Ramp flatness measuring device and measuring method

Abstract

The invention discloses a ramp flatness measuring device, and the device comprises a reference positioning assembly which comprises two groups of magnetic reference seats which are detachably adsorbed and fixed on a to-be-measured ramp, and a measuring reference line of which the two ends are connected with the two groups of magnetic reference seats; the walking test trolley comprises a frame, the bottom of the frame is provided with a walking mechanism, and the frame is provided with a tracking sensing unit, a walking control unit and a floating test module; the walking control unit is electrically connected with the walking mechanism and used for controlling the walking mechanism to drive the frame to walk along the measuring datum line according to the relative position; the floating test module comprises a linear telescopic supporting column, a measuring roller and a distance detection unit, the linear telescopic supporting column is telescopically installed on the frame in the vertical direction, the measuring roller is rotatably installed at the bottom end of the linear telescopic supporting column, and the distance detection unit is fixed to the top end of the linear telescopic supporting column; the distance detection unit is used for detecting the vertical distance between the measurement datum line and the distance detection unit in real time.

Description

Technical Field

[0001] This application relates to the technical field of shipbuilding, and in particular to a ramp flatness measuring device and method. Background Technology

[0002] Ro-Ro ramps are the core functional structures of ro-ro ships. Their flatness directly affects vehicle traffic safety and structural stress performance, and the industry has strict control requirements for their flatness accuracy.

[0003] Currently, the industry commonly uses the welded benchmark and string method for slope flatness testing: metal benchmarks are welded and fixed at both ends of the slope to be tested, and the flexible string stretched between the benchmarks is used as the measurement benchmark. The flatness is determined by manually measuring the distance from the sampling point on the slope to the benchmark. After the measurement is completed, the benchmarks need to be removed by hot cutting, and the welded points need to be repaired with the base material.

[0004] The proposed solution has three major flaws: First, it requires hot work throughout the process, which is not only subject to on-site hot work permits on ships and poses fire safety hazards, but also causes irreversible damage to the ramp material, increasing construction costs and time for subsequent repairs; second, it can only be measured manually, resulting in a large number of blind spots, and errors can be introduced by manual readings and contact with or shaking of the baseline, leading to poor measurement accuracy and reliability; third, the process is cumbersome, with time-consuming tooling installation, calibration, and dismantling, extremely low efficiency in multi-area measurements, and poor adaptability to working conditions.

[0005] In summary, existing ramp flatness measurement technologies cannot simultaneously meet the core requirements of no damage to the parent material, no hot work operations, and high-precision continuous measurement, and corresponding solutions are urgently needed. Summary of the Invention

[0006] The purpose of this invention is to provide a ramp flatness measuring device and method that can solve the above-mentioned problems existing in related technologies.

[0007] To achieve the above objectives, this application adopts the following technical solution:

[0008] On the one hand, a ramp flatness measuring device is provided, comprising: The reference positioning assembly includes two sets of magnetic reference seats for detachable adsorption and fixation on the ramp to be measured, and a measurement reference line connecting the two sets of magnetic reference seats at both ends. The measurement reference line is straightened to form a flatness measurement reference. A walking test vehicle includes a frame with a walking mechanism at its bottom. The frame is equipped with a tracking sensing unit, a walking control unit, and a floating test module. The tracking sensing unit is electrically connected to the walking control unit and is used for non-contact detection of the relative position between the measurement baseline and the frame. The walking control unit is electrically connected to the walking mechanism and is used to control the walking mechanism to drive the frame along the measurement baseline based on the relative position. The floating test module includes a linear telescopic support column, a measuring roller, and a distance detection unit. The linear telescopic support column is vertically telescopically mounted on the frame. The measuring roller is rotatably mounted on the bottom end of the linear telescopic support column. The distance detection unit is fixed to the top end of the linear telescopic support column, with its detection end perpendicular to the measurement baseline, for real-time detection of the vertical distance between the measurement baseline and the distance detection unit.

[0009] Optionally, the floating test module further includes a preload element, which provides a downward preload force to the linear telescopic support column, ensuring that the measuring roller remains in contact with the surface of the ramp to be tested.

[0010] Optionally, each set of magnetic reference bases includes a strong magnetic base, a vertical fine-tuning column, and a constant tension locking mechanism; the strong magnetic base is equipped with a locking switch for adsorbing and fixing to the surface of the ramp to be measured; the vertical fine-tuning column is vertically fixed to the top surface of the strong magnetic base, and the vertical fine-tuning column is equipped with a digital display height fine-tuning mechanism; the constant tension locking mechanism is installed at the top of the vertical fine-tuning column for fixing the end of the measuring reference line and adjusting the tension of the measuring reference line.

[0011] Optionally, the tracking sensing unit includes a left tracking laser displacement sensor and a right tracking laser displacement sensor. The left tracking laser displacement sensor and the right tracking laser displacement sensor are arranged horizontally and symmetrically on the vehicle frame. The detection ends of both sensors are directly facing the layout path of the measurement baseline, and are used to detect the horizontal distance from the measurement baseline to the two tracking laser displacement sensors in real time.

[0012] Optionally, the walking mechanism includes four anti-slip drive wheels symmetrically arranged at the bottom of the frame. The four anti-slip drive wheels are respectively located on the left and right sides of the measurement baseline layout path. Each anti-slip drive wheel is equipped with an independent drive motor. The drive motors are electrically connected to the walking control unit. The walking control unit realizes the steering correction of the frame by independently adjusting the speed of each drive motor.

[0013] Optionally, the vehicle frame is provided with a baseline clearance groove for the measurement baseline to pass through without contact. During the process of the walking control unit controlling the walking mechanism to drive the vehicle frame, the vehicle frame and the measurement baseline do not contact each other at all.

