A method for measuring the inclination and still water roll of a surface ship

Abstract

The present application relates to the technical field of ship test measurement, in particular to an automatic water surface ship inclination and still water roll test measurement method. The present application obtains the draft of the ship during the inclination test by loading the camera integrated with the image recognition function on the unmanned ship and cooperating with the water level monitor, simultaneously generates a certain roll angle of the ship by moving the weight (inclination test weight) of a known weight on the ship, and automatically obtains the roll angle of the ship body through the ship body posture measurement module; then, through the data processing module, the draft, roll angle and torque of the moving weight measured are used to deduce the center of gravity position and displacement of the ship based on the ship statics principle; compared with the prior art, the present method has high automation degree, more accurate data reading, higher data time consistency, can effectively avoid human error, reduces the test risk, and greatly improves the test efficiency.

Description

Technical Field

[0001] This invention relates to the field of ship testing and measurement technology, specifically to an automated method for measuring the tilt and still water roll of surface ships. Background Technology

[0002] Current ship inclining and still-water rolling tests can be conducted according to existing industry standards. During these tests, when reading the ship's draft, personnel must walk around the vessel under test. Especially when the vessel is in open water, personnel must travel by other boats. If the reading does not meet the test requirements, adjustments must be made, and the personnel must walk around again to take the reading. Furthermore, each reading is done visually, resulting in significant manpower, material resources, and reading errors. There are also certain safety risks associated with personnel changing boats and taking readings. During the test, when the test vessel inclines under specified conditions, data reflecting the degree of inclining is read using a fixed test device (usually a U-tube device or a pendulum device). Inclement weather, such as cold or hot weather, severely affects the recording of data, and the usability of the data and the test results require rigorous and lengthy calculations to determine. Additionally, manual reading places high demands on the personnel, and readings from different personnel can vary significantly. Therefore, traditional inclining test methods are time-consuming, labor-intensive, inefficient, and involve poor working conditions, and also pose certain safety risks. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method for measuring the tilting and still water roll of a ship, which can realize the automated tilting and still water roll test process, greatly reduce the manpower requirements and the ability requirements of the test participants, effectively eliminate human error, reduce the complexity of the ship tilting and still water roll test process, shorten the test time, and improve the test efficiency and the accuracy of the test results.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for measuring the tilting and still water rolling of a surface vessel includes the following steps:

[0006] S1, Draft acquisition: The ship's draft data is acquired in real time during the test by using a camera mounted on an unmanned surface vessel for close-range observation and combining the measurement data from the water level measurement module installed on the edge of the ship's deck.

[0007] S2, Wind speed acquisition: Wind speed data during the test is acquired in real time through a wind speed measurement module installed on the top of the ship;

[0008] S3, Water density acquisition: Water density data of the ship test area is directly acquired using a densitometer;

[0009] S4, Transport of test weights and acquisition of ship attitude: The test weights are transported to the ship deck by a shore crane in the order recorded in the preset test outline, and the ship heel angle data during the test is acquired in real time by the ship attitude measurement module.

[0010] S5, Data Reception and Processing: The ship's draft data, wind speed data, water density data, and heel angle data are all sent to the data receiving module in real time, and then transmitted to the data processing module in real time through the data receiving module; the data processing module processes the data transmitted by the data receiving module in real time to obtain the processed ship's draft measurement value, wind speed measurement value, water density measurement value, and heel angle measurement value respectively.

[0011] S6, Output of test measurement results: The data processing module inputs the processed measurement values ​​into the preset test calculation program, and calculates the displacement and center of gravity of the ship during the test using the basic statics principle.

[0012] Furthermore, the acquisition of ship draft data during the test includes:

[0013] 1) Close-up observation is conducted by using a camera mounted on a remotely controlled unmanned surface vessel (USV). The draft video recorded by the USV is transmitted to the data receiving module via the image transmission module on the USV. The data processing module then uses image recognition technology to obtain the ship's draft data H1.

