Automatically-controlled upward-sweeping draught detection system

Abstract

The invention discloses an automatically-controlled pitching-up scanning type ship draught detection system which comprises a power module, a width sensor, an ultrasonic ranging module, an L-shaped detection door, an FPGA circuit board, a water level gauge module and a computer. The ultrasonic ranging module has very high use efficiency. In the prior art, even if no ship passes by for a long time, the upward sweeping type draught detection system still works all the time, and resource waste is caused, a width sensor is installed on an L-shaped detection door, when the ship passes by, an ultrasonic ranging module starts to work, and the use efficiency is greatly improved. According to the invention, continuous work of a plurality of ultrasonic sensors in the ultrasonic ranging module is changed into continuous work of one ultrasonic sensor in the width sensor, so that the service life of the ultrasonic ranging module is prolonged, higher economic benefits are brought, and the subsequent maintenance cost is lower.

Description

Technical Field

[0001] The invention relates to the technical field of ship draft detection, in particular to an automatically controlled sweeping draft detection system. Background Art

[0002] The existing upward-scanning ship draft detection system adopts an L-shaped steel structure detection gate. The detection gate part without ultrasonic sensors is placed on the side of the river bank, and the detection gate part with ultrasonic sensors and water level gauges is placed underwater in the navigable channel. At this time, the distance H from the detection gate to the water surface can be detected by the water level gauge. When a navigable ship passes above the detection gate, the ultrasonic wave emitted by the ultrasonic sensor is reflected when it encounters the bottom of the ship. After receiving the reflected signal, the ultrasonic sensor calculates the distance from the detection gate to the bottom of the navigable ship. After multiple continuous measurements, the distance D from the bottom of the ship to the detection gate can be obtained. Combined with the distance H from the detection gate to the water surface, the difference between the two, that is, C=HD, can be used to obtain the ship's draft data set C. The true draft value of the ship can be obtained by processing the draft data set C.

[0003] The disadvantages of the above method are:

[0004] Since the time for ships to pass through the locks is not fixed, there will always be a long period of time when no ships pass through the locks. At this time, the draft detection system is still working, which will cause system loss and waste of electricity, shorten the effective working time of the detection system, and increase maintenance costs. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, the present invention aims to design an automatic control up-sweeping ship draft detection system which is highly efficient and energy-saving.

[0006] In order to achieve the above-mentioned object, the technical scheme of the present invention is as follows: an automatically controlled upward-sweeping ship draft detection system, comprising a power module, a width sensor, an ultrasonic ranging module, an L-shaped detection door, an FPGA circuit board, a water level meter module and a computer; the FPGA circuit board is used for synchronous control and data processing;

[0007] The L-shaped detection door is installed on the pontoon;

[0008] The ultrasonic ranging module is installed on the horizontal section of the L-shaped detection door, and the ultrasonic ranging module measures the distance from the horizontal section of the L-shaped detection door to the bottom of the ship by emitting and receiving reflected ultrasonic waves;

[0009] The width sensor is installed on the upper part of the vertical section of the L-shaped detection door to detect whether there is a ship passing through the channel. When a ship passes, the width detected by it becomes narrower, and at this time it sends a signal to the FPGA circuit board to start the ultrasonic ranging module;

[0010] The water level meter module includes two water level meters, which are respectively installed at the head and tail of the ultrasonic ranging array to measure the distance from the horizontal section of the L-shaped detection door to the water surface;

[0011] The FPGA circuit board is fixedly installed on the pontoon and is used to control and receive information sent by the ultrasonic ranging module. The data collected by the ultrasonic ranging module is transmitted to the FPGA circuit board through the 485 communication line. The FPGA circuit board collects the data and sends it to the computer through the optical fiber for display.

[0012] The computer is connected to the FPGA circuit board and the general aviation data center respectively through optical fibers.

[0013] Furthermore, the vertical section of the L-shaped detection door is fixedly installed on the side of the pontoon facing the waterway; the horizontal section of the L-shaped detection door extends to the waterway and is located underwater in the waterway.

[0014] Furthermore, the ultrasonic ranging module is an ultrasonic sensor array.

[0015] Furthermore, the width sensor includes an ultrasonic sensor.

[0016] Furthermore, the FPGA circuit board is installed in an electrical cabinet, and the electrical cabinet is installed on the barge.

[0017] Furthermore, the ultrasonic sensor is an integrated transceiver ultrasonic sensor.