[0014] Optionally, the vehicle frame is also equipped with a power module, a data storage module, and a wireless data transmission module; the power module is used to power the entire device; the data storage module is electrically connected to the distance detection unit and is used to store measurement data; the wireless data transmission module is electrically connected to the distance detection unit and the walking control unit respectively, and is used to interact with the terminal device.

[0015] Optionally, the wireless data transmission module is connected to a terminal device, which has a built-in sag compensation algorithm module, flatness calculation module, and out-of-tolerance warning module for automatically processing the measurement data collected by the distance detection unit, determining flatness compliance, and providing visual output.

[0016] Optionally, the measurement baseline is a low elongation plastic-coated Kevlar wire, and each set of magnetic reference bases is equipped with a limit and anti-collision module. The limit and anti-collision module is signal-connected to the walking control unit and is used to limit the walking distance of the walking test vehicle.

[0017] On the other hand, a method for measuring the flatness of a ramp is provided, implemented based on the aforementioned ramp flatness measuring device, comprising the following steps: S1 Preparation before measurement: Complete the zero-point calibration of the ramp flatness measuring device and clean any foreign objects from the surface of the ramp to be measured; S2 Measurement Baseline Setup: The two sets of magnetic reference bases are respectively attached and fixed on the ramp to be measured. The measurement reference line is straightened and calibrated to be at the same height at both ends to form a flatness measurement reference. S3 Measurement Positioning: Place the walking test trolley at the starting end of the ramp to be tested, and complete the initial alignment of the frame with the measurement baseline through the tracking sensing unit, so that the measuring roller of the floating test module is in contact with the surface of the ramp to be tested; S4 Continuous Automatic Measurement: The measurement program is started. The walking control unit controls the walking mechanism to drive the frame to walk at a constant speed along the measurement baseline according to the detection signal of the tracking sensing unit. At the same time, the distance detection unit continuously detects the vertical distance between the measurement baseline and the distance detection unit in real time, and synchronously binds the walking position data to complete the full-line continuous measurement of a single measurement line. S5 Data Processing and Result Determination: The collected measurement data is processed to calculate the flatness deviation of the slope to be measured, and compared with the preset qualified threshold to complete the flatness qualified determination.

[0018] The beneficial effects of this application are as follows: The ramp flatness measuring device provided by this application enables the rapid establishment of a measuring benchmark without hot work or damage to the base material through a magnetic benchmark positioning assembly, completely avoiding the safety hazards and base material damage caused by welding and cutting operations in traditional solutions; the non-contact tracking trolley design avoids disturbance to the flexible benchmark line during the measurement process, ensuring the stability of the measuring benchmark throughout the entire process; the retractable floating test module enables continuous automatic measurement along the entire benchmark line, replacing traditional manual sampling inspection, eliminating human measurement errors, and significantly improving inspection accuracy and efficiency. At the same time, it can adapt to the measurement needs of ramps with different slopes and sizes, and has extremely strong adaptability to on-site working conditions. Attached Figure Description

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the ramp flatness measuring device described in the embodiments of this application; Figure 2 This is one of the structural schematic diagrams of the walking test vehicle described in the embodiments of this application; Figure 3 This is a second structural schematic diagram of the walking test vehicle described in the embodiments of this application.

[0021] In the picture: 1. Baseline positioning assembly; 11. Magnetic base; 12. Measurement baseline; 2. Walking test trolley; 21. Frame; 22. Walking mechanism; 23. Tracking sensing unit; 231. Mounting bracket; 232. Left tracking laser displacement sensor; 233. Right tracking laser displacement sensor; 24. Floating test module; 241. Linear telescopic support column; 242. Measuring roller; 243. Distance detection unit. Detailed Implementation

[0022] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] Ro-Ro ramps are the core functional structures of ro-ro ships. Their flatness directly affects vehicle traffic safety and structural stress performance, and the industry has strict control requirements for their flatness accuracy.

[0026] Currently, the industry commonly uses the welded benchmark and string method for slope flatness testing: metal benchmarks are welded and fixed at both ends of the slope to be tested, and the flexible string stretched between the benchmarks is used as the measurement benchmark. The flatness is determined by manually measuring the distance from the sampling point on the slope to the benchmark. After the measurement is completed, the benchmarks need to be removed by hot cutting, and the welded points need to be repaired with the base material.

[0027] The proposed solution has three major flaws: First, it requires hot work throughout the process, which is not only subject to on-site hot work permits on ships and poses fire safety hazards, but also causes irreversible damage to the ramp material, increasing construction costs and time for subsequent repairs; second, it can only be measured manually, resulting in a large number of blind spots, and errors can be introduced by manual readings and contact with or shaking of the baseline, leading to poor measurement accuracy and reliability; third, the process is cumbersome, with time-consuming tooling installation, calibration, and dismantling, extremely low efficiency in multi-area measurements, and poor adaptability to working conditions.

[0028] In summary, existing ramp flatness measurement technologies cannot simultaneously meet the core requirements of no damage to the parent material, no hot work operations, and high-precision continuous measurement, and corresponding solutions are urgently needed.

[0029] To overcome the above technical problems, this application provides a ramp flatness measuring device, comprising: The reference positioning assembly 1 includes two sets of magnetic reference seats 11 for detachable adsorption and fixation on the ramp to be measured, and a measurement reference line 12 connected at both ends to the two sets of magnetic reference seats 11. The measurement reference line 12 is straightened to form a flatness measurement reference. The walking test vehicle 2 includes a frame 21, with a walking mechanism 22 at the bottom of the frame 21. The frame 21 is equipped with a tracking sensing unit 23, a walking control unit, and a floating test module 24. The tracking sensing unit 23 is electrically connected to the walking control unit and is used for non-contact detection of the relative position between the measurement baseline 12 and the frame 21. The walking control unit is electrically connected to the walking mechanism 22 and is used to control the walking mechanism 22 to drive the frame 21 along the measurement baseline 12 based on the relative position. The floating test module 24 includes a linear telescopic support column 241, a measuring roller 242, and a distance detection unit 243. The linear telescopic support column 241 is vertically telescopically mounted on the frame 21. The measuring roller 242 is rotatably mounted on the bottom end of the linear telescopic support column 241. The distance detection unit 243 is fixed to the top end of the linear telescopic support column 241, with its detection end perpendicular to the measurement baseline 12, for real-time detection of the vertical distance between the measurement baseline 12 and the distance detection unit 243.