[0014] 2) The height of the ship at the corresponding draft mark is obtained by the water level measurement module installed at the edge of the deck. The data transmission module of the water level measurement module transmits the height data at different positions to the data receiving module. The data processing module then obtains the ship's draft data H2 through geometric space conversion.

[0015] 3) Determine the final ship draft data H = (H1 + H2) / 2.

[0016] Furthermore, the wind speed data during the test is acquired by a wind speed measurement module installed on the top of the ship, and the wind speed data is transmitted to the data receiving module through the data transmission module of the wind speed measurement module.

[0017] Furthermore, the wind speed data acquired by the wind speed measurement module is marked with the corresponding data acquisition time, and the wind speed measurement value obtained by the data processing module is specifically the average wind speed data within a preset time period.

[0018] Furthermore, the weight of the test weight and its position on the ship's deck are selected according to the relevant standards for ship inclination tests.

[0019] Furthermore, the ship is equipped with a hull attitude measurement module at both the bow and stern. The hull attitude measurement module acquires the ship's roll angle data in real time through an internal high-precision inertial navigation module, and transmits the roll angle data to the data processing module for processing through the data receiving module.

[0020] Furthermore, the roll angle measurement value obtained by the data processing module is specifically the average roll angle data within a preset time period, and the roll angle data selected from the two hull attitude measurement modules are consistent with the wind speed data in terms of time.

[0021] Furthermore, the data processing module outputs the measured heel angle values ​​within a preset time period as a hull roll motion history curve, and performs a Fourier transform on the hull roll motion history curve or selects the peak points on the curve to obtain the roll period of the ship's still water roll test.

[0022] Compared with the prior art, the present invention has the following main advantages:

[0023] This invention utilizes an image recognition camera mounted on an unmanned surface vessel (USV) in conjunction with a water level monitor to obtain the ship's draft during an inclination test. Simultaneously, a known weight (a counterweight for the inclination test) is moved on board to induce a certain heel angle, which is automatically acquired by a hull attitude measurement module. Then, through a data processing module, using the measured draft, heel angle, and the torque of the moving weight, the ship's center of gravity and displacement can be deduced based on ship statics principles. Compared to existing technologies, this method offers a high degree of automation, more accurate data acquisition, and greater data consistency over time. It effectively avoids human error, reduces experimental risks, and significantly improves experimental efficiency. Attached Figure Description

[0024] Figure 1 This is a schematic diagram illustrating the composition and workflow of the experimental measurement system in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the on-site layout of the test measurement system in an embodiment of the present invention.

[0026] In the diagram: 1-Ship attitude measurement module, 2-Unmanned surface vessel, 3-Wind speed measurement module, 4-Data receiving module, 5-Data processing module, 6-Pressure iron for tilt test, 7-Water level measurement module, 8-Cranial, 9-Density meter. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0028] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0029] Example 1: This example provides a method for measuring the tilt and still water roll of a surface vessel, mainly including the following steps:

[0030] S1, Draft acquisition: The ship's draft data is acquired in real time during the test by using a camera mounted on an unmanned surface vessel for close-range observation and combining the measurement data from the water level measurement module installed on the edge of the ship's deck.

[0031] S2, Wind speed acquisition: Wind speed data during the test is acquired in real time through a wind speed measurement module installed on the top of the ship;

[0032] S3, Water density acquisition: Water density data of the ship test area is directly acquired using a densitometer;

[0033] S4, Transport of test weights and acquisition of ship attitude: The test weights are transported to the ship deck by a shore crane in the order recorded in the preset test outline, and the ship heel angle data during the test is acquired in real time by the ship attitude measurement module.

[0034] S5, Data Reception and Processing: The ship's draft data, wind speed data, water density data, and heel angle data are all sent to the data receiving module in real time, and then transmitted to the data processing module in real time through the data receiving module; the data processing module processes the data transmitted by the data receiving module in real time to obtain the processed ship's draft measurement value, wind speed measurement value, water density measurement value, and heel angle measurement value respectively.

