An adaptive draft detection system for tracking ships

Abstract

The present invention provides a draft detection system for adaptively tracking ships, comprising a modulation transmitter installed on one side of a waterway, a demodulation receiver installed on the other side of the waterway, and a host computer; the modulation transmitter comprises a feedback signal receiving module, a preliminary scan / fine scan drive signal modulation module, and a transmitting end ultrasonic transducer module; the demodulation receiver comprises a receiving end ultrasonic transducer module, a demodulation amplifier module, an analog-to-digital conversion module, an acoustic synchronization detection module, a preliminary scan ship passing judgment module, a fine scan data receiving and processing module, a draft data transmission module, and a feedback signal transmitting module. The present invention first detects the approximate range of the bottom of the ship at this moment through a preliminary scan, and then accurately measures the maximum draft value of the ship through a fine scan. The time required for a ship draft measurement is reduced, and at the same time, a large number of ship draft data can be collected in a short time, the measurement accuracy is improved, and the problem of increasing the maximum draft measurement value to more than 4.5m is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship detection, and in particular to a draft detection system for adaptively tracking ships. Background Art

[0002] With the good opportunity of the construction of the Yangtze River Economic Belt, the economy along the river has developed rapidly, and the demand for the Yangtze River waterway, especially the transportation of ships through the locks, is also growing rapidly. Under the current environment, it is necessary to carry out research to further improve the capacity of the ship locks. At present, the average daily operation of the Three Gorges ship locks and the number of ships passing through the locks per lock are difficult to increase. Therefore, scientifically and rationally tapping the potential of ship draft depth and further increasing the cargo throughput per lock has become one of the important ways to improve the capacity of the ship locks.

[0003] Affected by the Yangtze River main line ship type standardization policy and market mechanism, the trend of large-scale ships applying for passing the lock is becoming increasingly obvious, and the ship type depth and full-load draft are also getting larger and larger. According to statistics, among the ships that have applied for passing the lock in recent years, ships with a full-load draft of more than 4.8m account for 18% of the total number of ships, ships with a full-load draft of more than 4.5m account for 32% of the total number of ships, and ships with a full-load draft of more than 4.3m account for 40% of the total number of ships. Ships passing the lock have the need to increase their load to 4.5m. Among the existing draft detection systems, the upward scanning system needs to stop sailing for maintenance, which is difficult to repair; the side scanning system uses a multi-channel sensor from top to bottom in a one-to-one corresponding receiving and sending method in chronological order, which is suitable for ship draft measurement depth of about 1.8m, but for 4.5m draft measurement, there are problems such as long measurement time, small number of acquisition arrays, and insufficient measurement accuracy. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an adaptive tracking ship draft detection system. The adaptive tracking ship draft detection method combining preliminary scanning and fine scanning is adopted. The preliminary scanning is used to detect the approximate range of the bottom of the ship at this moment, and then the fine scanning is used to accurately measure the maximum draft of the ship.

[0005] The technical means adopted by the present invention are as follows:

[0006] A draft detection system for adaptively tracking a ship, comprising a modulation transmitter installed on one side of a channel, a demodulation receiver installed on the other side of the channel and a host computer;

[0007] The modulation transmitting unit includes a feedback signal receiving module, a preliminary scanning / fine scanning driving signal modulation module and a transmitting end ultrasonic transducer module, wherein the transmitting end ultrasonic transducer module includes a plurality of ultrasonic transmitting sensor arrays uniformly arranged longitudinally, and each ultrasonic transmitting sensor array includes a preliminary scanning ultrasonic transmitting sensor and a plurality of fine scanning ultrasonic transmitting sensors;

[0008] The demodulation receiving unit includes a receiving end ultrasonic transducer module, a demodulation amplification module, an analog-to-digital conversion module, an acoustic synchronization detection module, a preliminary scan ship passing judgment module, a fine scan data receiving and processing module, a draft data transmission module, and a feedback signal transmitting module. The receiving end ultrasonic transducer module includes a plurality of ultrasonic receiving sensor arrays uniformly arranged longitudinally, each ultrasonic receiving sensor array includes a preliminary scan ultrasonic receiving sensor and a plurality of fine scan ultrasonic receiving sensors, the preliminary scan ultrasonic transmitting sensor corresponds to the preliminary scan ultrasonic receiving sensor one-to-one, and the fine scan ultrasonic transmitting sensor corresponds to the fine scan ultrasonic receiving sensor one-to-one;

[0009] During operation, the preliminary scan / fine scan driving signal modulation module first controls the preliminary scan ultrasonic transmitting sensor in the ultrasonic transmitting sensor array to send an ultrasonic signal. If the feedback signal receiving module receives the complete preliminary scan signal fed back by the preliminary scan ultrasonic receiving sensor, it is determined that no ship has passed. Otherwise, the range of the ship's draft is determined based on the partial preliminary scan signal received by the feedback signal receiving module, the fine scan ultrasonic transmitting sensor within the range is started to send an ultrasonic signal, and the accurate value of the ship's draft is determined based on the partial preliminary scan signal received by the feedback signal receiving module.