[0030] The reference positioning assembly 1 is used to quickly establish a non-destructive and stable flatness measurement reference on the slope to be measured. It includes two sets of magnetic reference seats 11 and a measurement reference line 12. The two sets of magnetic reference seats 11 are detachably and magnetically fixed at both ends of the area to be measured on the slope, and the two sets of magnetic reference seats 11 are arranged coaxially along the same straight line. The two ends of the measurement reference line 12 are fixedly connected to the two sets of magnetic reference seats 11, and the measurement reference line 12 is straightened and tightened by the two sets of magnetic reference seats 11 to form a flatness measurement reference parallel to the slope surface of the slope to be measured. In specific implementation, the magnetic reference seats 11 adopt rare earth strong magnetic bases with locking switches, which can be quickly and magnetically fixed to the surface of the steel structure slope without welding, drilling or other operations that damage the base material. Disassembly is convenient and reusable. The measurement reference line 12 adopts high-strength wire with low elongation to ensure that it is not easily stretched and deformed after straightening, thus maintaining the stability of the measurement reference.

[0031] The walking test trolley 2 is used to continuously and automatically measure the entire slope surface of the test ramp along the measurement baseline 12. It includes a frame 21, a walking mechanism 22, a tracking sensing unit 23, a walking control unit, and a floating test module 24. The frame 21 is the main supporting body of the walking test trolley 2. It is made of lightweight and corrosion-resistant aluminum alloy in one piece and adopts a low center of gravity symmetrical structure design to ensure stability when walking on slopes and prevent tipping or overturning. The walking mechanism 22 is installed at the bottom of the frame 21. The tracking sensing unit 23, the walking control unit, and the floating test module 24 are fixedly installed on the main body of the frame 21. The functional components are symmetrically arranged along the central axis of the frame 21 to ensure that the overall center of gravity of the trolley coincides with the walking path and that the trolley walks smoothly.

[0032] The traveling mechanism 22 is installed at the bottom of the frame 21 and is used to drive the frame 21 to travel along the slope of the ramp to be measured. In specific implementation, the traveling mechanism 22 can adopt symmetrically arranged drive wheel sets, each set of drive wheels is equipped with an independent reduction drive mechanism, which can realize constant speed travel, steering adjustment and start-stop control. Its travel speed can be adjusted according to the measurement accuracy requirements, with an adjustment range of 0.05m / s-1m / s, to adapt to the measurement needs of ramps of different lengths and slopes.

[0033] The tracking sensing unit 23 is fixedly mounted on the frame 21 and electrically connected to the travel control unit. The tracking sensing unit 23 employs a non-contact detection scheme to detect the relative position between the measurement baseline 12 and the frame 21 in real time. During the detection process, no physical contact with the measurement baseline 12 is required, completely avoiding any disturbance to the measurement baseline. In specific implementations, the tracking sensing unit 23 can use any one of the following: symmetrically arranged dual laser displacement sensors, infrared beam sensors, or visual recognition sensors. It can accurately identify the offset of the measurement baseline 12 relative to the central axis of the frame 21, with a detection accuracy of no less than ±0.1mm, providing precise position data for travel control.

[0034] The travel control unit is fixedly installed in the enclosed protective cavity of the frame 21. It uses an industrial-grade MCU as the main control core, with its signal input terminal electrically connected to the tracking sensing unit 23 and its signal output terminal electrically connected to the travel mechanism 22. The core working logic of the travel control unit is as follows: it receives the relative position data between the measurement reference line 12 and the frame 21 transmitted by the tracking sensing unit 23 in real time. When it detects that the frame 21 has deviated from the measurement reference line 12, it sends a corresponding control command to the travel mechanism 22 to adjust the travel direction and wheel speed of the travel mechanism 22, and controls the frame 21 to always travel along the extension direction of the measurement reference line 12, ensuring that the measurement path completely coincides with the measurement reference line 12, and eliminating the measurement error caused by the path deviation.

[0035] The floating test module 24 is installed at the center of the frame 21, and its measuring axis is perpendicular to the measuring reference line 12. It is used to collect measurement data in real time. It includes a linear telescopic support column 241, a measuring roller 242, and a distance detection unit 243. The linear telescopic support column 241 is telescopically mounted on the frame 21 along a vertical direction perpendicular to the slope surface to be measured. In specific implementation, the linear telescopic support column 241 is slidably connected to the frame 21 through a high-precision linear bearing to ensure no radial wobble during telescopic movement. The telescopic stroke can be set according to the maximum undulation of the slope to be measured to adapt to the uneven deformation of the slope surface. The measuring roller 242 is rotatably mounted on the bottom end of the linear telescopic support column 241 through a rotating shaft. During travel, the measuring roller 242 rolls in contact with the slope surface to be measured, and can drive the linear telescopic support column 241 to move up and down synchronously with the undulation of the slope surface. The distance detection unit 243 is fixedly mounted on the top of the linear telescopic support column 241, with its detection end facing the measurement baseline 12 vertically. It is used to detect the vertical distance between the measurement baseline 12 and the detection end face of the distance detection unit 243 in real time during the movement of the trolley. In practical implementation, the measuring roller 242 is made of high-hardness wear-resistant ceramic or wear-resistant polyurethane material, with a circular runout of no more than 0.01mm, to avoid measurement errors caused by wear during long-term use; the distance detection unit 243 adopts a high-precision laser displacement sensor with a measurement accuracy of no less than ±0.05mm, and the sampling frequency can be adjusted according to needs, up to 1000Hz, to achieve continuous high-density sampling during walking.