[0035] S6, Output of test measurement results: The data processing module inputs the processed measurement values ​​into the preset test calculation program, and calculates the displacement and center of gravity of the ship during the test using the basic statics principle.

[0036] Furthermore, the acquisition of ship draft data during the test includes:

[0037] 1) Close-up observation is conducted by using a camera mounted on a remotely controlled unmanned surface vessel (USV). The draft video recorded by the USV is transmitted to the data receiving module via the image transmission module on the USV. The data processing module then uses image recognition technology to obtain the ship's draft data H1.

[0038] 2) The height of the ship at the corresponding draft mark is obtained by the water level measurement module installed at the edge of the deck. The data transmission module of the water level measurement module transmits the height data at different positions to the data receiving module. The data processing module then obtains the ship's draft data H2 through geometric space conversion.

[0039] 3) Determine the final ship draft data H = (H1 + H2) / 2.

[0040] Furthermore, the wind speed data during the test is acquired by a wind speed measurement module installed on the top of the ship, and the wind speed data is transmitted to the data receiving module through the data transmission module of the wind speed measurement module.

[0041] Furthermore, the wind speed data acquired by the wind speed measurement module is marked with the corresponding data acquisition time, and the wind speed measurement value obtained by the data processing module is specifically the average wind speed data within a preset time period.

[0042] Furthermore, the weight of the test weight and its position on the ship's deck are selected according to the relevant standards for ship inclination tests.

[0043] Furthermore, the ship is equipped with a hull attitude measurement module at both the bow and stern. The hull attitude measurement module acquires the ship's roll angle data in real time through an internal high-precision inertial navigation module, and transmits the roll angle data to the data processing module for processing through the data receiving module.

[0044] Furthermore, the roll angle measurement value obtained by the data processing module is specifically the average roll angle data within a preset time period, and the roll angle data selected from the two hull attitude measurement modules are consistent with the wind speed data in terms of time.

[0045] Furthermore, the data processing module outputs the measured heel angle values ​​within a preset time period as a hull roll motion history curve, and performs a Fourier transform on the hull roll motion history curve or selects the peak points on the curve to obtain the roll period of the ship's still water roll test.

[0046] Example 2: This example provides a method for measuring the tilt and still water roll of a surface vessel. The test weights are lifted by a shore crane in the order recorded in the preset test outline.

[0047] Furthermore, the weight of the test weight was selected according to the relevant standards for ship inclining tests.

[0048] Furthermore, the water density is read by a densitometer, and the water density at the time of the test is input into the tilt test data processing module.

[0049] Furthermore, during the test, the wind speed was measured by the wind speed measurement module, and the wind speed was transmitted in real time to the tilt test data processing module through the data receiving module via the data transmission function of the wind speed measurement module.

[0050] Furthermore, the ship's draft during the test can be obtained in the following way:

[0051] 1) Close-up observation is conducted by using a camera mounted on a remotely controlled unmanned surface vessel (USV). The draft video recorded by the USV is transmitted to the data receiving module via the image transmission module on the USV. The draft measurement value H1 is obtained by using image recognition technology through the tilt test data processing module.

[0052] 2) The height of the corresponding draft mark is obtained by installing a water level monitoring module at the edge of the deck. The data transmission module of the water level monitoring module transmits the height data at different positions to the data receiving module. The draft measurement value H2 is obtained by geometric space conversion using the tilt test data processing module.

[0053] 3) Determine the final draft H = (H1 + H2) / 2.

[0054] Furthermore, the heel angle caused by the ballast used for hoisting during the inclination test is measured by the hull attitude measurement module. This module primarily uses a high-precision inertial navigation module to measure the heel angle in real time and transmits the data to a data receiving module via its built-in data transmission module. The data is then further processed by the inclination test data processing module. Typically, two inclination test hull attitude measurement modules are positioned at the bow and stern.

[0055] Furthermore, the final draft value at each draft marker is the average of the draft data obtained by the sensor over a period of time.