[0010] Furthermore, after receiving the feedback signal sent by the feedback signal receiving module, the preliminary scan / fine scan drive signal modulation module determines whether to perform preliminary scan signal modulation or fine scan signal modulation, and then performs corresponding PWM modulation to generate a voltage signal and send it to the corresponding transmitting end ultrasonic sensor.

[0011] Furthermore, the demodulation and amplification module performs signal amplification, rectification and detection on the electrical signal transmitted from the ultrasonic transducer module at the receiving end.

[0012] Furthermore, the analog-to-digital conversion module performs digital processing after receiving the analog quantity sent by the demodulation and amplification module.

[0013] Furthermore, the acoustic synchronization detection module is used to perform clock synchronization on the modulation transmission part and the demodulation reception part after receiving the data converted by the analog-to-digital conversion module.

[0014] Furthermore, the initial scan whether a ship passes by judgment module is used to judge whether a ship passes by after clock synchronization. When no ship passes by, an initial scan signal is fed back to the feedback signal transmission module and a frame of sensor-free occlusion data is sent to the draft data transmission module. When a ship passes by, a fine scan signal is fed back to the feedback signal transmission module and the fine scan data receiving and processing module is enabled.

[0015] Furthermore, the fine scanning data receiving and processing module is used to enable the receiving end ultrasonic transducer module to receive the corresponding fine scanning data for processing according to the fine scanning signal characteristics when a ship passes by. After the processing is completed, the data is packaged into a frame and sent to the draft data transmission module and an initial scanning signal is given to the feedback signal transmission module.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] The present invention provides a draft detection system for adaptively tracking ships, which adopts a feedback system, a preliminary scanning signal and a fine scanning signal combined working mode, so that the demodulation receiving part sends a feedback signal to control the modulation transmitting part in real time. First, the approximate range of the bottom of the ship at this moment is detected by preliminary scanning, and then the maximum draft of the ship is accurately measured by fine scanning. In a draft measurement process, a larger draft of the ship can be measured with fewer sensors. The time required for a ship draft measurement is reduced, and at the same time, more groups of ship draft data can be collected in a short time, the measurement accuracy is improved, and the problem of increasing the maximum draft measurement value to more than 4.5m is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 The present invention is a schematic structural diagram of a draft detection system for adaptively tracking a ship.

[0020] Figure 2 This is a schematic diagram of the structure of the ultrasonic transducer module at the transmitting end of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the ultrasonic transducer module at the receiving end of the present invention.

[0022] Figure 4 The figure is a schematic diagram of the working process of the draft detection system for adaptively tracking a ship according to the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] like Figure 1-4 As shown, the present invention provides a draft detection system for adaptively tracking ships, which specifically includes: a feedback signal receiving module 1, a preliminary scan / fine scan driving signal modulation module 2, a transmitting end ultrasonic transducer module 3, a receiving end ultrasonic transducer module 4, a demodulation and amplification module 5, an analog-to-digital conversion module 6, an acoustic synchronization detection module 7, a preliminary scan ship passing judgment module 8, a fine scan data receiving and processing module 9, a draft data transmission module 10, and a feedback signal transmitting module 11. Among them, the feedback signal receiving module 1, the preliminary scan / fine scan driving signal modulation module 2, and the transmitting end ultrasonic transducer module 3 are installed on the left side of the channel and controlled by FPFA as a modulation and transmission unit. The receiving end ultrasonic transducer module 4, the demodulation and amplification module 5, the analog-to-digital conversion module 6, the acoustic synchronization detection module 7, the preliminary scan ship passing judgment module 8, the fine scan data receiving and processing module 9, the draft data transmission module 10, and the feedback signal transmitting module 11 are installed on the right side of the channel and controlled by FPGA as a demodulation and receiving unit.