[0036] The complete workflow of the ramp flatness measuring device in this embodiment is as follows: First, two sets of magnetic reference seats 11 are attached and fixed at both ends of the ramp to be measured. The two ends of the measuring reference line 12 are fixed on the magnetic reference seats 11 and straightened to complete the construction of the flatness measuring reference. Then, the walking test trolley 2 is placed at the starting end of the ramp to be measured. The initial alignment between the frame 21 and the measuring reference line 12 is completed by the tracking sensing unit 23, so that the measuring roller 242 is in contact with the surface of the ramp to be measured. After the device is started, the walking control unit controls the walking mechanism 22 to drive the frame 21 to walk at a constant speed along the measuring reference line 12. During the walking process, the tracking sensing unit 23 corrects the deviation in real time to ensure that the trolley walks along the measuring reference line 12. At the same time, the distance detection unit 243 continuously collects the vertical distance from the measuring reference line 12 to the detection end face in real time. Combined with the fixed distance from the bottom surface of the measuring roller 242 to the detection end face that has been calibrated in advance, the real-time vertical distance from the measuring reference line 12 to the surface of the ramp to be measured can be obtained, and the flatness data collection of the entire line is completed.

[0037] The ramp flatness measuring device provided in this embodiment achieves rapid establishment of the measurement benchmark without hot work or damage to the base material through the magnetic benchmark positioning assembly 1, completely avoiding the safety hazards and base material damage caused by welding and cutting operations in traditional solutions. The non-contact tracking trolley design avoids disturbance to the flexible benchmark line during the measurement process, ensuring the stability of the measurement benchmark throughout the entire process. Through the retractable floating test module, continuous automatic measurement along the entire benchmark line is realized, replacing traditional manual sampling inspection, eliminating human measurement errors, and greatly improving the detection accuracy and efficiency. At the same time, it can adapt to the measurement needs of ramps with different slopes and sizes, and has extremely strong adaptability to on-site working conditions.

[0038] In one embodiment, the floating test module 24 further includes a preload member, which provides a downward preload force to the linear telescopic support column 241 so that the measuring roller 242 always fits against the surface of the ramp to be tested.

[0039] In specific implementation, the pretensioning component is preferably a constant force compression spring, which is sleeved on the outside of the linear telescopic support column 241; the outer wall of the linear telescopic support column 241 is provided with a radially protruding lower limit step, and the inner wall of the support column mounting hole of the frame 21 is provided with a radially protruding upper limit stop. The upper end of the constant force compression spring abuts against the lower end face of the upper limit stop and the lower end abuts against the upper end face of the lower limit step. After installation, it is always in a pre-compressed state, providing a continuous vertical downward pretensioning force for the linear telescopic support column 241.

[0040] During the walking measurement process, when the slope surface to be measured is convex, the slope pushes the measuring roller 242, causing the linear telescopic support column 241 to compress the pre-tightening component upwards, and the roller always keeps in contact with the slope surface; when the slope surface is concave, the rebound thrust of the pre-tightening component pushes the linear telescopic support column 241 downwards, causing the measuring roller 242 to move downwards synchronously to fit the concave slope surface, without any suspension or bouncing throughout the process. Optionally, the pre-tightening component can also be a gas spring, constant force coil spring, or other components, and the pre-tightening force can be adjusted according to the slope gradient and undulation of the slope.

[0041] This embodiment, by adding a pre-tightening component, ensures that the measuring roller 242 is in close contact with the slope surface of the ramp throughout the entire process, completely avoiding measurement data distortion caused by roller suspension and bouncing, and improving the accuracy and continuity of measurement data; the stable pre-tightening force eliminates the fit clearance error of the linear telescopic support column 241, improves the follow-up response speed of the floating structure, can adapt to higher walking measurement speeds, and further improves detection efficiency; at the same time, the structure is simple and compact, easy to install and maintain, and low in cost, without requiring major modifications to the original frame 21 structure, making it highly feasible and versatile.

[0042] In one embodiment, each set of magnetic reference bases 11 includes a strong magnetic base, a vertical fine-tuning column, and a constant tension locking mechanism; the strong magnetic base is equipped with a locking switch for adsorbing and fixing to the surface of the ramp to be measured; the vertical fine-tuning column is vertically fixed to the top surface of the strong magnetic base, and the vertical fine-tuning column is equipped with a digital display height fine-tuning mechanism; the constant tension locking mechanism is installed at the top of the vertical fine-tuning column for fixing the end of the measuring reference line 12 and adjusting the tension of the measuring reference line 12.

[0043] Each set of magnetic reference bases 11 is assembled sequentially from three parts: a powerful magnetic base, a vertical fine-tuning column, and a constant tension locking mechanism. The powerful magnetic base contains a rare-earth permanent magnet and is equipped with a manually operated toggle locking switch. When the switch is toggled to the locked position, the base generates a strong magnetic attraction force, stably fixing it to the steel structure surface of the ramp to be measured without the risk of slippage. When toggled to the unlocked position, the magnetic circuit is broken, the attraction force disappears, and disassembly and transfer can be completed quickly without welding or drilling. The vertical fine-tuning column is vertically fixed to the top surface of the powerful magnetic base. The column integrates a digital display height fine-tuning mechanism, using a spiral fine-tuning structure with a digital display module. The fine-tuning accuracy is no less than 0.05mm, allowing precise adjustment of the installation height at the top of the column. The two magnetic reference bases 11 at both ends can quickly complete the equal-height calibration through digital display readings. The constant tension locking mechanism is mounted on the top of the vertical fine-tuning column. It has a built-in wire fixing clamp, tension adjustment component and tension display unit. It can quickly lock the end of the measurement baseline 12, while accurately adjusting and displaying the wire tension in real time, adapting to the tension control requirements of different measurement spans.