[0018] Furthermore, the working method of the automatic controlled up-sweeping ship draft detection system comprises the following steps:

[0019] A. After the system is powered on, the FPGA board first performs clock synchronization, generates control timing, and uses digital signals to communicate with the width sensor according to the timing;

[0020] B. The width sensor continuously transmits the detected width to the FPGA circuit board, which transmits it to the computer through optical fiber. When the computer detects that the detected width becomes narrower for 5 seconds, it means that a ship has passed by, and then sends information to the FPGA circuit board to control the ultrasonic ranging module and the water level meter to start working;

[0021] C. The distance H from the horizontal section of the L-shaped detection door to the water surface detected by the water level meter;

[0022] D. When a navigable ship passes through the detection gate, the ultrasonic wave emitted by the ultrasonic ranging module is reflected when it encounters the bottom of the ship. After receiving the reflected signal, the ultrasonic sensor calculates the distance from the horizontal section of the L-shaped detection gate to the bottom of the navigable ship. After multiple continuous measurements, the distance D from the bottom of the ship to the horizontal section of the L-shaped detection gate is obtained. Combined with the distance H measured by the water level meter, the difference between the two, that is, C = HD, is used to obtain the ship's draft data set C. By processing the draft data set C, the ship's true draft value is obtained.

[0023] E. When the computer detects that the detection width has widened for 5 seconds, it means that the ship has left, and then sends information to the FPGA circuit board to control the ultrasonic ranging module and the water level meter to stop working.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The ultrasonic ranging module in the present invention has a very high utilization efficiency. In the past, even if there was no ship passing for a long time, the upward scanning draft detection system still had to work all the time, resulting in a waste of resources. The present invention installs a width sensor on the L-shaped detection door, and the ultrasonic ranging module starts working only when a ship passes, which greatly improves the utilization efficiency.

[0026] 2. In the present invention, the continuous operation of multiple ultrasonic sensors in the ultrasonic ranging module is changed into the continuous operation of one ultrasonic sensor in the width sensor, which increases the service life of the ultrasonic ranging module, brings higher economic benefits, and reduces subsequent maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention.

[0028] Figure 2 This is a schematic diagram of measuring the draft value of a ship according to the present invention.

[0029] Figure 3 This is a schematic diagram of the ultrasonic ranging module structure.

[0030] Figure 4 Schematic diagram of the width sensor structure.

[0031] In the figure: 1. Ultrasonic ranging module, 2. Water level meter, 3. Width sensor, 4. L-shaped detection door, 5. FPGA circuit board, 6. Electrical cabinet, 7. pontoon, 8. Computer, 9. Navigation data center, 10. Optical fiber, 11. Ship. DETAILED DESCRIPTION

[0032] In order to make the technical solution and advantages of the present invention more clear, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings.

[0033] like Figure 1-4 As shown, an automatically controlled upward-sweeping ship draft detection system includes a power module, a width sensor 3, an ultrasonic ranging module 1, an L-shaped detection door 4, an FPGA circuit board 5, a water level meter 2 module and a computer 8; the FPGA circuit board 5 is used for synchronous control and data processing;

[0034] The L-shaped detection door 4 is installed on the pontoon 7;

[0035] The ultrasonic ranging module 1 is installed on the horizontal section of the L-shaped detection door 4, and the ultrasonic ranging module 1 measures the distance from the horizontal section of the L-shaped detection door 4 to the bottom of the ship 11 by emitting and receiving reflected ultrasonic waves;

[0036] The width sensor 3 is installed on the upper part of the vertical section of the L-shaped detection door 4 to detect whether a ship 11 passes through the channel. When a ship 11 passes, the width detected by it becomes narrower, and at this time it sends a signal to the FPGA circuit board 5 to start the ultrasonic ranging module 1 to work;

[0037] The water level meter module includes two water level meters 2, which are respectively installed at the head and tail of the ultrasonic ranging array to measure the distance from the horizontal section of the L-shaped detection door 4 to the water surface;

[0038] The FPGA circuit board 5 is fixedly mounted on the pontoon 7 and is used to control and receive information sent by the ultrasonic ranging module 1. The data collected by the ultrasonic ranging module 1 is transmitted to the FPGA circuit board 5 via the 485 communication line. The FPGA circuit board 5 collects the data and sends it to the computer 8 via the optical fiber 10 for display.

[0039] The computer 8 is connected to the FPGA circuit board 5 and the general aviation data center 9 respectively through optical fibers 10 .