[0025] The modulation and transmission part first detects the feedback signal sent by the demodulation and receiving part: when the feedback signal is a preliminary scan signal, the modulation and transmission part completes a preliminary scan ultrasonic transmission, and the demodulation and receiving part judges whether there is a ship passing. When there is no ship passing, a preliminary scan signal is fed back to the modulation and transmission part and a frame of sensor-free occlusion data is sent to the host computer. When a ship passes, a fine scan signal is fed back to the modulation and transmission part; when the feedback signal is a fine scan signal, according to the size of the fine scan signal, the modulation and transmission part completes a fine scan ultrasonic transmission of the corresponding area, and the demodulation and receiving part receives a frame of fine scan data. After the fine scan data is received, the data is packaged into a frame and sent to the host computer, and an initial scan signal is fed back to the modulation and transmission part. The above steps are repeated in sequence to complete the draft detection of adaptive tracking ships.

[0026] like Figure 2As shown, the installation diagram of the transmitting end ultrasonic transducer module 3 includes: preliminary scanning ultrasonic transmitting sensors 1, 2, 3.....N and the last synchronization signal transmitting sensor. A fine scanning transmitting ultrasonic sensor is installed between the two preliminary scanning transmitting sensors. Both the preliminary scanning transmitting ultrasonic sensor and the fine scanning transmitting ultrasonic sensor adopt a separate transmitting and receiving ultrasonic transducer. The transmitting end ultrasonic sensor module 3 receives the modulation signal from the preliminary scanning / fine scanning driving signal modulation module 2, and realizes the conversion of electrical signal into acoustic signal according to the inverse piezoelectric effect.

[0027] like Figure 3 As shown, the installation diagram of the receiving end ultrasonic transducer module 4 includes: preliminary scanning ultrasonic receiving sensors 1, 2, 3.....N and the last synchronization signal receiving sensor, a fine scanning ultrasonic receiving sensor is installed between the two preliminary scanning sensors, corresponding one to one to the transmitting end ultrasonic transducer 3, the preliminary scanning ultrasonic receiving sensor and the fine scanning ultrasonic receiving sensor both adopt a separate receiving and transmitting ultrasonic transducer, the receiving end ultrasonic sensor 4 receives the ultrasonic signal from the transmitting end ultrasonic transducer 3, and realizes the conversion of acoustic signal into electrical signal according to the positive piezoelectric effect.

[0028] Furthermore, as a preferred embodiment of the present invention, the feedback signal receiving module 1 receives the feedback signal sent from the feedback signal transmitting module 11, and converts the feedback signal into a signal suitable for FPGA processing through the RS485 to serial port conversion.

[0029] Further, as a preferred embodiment of the present invention, after the initial scan / fine scan drive signal modulation module 2 receives the feedback signal sent by the feedback signal receiving module 1, it determines whether it is an initial scan signal or a fine scan signal. If it is determined to be an initial scan signal: modulate the initial scan ultrasonic emission sensors 1, 2, 3.....N and the last synchronization signal emission sensor from top to bottom according to the time division multiplexing method; if it is determined to be a fine scan signal: determine whether the fine scan interval is between the two initial scan ultrasonic emission sensors according to the size of the fine scan signal. For example Figure 1 In the situation shown, when the navigable ship is between the initial scanning ultrasonic sensors 2 and 3, the ultrasonic transmitting sensors in this interval are modulated and enabled from top to bottom according to the time division multiplexing method, and the interval is precisely scanned.

[0030] Specifically, when the same voyage ships are Figure 1 When the position shown is passed, the system first performs a preliminary scan to determine whether there is an obstruction or not. Then, it performs a fine scan to receive accurate draft data:

[0031] If it is determined (by writing the corresponding Verilog code in FPGA) that there is no obstruction, the demodulation receiving part feeds back an S0 signal to the modulation transmitting part, and the initial scan will continue next time.

[0032] If it is determined (by writing the corresponding Verilog code in FPGA) that there is occlusion, the occlusion interval is determined (such as Figure 1 The occlusion interval shown is between the initial scan sensors 2 and 3. The demodulation receiving part feeds back an S2 signal to the modulation transmitting part, and the next time a fine scan is performed between 2 and 3). After a fine scan is completed, an S0 signal is fed back to the modulation transmitting part, and the next time the initial scan is continued to determine the occlusion situation.

[0033] The definition of the feedback signal is as follows:

[0034] S0 means: no obstruction or the next preliminary scan after a fine scan is completed ---> the fine scan cycle starts.

