder 4-4, the first laser range finder 4-1 points to the front of the ship model 1, the angle formed by the second laser range finder 4-2 and the first laser range finder 4-1 is 90°, The included angles formed by the third laser range finder 4-3, the first laser range finder 4-1 and the second laser range finder 4-2 are respectively 135°, and the fourth laser range finder 4-4 is located at the first laser range finder 4-2. The center of the laser range finder 4-1, the second laser range finder 4-2, and the third laser range finder 4-3, that is, the fourth laser range finder 4-4 is located at the center of the base 5. A level is installed on the base 5, and the base 5 is installed on the ship model 1 through an adjusting bolt 6. The laser range finder is powered by a battery, and the laser range finder is installed on the base 5 through a fixing mechanism. The four laser range finders are the G1020107 laser range finder, the laser emitted by it is a secondary safety laser with a wavelength of 635.2μm, the range is 70m, the measurement accuracy is 1mm, and the measurement interval is 0.1s. The laser range finder Used to measure the distance from the center of the laser rangefinder to the pool wall. The reference plane is a certain plane located on the test pool 14. After the reference plane is selected, the measured distance between the reference plane and the test pool is L ₄ . The central controller 8 controls the steering gear 3 to quickly turn the rudder 2 to the specified rudder angle, and the ship or ship model 1 performs a rotary motion until the heading angle turns 540°, and a test can be ended.

A test method for the above-mentioned ship or ship model hydrostatic rotary remote test system, comprising the following steps:

(1) Install each component and device, the base 5 is installed on the deck of the test ship model 1, and its four corners are provided with screw holes, which are connected with the deck of the test ship by adjusting bolts 6. When installing, the base 5 is about the test The longitudinal section of the ship is symmetrical, and the fixing mechanism is connected with the base 5 through bolts 15;

(2) Adjusting the levelness: by adjusting the adjustment bolt 6 and measuring with a level gauge to ensure the levelness of the laser rangefinder base 5;

(3) Connect the test system circuit: connect each laser range finder to the computer 11 and the storage battery through the transfer wire and the wire;

(4) Carry out ship model test and collect laser rangefinder data: Carry out corresponding ship model test according to the test purpose. During the test, collect laser rangefinder data, specifically: as shown in Figure 3 and Figure 4, the ship Model 1 is moving in the pool. When the laser rangefinder measures the heading angle of ship model 1 and its real-time position in the pool, it can be obtained from the geometric relationship between the distance measured by the laser rangefinder and the pool wall. The four laser rangefinders The distances measured by the tachymeter are L ₁ , L ₂ , L ₃ , and L ₄ respectively, and the length L and width B of the square pool are known, where the angle θ ₁ is the angle between the line segment L ₃ and the line segment a; the angle θ ₂ The angle between line segment L ₂ and line segment a; angle θ ₃ is the angle between line segment L ₁ and line segment b, is the angle between the line segment a and the width B of the pool, the vertical distance from the ship model 1 to the upper reference plane is L5, and _α1 is the heel angle of the ship model 1;

where α=135°;

heading angle,

Therefore, the distances b and c from the ship model 1 to the two pool walls are respectively:

b=L ₁ ·cosθ ₃

c＝L ₂ ·cosθ ₃

α ₁ =arcos(L ₅ /L ₄ )

(5) data calculation processing: the data file that step (4) gathers is imported in computer 11 and carries out calculation processing, draws the result of the ship model test carried out in step (4), the result is transmitted to by remote control module 12 client13.

In the present invention, the camera on the top of the test pool shoots the entire test process, and the data image is transmitted to the data transmission station transmitter 9 through the data line, and the data transmission station transmitter 9 transmits the data image to the data transmission station receiver 10, and the data transmission The radio station receiving end 10 transmits to the data receiving and processing system of the computer 11 again, and the real-time position coordinates measured by the laser range finder module on the slewing trajectory will display the motion trajectory and heel angle data in real time on the computer 11 screen. The data required for the test can be found in The screen is automatically displayed and updated.