[0040] Furthermore, the vertical section of the L-shaped detection door 4 is fixedly mounted on the side of the pontoon 7 facing the waterway; the horizontal section of the L-shaped detection door 4 extends toward the waterway and is located underwater in the waterway.

[0041] Furthermore, the ultrasonic ranging module 1 is an ultrasonic sensor array.

[0042] Furthermore, the width sensor 3 includes an ultrasonic sensor.

[0043] Furthermore, the FPGA circuit board 5 is installed in an electrical cabinet 6 , and the electrical cabinet 6 is installed on a pontoon 7 .

[0044] Furthermore, the ultrasonic sensor is an integrated transceiver ultrasonic sensor.

[0045] Furthermore, the working method of the automatic controlled up-sweeping ship draft detection system comprises the following steps:

[0046] F. After the system is powered on, the FPGA circuit board 5 first performs clock synchronization, generates a control timing, and uses a digital signal to communicate with the width sensor 3 according to the timing;

[0047] G. The width sensor 3 continuously transmits the detected width to the FPGA circuit board 5, and the FPGA circuit board 5 transmits it to the computer 8 through the optical fiber 10. When the computer 8 detects that the detected width becomes narrower for 5 seconds, it means that a ship 11 passes by, and then sends information to the FPGA circuit board 5 to control the ultrasonic ranging module 1 and the water level meter 2 to start working;

[0048] H, the distance H from the horizontal section of the L-shaped detection door 5 to the water surface detected by the water level meter 2;

[0049] I. When the navigable ship 11 passes through the L-shaped detection gate 5, the ultrasonic wave emitted by the ultrasonic ranging module 1 is reflected when it encounters the bottom of the ship 11. After receiving the reflected signal, the ultrasonic sensor calculates the distance from the horizontal section of the L-shaped detection gate 5 to the bottom of the navigable ship 11. After multiple continuous measurements, the distance D from the bottom of the ship to the horizontal section of the L-shaped detection gate 5 is obtained. Combined with the distance H measured by the water level meter 2, the difference between the two, that is, C=HD, is obtained, that is, the draft data set C of the ship 11 is obtained. By processing the draft data set C, the real draft value of the ship 11 is obtained.

[0050] J. When the computer 8 detects that the detection width widens for 5 seconds, it means that the ship 11 has left, and then sends information to the FPGA circuit board 5 to control the ultrasonic ranging module 1 and the water level meter 2 to stop working.

[0051] The present invention is suitable for installation near engineering sites such as dams, and automatically performs draft detection on the ship 11 before the ship 11 enters the dam, so as to facilitate timely interception of ships 11 with unqualified draft, and effectively prevent the risk of accidents caused by excessive draft of the ship 11.

[0052] Because the installation site environment may be very complex, in order to ensure the reliability of data during transmission, the present invention uses optical fiber 10 as the medium for transmitting signals. Optical fiber 10 has the characteristics of strong anti-interference ability, fast transmission speed, and long transmission distance, and can ensure the timeliness and accuracy of data transmission.

[0053] After the system is powered on, the FPGA circuit board 5 first performs clock synchronization, generates a control timing, and uses digital signals to communicate with the width sensor 3 and the ultrasonic ranging module 1 according to the timing. At the same time, the FPGA circuit board 5 is also responsible for receiving data from the water level meter, and after simple noise removal and data extraction, the distance information and water level information are merged into a frame of data, and sent to the computer 8 through the optical fiber 10. After receiving the signal from the width sensor 3 that the distance is shortened, the FPGA circuit board 5 sends a signal to the ultrasonic ranging module 1. The ultrasonic ranging module 1 starts working after receiving the control command of the FPGA circuit board 5. While the ranging circuit controls the switch of the ultrasonic sensor according to the working timing, it also receives the analog signal from the ultrasonic sensor, calculates the distance from the obstacle to the ultrasonic sensor by the analog signal, and sends the measurement result to the FPGA circuit board 5 at the specified time. Through synchronous control and data processing, the FPGA circuit board 5 realizes efficient real-time draft data collection of navigable ships, and transmits the data to the computer 8 through the optical fiber 10.

[0054] The ultrasonic sensor of the present invention is an integrated transceiver ultrasonic sensor, and the same signal line is used for sending and receiving ultrasonic signals. The main working process of the ultrasonic sensor is as follows: the FPGA circuit board 5 sends a group of 500kHz square wave pulses each time, drives the ultrasonic sensor to work through the transmitting circuit, and turns on the timer at the same time, and starts echo detection after a delay t. The delay is mainly to avoid the aftershock of the ultrasonic sensor. When the echo is detected, the peak value detection is started, and the echo arrival time is read, and finally the distance is calculated.