[0035] S1 means: the fine scanning interval is between sensors 1 and 2.

[0036] S2 means: the fine scanning interval is between sensors 2 and 3.

[0037] Sn-1 means: the fine scanning interval is between N-1 and N sensors

[0038] Sn means: the fine scanning interval is between N and the last sensor

[0039] Furthermore, as a preferred embodiment of the present invention, the transmitting end ultrasonic transducer module 3 receives the modulated voltage signal generated by the preliminary scan / fine scan drive signal modulation module 2, and converts the electrical signal into an ultrasonic signal according to the inverse piezoelectric effect.

[0040] Furthermore, as a preferred embodiment of the present invention, the receiving end ultrasonic transducer module 4 receives the ultrasonic signal from the transmitting end ultrasonic transducer module 3 and converts the sound wave signal into an electrical signal through the positive piezoelectric effect.

[0041] Furthermore, as a preferred embodiment of the present invention, the demodulation and amplification module 5 performs small signal amplification, rectification and detection functions on the electrical signal transmitted from the ultrasonic transducer module 4 at the receiving end.

[0042] Furthermore, as a preferred embodiment of the present invention, the analog-to-digital conversion module 6 digitizes the analog quantity sent by the demodulation and amplification module 5, and uses an 8-channel AD7829-1 chip to build an AD conversion circuit to realize parallel processing of multi-channel data. The circuit sampling rate reaches 2MSPS and the accuracy is 8bit, which meets the requirements of the system for high-speed and real-time draft measurement.

[0043] Furthermore, as a preferred embodiment of the present invention, the acoustic synchronization detection module 7, according to the modulation of the last synchronization signal transmitting sensor to generate a special signal, the last synchronization signal receiving sensor demodulates the special signal and after FPGA processing and identification, serves as a module for timing synchronization of the two FPGA boards for transmission and reception on both sides of the waterway.

[0044] Further, as a preferred embodiment of the present invention, the preliminary scan ship passing judgment module 8 is an internal data judgment module of the FPGA, and after detecting the synchronization signal of the sound synchronization detection module 7, it judges whether a ship has passed. When no ship has passed, a preliminary scan signal is fed back to the feedback signal transmission module 11 and a frame of sensor-free occlusion data is sent to the draft data transmission module 10. When a ship has passed, a fine scan signal is fed back to the feedback signal transmission module 11 and the fine scan data receiving and processing module 9 is enabled.

[0045] Furthermore, as a preferred embodiment of the present invention, the fine scanning data receiving and processing module 9 is controlled internally by the FPGA. When the initial scanning whether a ship has passed or not determines that a ship has passed, when a fine scanning signal is received, the ultrasonic transducer module 4 at the receiving end is enabled to receive the corresponding fine scanning data for processing according to the size of the fine scanning signal. After the processing is completed, the data is packaged into a frame and sent to the draft data transmission module 10, and an initial scanning signal is fed back to the feedback signal transmitting module 11.

[0046] Furthermore, as a preferred embodiment of the present invention, the feedback signal transmitting module 11 receives the ship passing judgment signal from the preliminary scanning ship passing judgment module 8 and the preliminary scanning signal 9 sent by the fine scanning data receiving and processing module, and feeds these signals back to the feedback signal receiving module 1.

[0047] Furthermore, as a preferred embodiment of the present invention, the draft data transmission module 10 is used to send the received real-time ship draft data to the host computer through the RS485 to serial port module via optical fiber for data processing, and display the maximum draft value of the ship in real time.

[0048] Specifically, the maximum ship draft value is calculated as follows:

[0049] According to the signal received by the receiving sensor array, the number of blocked sensors can be determined to form a data set D. The distance between the two initial scanning ultrasonic sensors is a fixed value h, and x blocked sensors are measured. The distance between the two fine scanning ultrasonic sensors is a fixed value I, and y blocked sensors are measured. From this, the data set D of the detection system for adaptive tracking of ship draft can be obtained, that is:

[0050] D = h*x + I*y;