The computer 11 transmits data or image information to the client 13 through the remote control module VNC. Among them, the VNC remote control module is free to use and consists of two parts: VNCserver and VNCviewer. The user needs to install the VNCserver on the computer of the controlled terminal before executing the VNCviewer on the client 13 to control the controlled terminal, and can send the test data and images on the computer 11 to the client 13.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (4)

1. a kind of ship or ship model hydrostatic revolution remote trial system, it is characterised in that：Including experiment pond, positioned at experiment pond Interior ship model and the laser ranging system on ship model, the laser ranging system pass through master controller and data transmission electricity Platform transmitting terminal connects, and data transmission radio station transmitting terminal is connect with data transmission radio station receiving end signal, and data transmission radio station receives End is connect with computer, and computer is connect by remote control module with client；

The laser ranging system includes the pedestal being located on ship model, and be distributed at least two on the pedestal justifies along base center The laser range finder of week distribution, the laser range finder are connect with master controller；

There are four the laser range finders, respectively first laser rangefinder, second laser rangefinder, third laser range finder and 4th laser range finder, first laser rangefinder are directed toward immediately ahead of ship model, second laser rangefinder and first laser rangefinder shape Into angle be 90 °, the angle that third laser range finder and first laser rangefinder and second laser rangefinder are formed is respectively 135 °, the 4th laser range finder is located at the center of first laser rangefinder, second laser rangefinder, third laser range finder.

2. ship according to claim 1 or ship model hydrostatic revolution remote trial system, it is characterised in that：On the pedestal Level meter is installed, pedestal is mounted on by adjusting bolt on ship model, and laser range finder passes through storage battery power supply.

3. ship according to claim 2 or ship model hydrostatic revolution remote trial system, it is characterised in that：The Laser Measuring Distance meter is mounted on by fixed mechanism on pedestal, camera is equipped with above ship model, the image transmitting of camera shooting is to center Controller.

4. the test method of a kind of ship as claimed in claim 3 or ship model hydrostatic revolution remote trial system, feature exist In including the following steps：

(1) each parts and device are installed, for floor installation on experiment ship model deck, four vertex are equipped with spiral shell Hole is connect by adjusting bolt with experiment boat deck, and pedestal is symmetrical about test vessel central fore-and-aft vertical plane during installation, and fixed mechanism passes through Bolt is connected with pedestal；

(2) levelness is adjusted：Ensure the level of laser range finder pedestal with level measurement simultaneously by adjusting adjusting bolt Degree；

(3) joint test system line：Each laser range finder is connect by patchcord and conducting wire with computer, accumulator；

(4) Ship model test is carried out, acquires laser range finder data：Corresponding ship model examination is carried out according to test objective It tests, during experiment, acquires laser range finder data, specially：Ship model moves in pond, and laser range finder measures ship model bow During real time position to angle and in pond, obtained as the distance measured by laser range finder and the geometrical relationship of pool wall, four Distance measured by a laser range finder is respectively L₁、L₂、L₃、L₄, length L, the width B of fountain square are it is known that wherein, angle θ₁It is Line segment L₃With the angle of line segment a；Angle θ₂Line segment L₂With the angle of line segment a；Angle θ₃It is line segment L₁With the angle of line segment b,It is line segment a With the angle of pond width B, the vertical range of ship model to upper reference planes is L5, α₁Angle of Heel for ship model；

Wherein α=135 °；

Bow to angle,

So the distance b and c of ship model to two pool walls are respectively：

B=L₁·cosθ₃

C=L₂·cosθ₃

α₁=arcos (L₅/L₄)

(5) data calculation processing：Step (4) collected data file is passed in computer and carries out calculation processing, obtains step Suddenly what is carried out in (4) is Ship model test as a result, result is transferred to client by remote control module.