[0044] In field application, firstly, the two sets of magnetic reference bases 11 are coaxially attracted and fixed along the length of the ramp to be measured, locking the strong magnetic base; then, the installation height of the top of the two sets of columns is calibrated to be completely consistent through the digital display height adjustment mechanism of the vertical fine-tuning column; then, the two ends of the measurement reference line 12 are fixed on the two sets of constant tension locking mechanisms respectively, adjusted to the preset tension and locked, thus completing the stable and accurate measurement reference construction.

[0045] This embodiment utilizes a powerful magnetic base with a locking switch to achieve stable fixation of the reference base without damage and with quick installation and removal, completely avoiding the risks of hot work and damage to the base material. The vertical fine-adjustment column with digital display enables precise equal-height calibration at both ends of the measurement reference line 12, eliminating reference tilt errors, greatly simplifying calibration operations, and improving reference setup efficiency. The constant tension locking mechanism can precisely control the tension of the line, effectively suppressing self-weight sag and tensile deformation, ensuring the stability and reliability of the measurement reference throughout the entire process. The overall structure is easy to operate and highly adaptable, and can quickly adapt to the measurement needs of slopes with different spans and slopes, further improving the on-site practicality and measurement accuracy of the device.

[0046] In one embodiment, the tracking sensing unit 23 includes a left tracking laser displacement sensor 232 and a right tracking laser displacement sensor 233. The left tracking laser displacement sensor 232 and the right tracking laser displacement sensor 233 are arranged horizontally and symmetrically on the vehicle frame 21. The detection ends of both sensors are directly facing the layout path of the measurement baseline 12, and are used to detect the horizontal distance from the measurement baseline 12 to the two tracking laser displacement sensors in real time.

[0047] In practice, the left tracking laser displacement sensor 232 and the right tracking laser displacement sensor 233 are horizontally and symmetrically fixed on the left and right sides of the frame 21 along the central axis of travel. The detection optical paths of the two sensors are in the same horizontal plane, and this horizontal plane is flush with the height of the measurement reference line 12. The detection ends of both sensors are directly opposite the path of the measurement reference line 12 at the central axis of the frame 21, ensuring that the detection optical path is perpendicular to the extension direction of the measurement reference line 12. During travel, the two sensors synchronously and in real time collect the horizontal distance from the measurement reference line 12 to their own detection ends and transmit the distance data to the travel control unit in real time. When the frame 21 is not offset from the measurement reference line 12, the detection distance values ​​of the left and right sensors are equal. When the frame 21 shifts left or right, a difference appears in the detection distance of the two sensors. The travel control unit can then adjust the operating parameters of the travel mechanism 22 in real time according to the magnitude and direction of the difference to complete the steering correction, ensuring that the frame 21 always travels along the measurement reference line 12.

[0048] Optionally, the two sensors are mounted on an adjustable mounting bracket 231, and the installation position and detection range can be adjusted according to the layout height and wire diameter of the measurement baseline 12 to adapt to measurement conditions with different spans and slopes. The sensors are preferably industrial-grade diffuse reflection laser displacement sensors with a detection accuracy of not less than ±0.05mm and a sampling frequency of not less than 100Hz, which can meet the real-time correction requirements under high-speed walking.

[0049] This embodiment achieves high-precision, non-contact, real-time detection of the position of the measurement baseline 12 through symmetrically arranged dual laser displacement sensors. It features fast correction response and high control accuracy, ensuring that the trolley travels precisely along the baseline throughout the entire process. This completely avoids the frame 21 touching and disturbing the flexible measurement baseline 12, guaranteeing the stability of the measurement baseline throughout the entire process. The laser detection method has strong resistance to dust and light interference, making it suitable for the complex working environment of shipbuilding sites. Furthermore, the non-contact detection eliminates component wear and has a long service life. At the same time, the detection logic of this solution is simple and reliable, requiring no complex image algorithm processing. Installation and debugging are convenient, significantly improving the stability of the trolley's movement and the accuracy of the measurement data.

[0050] In one embodiment, the walking mechanism 22 includes four anti-slip drive wheels symmetrically arranged at the bottom of the frame 21. The four anti-slip drive wheels are respectively located on the left and right sides of the path of the measurement reference line 12. Each anti-slip drive wheel is equipped with an independent drive motor. The drive motors are electrically connected to the walking control unit. The walking control unit realizes the steering correction of the frame 21 by independently adjusting the speed of each drive motor.

[0051] In practice, the four anti-slip drive wheels are fixed to the bottom of the frame 21 in a rectangular symmetrical layout, with two wheels positioned on each side of the path laid out along the measurement baseline 12. Specifically, one anti-slip drive wheel is positioned at the front left, rear left, front right, and rear right of the frame 21, forming a fully enclosed stable support structure. The overall center of gravity of the vehicle always falls within the four-wheel support surface, adapting to the travel requirements of ship roll-on / roll-off ramps with a maximum angle of 30°, effectively avoiding the risk of rollover. Each anti-slip drive wheel is equipped with a coaxially connected independent drive motor. These motors are all miniature geared DC motors with self-locking functions, and their control terminals are electrically connected to the travel control unit, allowing them to independently receive speed adjustment commands. The wheel surface of the anti-slip drive wheels is made of high-friction coefficient wear-resistant polyurethane material, suitable for steel structure ramps with dust and slight oil contamination at shipbuilding sites, providing excellent anti-slip performance.

[0052] During the walking control process, the walking control unit receives the relative position data between the measurement baseline 12 and the frame 21 transmitted by the tracking sensing unit 23 in real time, and completes steering correction through differential speed regulation logic: when the frame 21 deviates to the left, the walking control unit synchronously increases the output speed of the two drive motors on the right and decreases the output speed of the two drive motors on the left, driving the frame 21 back to the right through the speed difference between the left and right wheel sets; when the frame 21 deviates to the right, the speed of the left and right wheel sets is adjusted in the opposite direction to achieve back to the left; when walking in a straight line, the four drive motors are controlled to maintain synchronous speed to achieve constant speed and stable walking. Optionally, each drive motor is equipped with a wheel speed encoder, which can feed back speed and mileage data to the walking control unit in real time to form closed-loop speed control, and at the same time achieve precise binding of measurement data and walking position.