[0055] In the river channels of some dams, the water level difference between the dry season and the flood season is relatively large. Therefore, in order to adapt to the change in water level, the present invention installs the draft detection system on the navigation auxiliary facility pontoon, and adopts an L-shaped detection gate 4, which can detect the draft of navigable ships within the required range under any water level conditions. However, due to the uncontrollability of the horizontal section of the L-shaped detection gate 4 far away from the pontoon end float, the change in water level will cause the posture of the L-shaped detection gate 4 in the water to change, and it cannot remain parallel to the water surface. Therefore, a water level meter module is needed to detect the posture of the detection structure frame in the water, and the detection results are combined with the measurement results of the single-beam ultrasonic sensor to calculate the ship's draft value.

[0056] In order to obtain the draft information of the inspected ship, the computer software first needs to parse the data transmitted by the FPGA circuit board 5 and extract the ultrasonic ranging data and water level data. Then, the measurement error of the ultrasonic ranging sensor caused by the change of the sound speed is compensated in combination with the water level data. For the random noise appearing in the detection process, the median filtering algorithm is used for processing, which improves the measurement accuracy of the draft detection system. After compensating for the draft calculation error caused by the change of the detection door posture, accurate ship draft information is obtained. The bottom fitting algorithm based on the least squares method is used to solve the detection accuracy problem of special ship types in the blind area of ​​the system. The host computer first needs to receive the measurement data from the lower computer, and then parse the received data to extract the ultrasonic ranging data and water level data respectively, and then it can perform data processing and draft value calculation. At the same time, the host computer software will store the parsed data for the convenience of subsequent call-out and viewing by management personnel.

[0057] Embodiments of the present invention are as follows:

[0058] The invention is installed on a navigable dam auxiliary facility pontoon to find a suitable geographical location for installation, and is used to accurately detect the draft depth of passing ships to ensure waterway safety and normal navigation of ships.

[0059] Nowadays, in order to avoid accidents, navigable ships 11 are usually equipped with AIS (Automatic Identification System). AIS will regularly send the hull information and the real-time draft value of the ship 11 to the navigation data center 9. However, the way AIS detects the draft of the ship 11 has high requirements on the surrounding environment, low reliability, and low detection accuracy for low-speed ships 11. In addition, because AIS does not send the draft value of the ship 11 in real time, the real-time performance is poor. Therefore, the draft value of the ship sent by AIS cannot be used as the only standard for judging whether the ship can pass. The draft detection system is also required to measure. There is also a deviation between the draft value of the ship 11 measured by the draft detection system and the actual draft value of the ship 11 at this time, but the error between the draft value received and the actual draft value of the ship 11 is not large. The navigation data center 9 temporarily stores the draft data received from AIS and determines whether it can pass. If it can pass, it sends a passable signal to the ship and transmits the draft data to the computer 8 through the optical fiber 10.

[0060] When the ship 11 passes through the draft detection system, the width of the river detected by the width sensor 3 installed on the upper part of the vertical section of the L-shaped detection gate 4 becomes shorter. When the detected width becomes shorter for 5 seconds, the FPGA circuit board 5 receives the data transmitted by the width sensor 3. This data represents that the ship 11 has passed. At this time, the FPGA circuit board 5 drives the ultrasonic ranging module 1 and the water level meter 2 to start working. The ultrasonic wave emitted by the ultrasonic ranging module 1 is reflected when it encounters the bottom of the ship. After receiving the reflected signal, the ultrasonic sensor calculates the distance from the horizontal section of the L-shaped detection gate 4 to the bottom of the navigable ship. After multiple continuous measurements, the distance D from the bottom of the ship to the horizontal section of the L-shaped detection door 4 is obtained and transmitted to the computer 8. The computer 8 combines the distance H measured by the water level meter 2 and obtains the draft data set C of the ship 11 from the difference between the two, that is, C=HD. The real draft value of the ship 11 is obtained by processing the draft data set C. The computer 8 sends this draft value to the navigation data center 9 through the optical fiber 10. When the draft value of the ship 11 approaches or exceeds the safe draft limit specified in the waterway, the navigation data center 9 sends a stop signal to the ship 11 or immediately stops it by other means.

[0061] The present invention is stable and reliable, effectively improves the accuracy and efficiency of ship draft detection, and provides powerful technical support for ship management and waterway safety in ports.