[0056] Furthermore, the measured instantaneous wind speed values ​​were all marked with the corresponding measurement time.

[0057] Furthermore, the hull heel value is the average of the hull heel data over a period of time, and the data selected from the two hull attitude measurement modules should be consistent in time. At the same time, the wind speed range within this period of time should be recorded and entered into the test book.

[0058] Furthermore, the data receiving module can wirelessly receive data from other data transmission modules and image transmission modules in real time, and transmit the data to the tilt test data processing module in real time.

[0059] Furthermore, the data processing module can receive data from the transmission module in real time, process the data in real time, and provide the processing results of draft, wind speed, and heel angle in a timely manner. The processed data is then input into a preset inclination test calculation program to calculate the ship's displacement and center of gravity position during the inclination test using basic static principles. Specifically, the data processing module can be a PC or an industrial control computer.

[0060] Furthermore, during the still water roll test, the roll period can be obtained by Fourier transforming or selecting the peak point of the roll motion curve of the hull over a period of time, which is measured and recorded by the hull attitude measurement module.

[0061] Furthermore, the experimenters did not need to take visual readings by riding in a small boat.

[0062] Furthermore, the experimenters did not need to take heel angle readings on the ship.

[0063] Specifically, such as Figures 1-2 As shown, the test measurement system used in this application includes: a hull attitude measurement module 1, an unmanned surface vessel 2, a wind speed measurement module 3, a data receiving module 4, a data processing module 5, a tilt test weight 6, a water level measurement module 7, a crane 8, and a density meter 9.

[0064] Furthermore, the draft is obtained by the hydrometer 9, and the water density during the test is entered into the tilt test data processing module 5.

[0065] Furthermore, during the test, the wind speed is measured by the wind speed measurement module 3, and the wind speed is transmitted in real time to the tilt test data processing module 5 through the data receiving module 4 via the data transmission function of the wind speed measurement module 3.

[0066] Furthermore, during the experiment, the ship's draft was closely observed using a camera mounted on a remotely controlled unmanned surface vessel (USV) 2. The draft video recorded by USV 2 was transmitted to data receiving module 4 via an image transmission module on USV 2. The accurate draft was then obtained using image recognition technology through the tilt test data processing module 5. The final draft value at each draft marker should be the average of the draft data obtained by USV 2 over a given period.

[0067] Furthermore, the test weight 6 is hoisted by a shore crane 8 according to the sequence specified in the test outline. During the test, the heel angle caused by the hoisting of the heel weight 6 is measured by the hull attitude measurement module 1. The hull attitude measurement module 1 mainly measures the heel angle in real time through a high-precision inertial navigation module and transmits the heel data to the data receiving module 4 in real time via its data transmission module. The data is then further processed by the heel test data processing module 5. Typically, two heel test hull attitude measurement modules 1 are arranged at the bow and stern. The heel angle should be the average of the data over a period of time. The data selected from the two hull attitude measurement modules 1 should be consistent in time. The wind speed range within this time period should be recorded and entered into the test log.

[0068] Furthermore, the data receiving module 4 can wirelessly receive data from other data transmission modules and image transmission modules in real time, and transmit the data to the tilt test data processing module 5 in real time.

[0069] Furthermore, the data processing module 5 can receive data from the transmission module 4 in real time, process the data in real time, and promptly provide the processing results for draft, wind speed, and heel angle. The data is then input into the included inclination test calculation program, which calculates the ship's displacement and center of gravity position during the inclination test using basic static principles. Specifically, the data processing module 5 is a PC or industrial control computer.

[0070] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0071] In summary:

[0072] This invention utilizes an image recognition camera mounted on an unmanned surface vessel (USV) in conjunction with a water level monitor to obtain the ship's draft during an inclination test. Simultaneously, a known weight (a counterweight for the inclination test) is moved on board to induce a certain heel angle, which is automatically acquired by a hull attitude measurement module. Then, through a data processing module, using the measured draft, heel angle, and the torque of the moving weight, the ship's center of gravity and displacement can be deduced based on ship statics principles. Compared to existing technologies, this method offers a high degree of automation, more accurate data acquisition, and greater data consistency over time. It effectively avoids human error, reduces experimental risks, and significantly improves experimental efficiency.