[0053] This embodiment, through its four-wheel symmetrical independent drive layout, significantly improves the trolley's stability and anti-slip / anti-rollover capabilities on slopes, perfectly adapting to the complex operating environment of ship roll-on / roll-off ramps. Based on the differential correction logic with independent speed regulation, it offers fast response and high correction accuracy, and can work with the tracking sensing unit 23 to achieve real-time and accurate path correction, ensuring that the trolley travels along the measurement baseline 12 throughout the entire journey, eliminating measurement errors caused by path deviation. At the same time, this solution has no complex steering transmission structure, is compact, has a low failure rate, and is easy to install and maintain. It can achieve precise speed control and point parking, further improving the measurement accuracy and field practicality of the device.

[0054] In one embodiment, the frame 21 has a reference line avoidance groove for the measurement reference line 12 to pass through without contact. During the process of the walking control unit controlling the walking mechanism 22 to drive the frame 21 to move, the frame 21 and the measurement reference line 12 have no contact at all.

[0055] This embodiment, through the structural design of the through-type baseline avoidance groove, combined with the active control of tracking movement, forms a dual contactless protection of "structural avoidance + active correction". This completely eliminates the risk of the frame 21 touching or disturbing the flexible measurement baseline 12 during movement, ensuring that the measurement baseline is stable and without deviation throughout the entire process. It also eliminates system measurement errors caused by baseline shaking, greatly improving the accuracy and consistency of measurement data. At the same time, the structural design is simple and compact, requiring no major modifications to the main body of the frame 21, and does not affect the walking stability of the trolley. On-site installation is convenient, and it can also avoid friction and wear between the baseline and the frame 21, extending the service life of the baseline and further improving the on-site practicality and long-term reliability of the device.

[0056] In one embodiment, the vehicle frame 21 is further provided with a power module, a data storage module, and a wireless data transmission module; the power module is used to power the entire device; the data storage module is electrically connected to the distance detection unit 243 and is used to store measurement data; the wireless data transmission module is electrically connected to the distance detection unit 243 and the walking control unit respectively, and is used to interact with the terminal device.

[0057] In practical implementation, the power module, data storage module, and wireless data transmission module are all integrated and installed within the enclosed protective cavity of the chassis 21, providing dust and water protection to suit the harsh working environment of dust and salt spray on ship sites. The power module uses an intrinsically safe industrial lithium battery pack, equipped with charge and discharge protection, power display, and low-voltage alarm units. Its output terminal is electrically connected to all electrical components of the device, providing stable power supply for the entire device. The intrinsically safe design meets the safety requirements for use in flammable and explosive areas on ships, and a single charge can meet the continuous measurement needs of long ramps, eliminating the need for an external power source and enabling cordless portable operation.

[0058] The signal input terminals of the data storage module are electrically connected to the distance detection unit 243 and the walking control unit, respectively. It can synchronously collect the real-time distance measurement data output by the distance detection unit 243 and the walking position data output by the walking control unit. It matches the corresponding position stamp and timestamp for each set of measurement data to form a complete and traceable measurement dataset. Its built-in industrial-grade non-volatile storage chip can realize data retention without power loss and large-capacity local storage, completely retaining the detection data of the whole process without manual transcription.

[0059] The wireless data transmission module is electrically connected to the distance detection unit 243 and the walking control unit, respectively. It can establish wireless communication connections with terminal devices such as mobile phones, tablets, and industrial host computers. It adopts a multi-mode communication scheme to adapt to different network environments on the ship. On the one hand, it can synchronously upload real-time measurement data and equipment operating status to the terminal devices to realize real-time visual monitoring of measurement data. On the other hand, it can receive control commands issued by the terminal devices and transmit them to the walking control unit to realize remote start-up and shutdown of the device, parameter setting and other operations. No personnel are required to follow the operation at close range, which is suitable for complex scenarios such as high altitude and steep slope.

[0060] This embodiment achieves cordless portability of the device through an intrinsically safe power module, adapting to the safety requirements of on-site operations without external power supply and flammable and explosive scenarios. The data storage module with location and timestamps enables full-process traceability of measurement data, complying with the specifications of shipbuilding quality control and classification society inspection. The wireless data transmission module enables real-time interaction of measurement data and remote control of the device, significantly improving the automation and ease of operation of the inspection work, while avoiding human error in manual transcription, further enhancing the reliability of measurement data, and seamlessly integrating with the digital quality management system for shipbuilding.

[0061] In one embodiment, the wireless data transmission module is connected to a terminal device. The terminal device has a built-in sag compensation algorithm module, a flatness calculation module, and an out-of-tolerance warning module, which are used to automatically process the measurement data collected by the distance detection unit 243, determine the flatness compliance, and output the visualization.

[0062] In practice, the terminal device is an industrial handheld terminal, tablet, or host computer adapted for on-site ship operations. It establishes bidirectional wireless communication with the walking test vehicle 2 via a wireless data transmission module, receiving in real-time raw measurement data with location and timestamps collected by the distance detection unit 243, as well as equipment operating status and mileage data uploaded by the walking control unit. The terminal device has three core functional modules built-in, and each module works collaboratively to complete data processing: One is the sag compensation algorithm module, which has a built-in flexible line sag calculation model based on material mechanics. It can pre-input parameters such as the material, diameter, measurement span, preset tension, and installation height at both ends of the measurement baseline 12, and pre-calculate the self-weight sag distribution curve within the entire span of the measurement baseline 12. After receiving the original measurement data, it can automatically match the sag compensation value of the corresponding position according to the location stamp of the data, and correct the original measurement data in real time, completely eliminating the system measurement error caused by the self-weight sag of the flexible baseline, and obtaining the true vertical distance from the slope surface of the slope to be measured to the baseline.