[0051] The draft detection system for adaptive tracking of ships disclosed in the present invention is composed of a modulation transmitting part, a demodulation receiving part, a feedback part, and a host computer data processing and display part. An ultrasonic sensor transmitting array and a receiving array combining preliminary scanning and fine scanning are used to detect the shielding effect of ships on the transmitting end signal. First, it is judged whether there is a ship passing by, and then it is determined whether to open the fine scanning part. Finally, the signal is further processed to determine the draft state of the ship. When no ship passes through the measurement area, the preliminary scanning ultrasonic sensor receiving array normally receives the complete ultrasonic signal. When a ship passes by, the ultrasonic signal is blocked by the hull, refraction, reflection, etc., and the preliminary scanning ultrasonic receiving sensor receiving array cannot receive the complete ultrasonic signal. After the demodulation receiving part judges the shielding interval, the feedback signal is fed back to the modulation transmitting part through the demodulation receiving part and the feedback part, so as to accurately measure the draft range of the ship.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A draft detection system for adaptively tracking a ship, characterized in that: It includes a modulation transmitter installed on one side of the channel, a demodulation receiver installed on the other side of the channel, and a host computer; The modulation transmitting unit includes a feedback signal receiving module, a preliminary scanning / fine scanning driving signal modulation module and a transmitting end ultrasonic transducer module, wherein the transmitting end ultrasonic transducer module includes a plurality of ultrasonic transmitting sensor arrays uniformly arranged longitudinally, and each ultrasonic transmitting sensor array includes a preliminary scanning ultrasonic transmitting sensor and a plurality of fine scanning ultrasonic transmitting sensors; The demodulation receiving unit includes a receiving end ultrasonic transducer module, a demodulation amplification module, an analog-to-digital conversion module, an acoustic synchronization detection module, a preliminary scan ship passing judgment module, a fine scan data receiving and processing module, a draft data transmission module, and a feedback signal transmitting module. The receiving end ultrasonic transducer module includes a plurality of ultrasonic receiving sensor arrays uniformly arranged longitudinally, each ultrasonic receiving sensor array includes a preliminary scan ultrasonic receiving sensor and a plurality of fine scan ultrasonic receiving sensors, the preliminary scan ultrasonic transmitting sensor corresponds to the preliminary scan ultrasonic receiving sensor one-to-one, and the fine scan ultrasonic transmitting sensor corresponds to the fine scan ultrasonic receiving sensor one-to-one; During operation, the preliminary scan / fine scan driving signal modulation module first controls the preliminary scan ultrasonic transmitting sensor in the ultrasonic transmitting sensor array to send an ultrasonic signal. If the feedback signal receiving module receives the complete preliminary scan signal fed back by the preliminary scan ultrasonic receiving sensor, it is determined that no ship has passed. Otherwise, the range of the ship's draft is determined based on the partial preliminary scan signal received by the feedback signal receiving module, the fine scan ultrasonic transmitting sensor within the range is started to send an ultrasonic signal, and the accurate value of the ship's draft is determined based on the partial preliminary scan signal received by the feedback signal receiving module.

2. The draft detection system for adaptively tracking a ship according to claim 1, characterized in that: After receiving the feedback signal sent by the feedback signal receiving module, the preliminary scanning / fine scanning driving signal modulation module determines whether to perform preliminary scanning signal modulation or fine scanning signal modulation, and then performs corresponding PWM modulation to generate a voltage signal and send it to the corresponding transmitting end ultrasonic sensor.

3. The draft detection system for adaptively tracking a ship according to claim 1, characterized in that: The demodulation and amplification module performs signal amplification, rectification and detection on the electrical signal transmitted from the ultrasonic transducer module at the receiving end.

4. The draft detection system for adaptively tracking a ship according to claim 1, characterized in that: The analog-to-digital conversion module performs digital processing after receiving the analog quantity sent by the demodulation and amplification module.

5. The draft detection system for adaptively tracking a ship according to claim 1, characterized in that: The sound synchronization detection module is used to perform clock synchronization on the modulation transmission part and the demodulation reception part after receiving the data converted by the analog-to-digital conversion module.

6. The draft detection system for adaptively tracking a ship according to claim 1, characterized in that: The module for judging whether a ship has passed by in the initial scan is used to judge whether a ship has passed by after clock synchronization. When no ship has passed by, an initial scan signal is fed back to the feedback signal transmitting module and a frame of sensor-free occlusion data is sent to the draft data transmission module. When a ship has passed by, a fine scan signal is fed back to the feedback signal transmitting module and the fine scan data receiving and processing module is enabled.

7. The draft detection system for adaptively tracking a ship according to claim 1, characterized in that: The fine scanning data receiving and processing module is used to enable the receiving end ultrasonic transducer module to receive the corresponding fine scanning data for processing according to the fine scanning signal characteristics when a ship passes by. After the processing is completed, the data is packaged into a frame and sent to the draft data transmission module and an initial scanning signal is given to the feedback signal transmission module.

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