[0073] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for measuring the tilting and still water rolling of a surface vessel, characterized in that, Includes the following steps: S1, Draft acquisition: The ship's draft data is acquired in real time during the test by using a camera mounted on an unmanned surface vessel for close-range observation and combining the measurement data from the water level measurement module installed on the edge of the ship's deck. S2, Wind speed acquisition: Wind speed data during the test is acquired in real time through a wind speed measurement module installed on the top of the ship; S3, Water density acquisition: Water density data of the ship test area is directly acquired using a densitometer; S4, Transport of test weights and acquisition of ship attitude: The test weights are transported to the ship deck by a shore crane in the order recorded in the preset test outline, and the ship heel angle data during the test is acquired in real time by the ship attitude measurement module. S5, Data Reception and Processing: The ship's draft data, wind speed data, water density data, and heel angle data are all sent to the data receiving module in real time, and then transmitted to the data processing module in real time through the data receiving module; the data processing module processes the data transmitted by the data receiving module in real time to obtain the processed ship's draft measurement value, wind speed measurement value, water density measurement value, and heel angle measurement value respectively. S6, Output of test measurement results: The data processing module inputs the processed measurement values ​​into the preset test calculation program, and calculates the displacement and center of gravity of the ship during the test using the basic statics principle.

2. The method for measuring the tilt and still water roll of a surface vessel according to claim 1, characterized in that, The acquisition of ship draft data during the test includes: 1) Close-up observation is conducted by using a camera mounted on a remotely controlled unmanned surface vessel (USV). The draft video recorded by the USV is transmitted to the data receiving module via the image transmission module on the USV. The data processing module then uses image recognition technology to obtain the ship's draft data H1. 2) The height of the ship at the corresponding draft mark is obtained by the water level measurement module installed at the edge of the deck. The data transmission module of the water level measurement module transmits the height data at different positions to the data receiving module. The data processing module then obtains the ship's draft data H2 through geometric space conversion. 3) Determine the final ship draft data H = (H1 + H2) / 2.

3. The method for measuring the tilt and still water roll of a surface vessel according to claim 1, characterized in that, The wind speed data during the test was acquired by a wind speed measurement module installed on the top of the ship, and transmitted to the data receiving module through the data transmission module of the wind speed measurement module.

4. The method for measuring the tilt and still water roll of a surface vessel according to claim 3, characterized in that, The wind speed data acquired by the wind speed measurement module are all marked with the corresponding data acquisition time, and the wind speed measurement value obtained by the data processing module is specifically the average wind speed data within a preset time period.

5. The method for measuring the tilt and still water roll of a surface vessel according to claim 1, characterized in that, The weight of the test weight and its position on the ship's deck were selected in accordance with relevant standards for ship inclination tests.

6. The method for measuring the tilt and still water roll of a surface vessel according to claim 4, characterized in that, The ship is equipped with a hull attitude measurement module at both the bow and stern. The hull attitude measurement module acquires the ship's roll angle data in real time through an internal high-precision inertial navigation module, and transmits the roll angle data to the data processing module for processing through the data receiving module.

7. The method for measuring the tilt and still water roll of a surface vessel according to claim 6, characterized in that the roll angle measurement value obtained by the data processing module is specifically the average roll angle data within a preset time period, and the roll angle data selected from the two hull attitude measurement modules are consistent with the wind speed data in terms of time.

8. The method for measuring the tilt and still water roll of a surface vessel according to claim 1, characterized in that, The data processing module outputs the measured heel angle values ​​within a preset time period as a hull roll motion history curve, and performs a Fourier transform on the hull roll motion history curve or selects the peak points on the curve to obtain the roll period of the ship's still water roll test.

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