[0063] The second is the flatness calculation module, which receives accurate measurement data after sag compensation and, in conjunction with the flatness evaluation standards of the shipbuilding industry, automatically calculates the maximum deviation, average deviation, and distribution of concave and convex points of the flatness of a single measuring line. After the measurement of multiple measuring lines is completed, a three-dimensional flatness distribution model of the entire slope to be measured can be fitted and generated. No manual calculation is required throughout the process, eliminating human calculation errors.

[0064] Thirdly, there is an out-of-tolerance early warning module, which has a built-in customizable flatness pass threshold (adapted to the ±3mm accuracy requirement commonly used in the shipbuilding industry). It can compare the processed measurement data with the pass threshold in real time. When a deviation at a certain point is detected to exceed the threshold, it immediately triggers an audible and visual warning on the terminal device. At the same time, it accurately marks the specific location, deviation value and distribution range of the out-of-tolerance area, so that the non-conforming area can be quickly located without manual inspection.

[0065] Meanwhile, the terminal equipment can realize the visualization output of measurement data, generate the deviation curve of the measurement line in real time, and automatically export the standardized inspection report that meets the requirements of ship construction quality management after the measurement is completed. The report includes the original measurement data, deviation analysis, and qualification judgment results, and can be directly connected to the shipyard's digital production management system and the classification society's inspection process.

[0066] This embodiment eliminates the systematic error caused by the self-weight sag of the flexible baseline in large-span measurement scenarios at its source through the sag compensation algorithm module, significantly improving the measurement accuracy and data accuracy of the device. Automated flatness calculation and acceptance judgment replace tedious manual data processing, eliminate human error, and significantly improve the efficiency of the entire inspection process. The out-of-tolerance early warning module enables real-time accurate positioning of non-conforming areas, which can guide rapid on-site rectification and effectively shorten the shipbuilding construction cycle. Standardized visualization output and inspection report generation can seamlessly connect with the digital quality management system for shipbuilding, meet the industry's quality traceability and classification society inspection requirements, and comprehensively improve the intelligence level of the device and its practicality in on-site engineering.

[0067] In one embodiment, the measurement reference line 12 is a low elongation plastic-coated Kevlar wire, and each set of magnetic reference bases 11 is provided with a limit and anti-collision module. The limit and anti-collision module is signal-connected to the walking control unit and is used to limit the walking distance of the walking test vehicle 2.

[0068] This embodiment uses low-elongation plastic-coated Kevlar wire as the measurement reference line 12, which significantly reduces the measurement errors caused by wire tensile deformation and self-weight sag, further ensuring the long-term stability and accuracy consistency of the measurement reference. At the same time, the wire is wear-resistant, corrosion-resistant, and has a long service life, perfectly adapting to the harsh working environment of shipbuilding sites. By integrating a limit and anti-collision module on the magnetic reference base 11, the risk of collision due to overtravel of the walking test trolley 2 is eliminated from the hardware level, effectively avoiding problems such as displacement of the magnetic reference base 11, failure of the measurement reference, and equipment damage caused by collisions, thus improving the safety and reliability of the device operation. At the same time, both optimizations do not require major modifications to the original main structure of the device, making installation convenient and highly consistent with the core advantages of the device's quick installation and use and non-destructive operation, comprehensively improving the on-site practicality and measurement stability of the device.

[0069] On the other hand, this embodiment provides a method for measuring the flatness of a ramp, implemented based on the aforementioned ramp flatness measuring device, and includes the following steps: S1 Preparation before measurement: Complete the zero-point calibration of the ramp flatness measuring device and clean any foreign objects from the surface of the ramp to be measured; S2 Measurement Benchmark Setup: The two sets of magnetic reference seats 11 are respectively attached and fixed on the ramp to be measured. The measurement benchmark line 12 is straightened and calibrated to be at the same height at both ends to form a flatness measurement benchmark. S3 Measurement Positioning: Place the walking test vehicle 2 at the starting end of the ramp to be tested, and complete the initial alignment of the vehicle frame 21 with the measurement baseline 12 through the tracking sensing unit 23, so that the measuring roller 242 of the floating test module 24 is in contact with the surface of the ramp to be tested. S4 Continuous Automatic Measurement: The measurement program is started. The walking control unit controls the walking mechanism 22 to drive the frame 21 to walk at a constant speed along the measurement baseline 12 according to the detection signal of the tracking sensing unit 23. At the same time, the distance detection unit 243 continuously detects the vertical distance between the measurement baseline 12 and the distance detection unit 243 in real time, and synchronously binds the walking position data to complete the continuous measurement of the entire line of a single measurement line. S5 Data Processing and Result Determination: The collected measurement data is processed to calculate the flatness deviation of the slope to be measured, and compared with the preset qualified threshold to complete the flatness qualified determination.

[0070] The ramp flatness measurement method provided in this embodiment requires no welding or cutting operations throughout the entire process, completely avoiding damage to the base material and fire safety risks on the ship site. It eliminates the need for subsequent base material repair procedures, significantly shortening the operation cycle. By replacing traditional manual sampling inspection with continuous automatic measurement along the entire line, it achieves blind-spot-free full-coverage inspection of the slope to be tested, eliminating human errors in manual reading and point selection, and significantly improving inspection accuracy and operational efficiency. The standardized process, combined with automated data processing and qualification judgment, ensures the consistency of inspection results and full-process traceability. It is perfectly adapted to the complex operating environment of shipbuilding sites and industry quality management standards. Furthermore, the operation process is simple and convenient, requiring minimal professional skills from operators, and can be quickly promoted and applied to various flatness inspection scenarios for steel structure planes and slopes.