[0062] The present invention is not limited to this embodiment, and any equivalent concepts or changes within the technical scope disclosed by the present invention are included in the protection scope of the present invention.

Claims

1. An automatically controlled up-sweeping ship draft detection system, characterized in that: It comprises a power module, a width sensor (3), an ultrasonic distance measurement module (1), an L-shaped detection door (4), an FPGA circuit board (5), a water level meter (2) module and a computer (8); the FPGA circuit board (5) is used for synchronous control and data processing; The L-shaped detection door (4) is installed on the pontoon (7); The ultrasonic distance measuring module (1) is installed on the horizontal section of the L-shaped detection door (4), and the ultrasonic distance measuring module (1) measures the distance from the horizontal section of the L-shaped detection door (4) to the bottom of the ship (11) by emitting and receiving reflected ultrasonic waves; The width sensor (3) is installed on the upper part of the vertical section of the L-shaped detection door (4) and is used to detect whether a ship (11) passes through the waterway. When a ship (11) passes through, the width detected by the sensor becomes narrower, and at this time, the sensor sends a signal to the FPGA circuit board (5) to start the ultrasonic distance measurement module (1) to work; The water level meter module comprises two water level meters (2), which are respectively installed at the head and tail of the ultrasonic ranging array and are used to measure the distance from the horizontal section of the L-shaped detection door (4) to the water surface; The FPGA circuit board (5) is fixedly mounted on the pontoon (7) and is used to control and receive information sent by the ultrasonic ranging module (1). The data collected by the ultrasonic ranging module (1) is transmitted to the FPGA circuit board (5) via a 485 communication line. The FPGA circuit board (5) collects the data and transmits the data to the computer (8) via an optical fiber (10) for display. The computer (8) is connected to the FPGA circuit board (5) and the navigation data center (9) respectively via optical fibers (10).

2. According to claim 1, an automatically controlled up-sweeping ship draft detection system is characterized by: The vertical section of the L-shaped detection door (4) is fixedly mounted on the side of the pontoon (7) facing the waterway; the horizontal section of the L-shaped detection door (4) extends toward the waterway and is located underwater in the waterway.

3. The automatic controlled up-sweeping ship draft detection system according to claim 1, characterized in that: The ultrasonic distance measurement module (1) is an ultrasonic sensor array.

4. The automatic controlled up-sweeping ship draft detection system according to claim 1, characterized in that: The width sensor (3) comprises an ultrasonic sensor.

5. The automatic controlled up-sweeping ship draft detection system according to claim 1, characterized in that: The FPGA circuit board (5) is installed in an electrical cabinet (6), and the electrical cabinet (6) is installed on a pontoon (7).

6. The automatic controlled up-sweeping ship draft detection system according to claim 1, characterized in that: The ultrasonic sensor is a transceiver-integrated ultrasonic sensor.

7. The automatic controlled up-sweeping ship draft detection system according to claim 1, characterized in that: The working method of the automatic controlled up-sweeping ship draft detection system comprises the following steps: A. After the system is powered on, the FPGA circuit board (5) first performs clock synchronization, generates a control timing, and uses a digital signal to communicate with the width sensor (3) according to the timing; B. The width sensor (3) continuously transmits the detected width to the FPGA circuit board (5), and the FPGA circuit board (5) transmits the detected width to the computer (8) through the optical fiber (10). When the computer (8) detects that the detected width becomes narrower for 5 seconds, it indicates that a ship (11) has passed by, and then sends information to the FPGA circuit board (5) to control the ultrasonic distance measurement module (1) and the water level meter (2) to start working; C. The water level meter (2) detects the distance H between the horizontal section of the L-shaped detection door (5) and the water surface; D. When the navigable ship (11) passes through the L-shaped detection gate (5), the ultrasonic wave emitted by the ultrasonic ranging module (1) is reflected when it encounters the bottom of the ship (11). After receiving the reflected signal, the ultrasonic sensor calculates the distance from the horizontal section of the L-shaped detection gate (5) to the bottom of the navigable ship (11). After multiple continuous measurements, the distance D from the bottom of the ship to the horizontal section of the L-shaped detection gate (5) is obtained. Combined with the distance H measured by the water level meter (2), the difference between the two, i.e., C=HD, is used to obtain the draft data set C of the ship (11); by processing the draft data set C, the real draft value of the ship (11) is obtained; E. When the computer (8) detects that the detection width widens for 5 seconds, it means that the ship (11) has left, and then sends information to the FPGA circuit board (5) to control the ultrasonic ranging module (1) and the water level meter (2) to stop working.

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