[0071] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0072] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0073] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0074] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A device for measuring the flatness of a ramp, characterized in that, include: The reference positioning assembly (1) includes two sets of magnetic reference seats (11) for detachable adsorption and fixation on the ramp to be measured, and a measurement reference line (12) with the two sets of magnetic reference seats (11) connected at both ends. The measurement reference line (12) is straightened to form a flatness measurement reference. A walking test vehicle (2) includes a frame (21), a walking mechanism (22) at the bottom of the frame (21), a tracking sensing unit (23), a walking control unit, and a floating test module (24) on the frame (21); the tracking sensing unit (23) is electrically connected to the walking control unit and is used for non-contact detection of the relative position between the measurement baseline (12) and the frame (21); the walking control unit is electrically connected to the walking mechanism (22) and is used to control the walking mechanism (22) to drive the frame (21) to walk along the measurement baseline (12) according to the relative position; the floating... The test module (24) includes a linear telescopic support column (241), a measuring roller (242), and a distance detection unit (243). The linear telescopic support column (241) is vertically telescopically mounted on the frame (21). The measuring roller (242) is rotatably mounted on the bottom end of the linear telescopic support column (241). The distance detection unit (243) is fixed to the top end of the linear telescopic support column (241). The detection end of the distance detection unit (243) is vertically oriented towards the measurement baseline (12) and is used to detect the vertical distance between the measurement baseline (12) and the distance detection unit (243) in real time.

2. The ramp flatness measuring device according to claim 1, characterized in that, The floating test module (24) also includes a preload element, which provides a downward preload force to the linear telescopic support column (241) so that the measuring roller (242) always fits against the surface of the ramp to be tested.

3. The ramp flatness measuring device according to claim 1, characterized in that, Each set of magnetic reference bases (11) includes a strong magnetic base, a vertical fine-tuning column, and a constant tension locking mechanism; the strong magnetic base is equipped with a locking switch for adsorbing and fixing on the surface of the ramp to be measured; the vertical fine-tuning column is vertically fixed to the top surface of the strong magnetic base, and the vertical fine-tuning column is equipped with a digital display height fine-tuning mechanism; the constant tension locking mechanism is installed at the top of the vertical fine-tuning column for fixing the end of the measuring reference line (12) and adjusting the tension of the measuring reference line (12).

4. The ramp flatness measuring device according to claim 1, characterized in that, The tracking sensing unit (23) includes a left tracking laser displacement sensor (232) and a right tracking laser displacement sensor (233). The left tracking laser displacement sensor (232) and the right tracking laser displacement sensor (233) are arranged horizontally and symmetrically on the vehicle frame (21). The detection ends of both are directly facing the layout path of the measurement baseline (12) and are used to detect the horizontal distance from the measurement baseline (12) to the two tracking laser displacement sensors in real time.

5. The ramp flatness measuring device according to claim 1, characterized in that, The walking mechanism (22) includes four anti-slip drive wheels symmetrically arranged at the bottom of the frame (21). The four anti-slip drive wheels are respectively located on the left and right sides of the path of the measurement reference line (12). Each anti-slip drive wheel is equipped with an independent drive motor. The drive motors are electrically connected to the walking control unit. The walking control unit realizes the steering correction of the frame (21) by independently adjusting the speed of each drive motor.

6. The ramp flatness measuring device according to claim 1, characterized in that, The frame (21) has a reference line avoidance groove for the measurement reference line (12) to pass through without contact. During the process of the walking control unit controlling the walking mechanism (22) to drive the frame (21) to walk, the frame (21) and the measurement reference line (12) have no contact at all.

7. The ramp flatness measuring device according to claim 1, characterized in that, The frame (21) is also equipped with a power module, a data storage module and a wireless data transmission module; the power module is used to power the entire device; the data storage module is electrically connected to the distance detection unit (243) and is used to store measurement data; the wireless data transmission module is electrically connected to the distance detection unit (243) and the walking control unit respectively and is used to interact with the terminal device.

8. The ramp flatness measuring device according to claim 7, characterized in that, The wireless data transmission module is connected to a terminal device. The terminal device has a built-in sag compensation algorithm module, a flatness calculation module, and an out-of-tolerance warning module, which are used to automatically process the measurement data collected by the distance detection unit (243), determine the flatness compliance, and output the visualization.

9. The ramp flatness measuring device according to claim 1, characterized in that, The measurement baseline (12) is a low elongation plastic-coated Kevlar wire. Each set of magnetic reference bases (11) is equipped with a limit anti-collision module. The limit anti-collision module is signal-connected to the walking control unit and is used to limit the walking distance of the walking test vehicle (2).

10. A method for measuring the flatness of a ramp, characterized in that, The implementation based on the ramp flatness measuring device according to any one of claims 1 to 9 includes the following steps: S1 Preparation before measurement: Complete the zero-point calibration of the ramp flatness measuring device and clean any foreign objects from the surface of the ramp to be measured; S2 Measurement Baseline Setup: The two sets of magnetic reference bases are respectively attached and fixed on the ramp to be measured. The measurement reference line is straightened and calibrated to be at the same height at both ends to form a flatness measurement reference. S3 Measurement Positioning: Place the walking test trolley at the starting end of the ramp to be tested, and complete the initial alignment of the frame with the measurement baseline through the tracking sensing unit, so that the measuring roller of the floating test module is in contact with the surface of the ramp to be tested; S4 Continuous Automatic Measurement: The measurement program is started. The walking control unit controls the walking mechanism to drive the frame to walk at a constant speed along the measurement baseline according to the detection signal of the tracking sensing unit. At the same time, the distance detection unit continuously detects the vertical distance between the measurement baseline and the distance detection unit in real time, and synchronously binds the walking position data to complete the full-line continuous measurement of a single measurement line. S5 Data Processing and Result Determination: The collected measurement data is processed to calculate the flatness deviation of the slope to be measured, and compared with the preset qualified threshold to complete the flatness qualified determination.

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