阅读说明：本技术 一种岸基船舶稳性监测系统与方法 (Shore-based ship stability monitoring system and method ) 是由 马运铎 朱爱玺 董钲宇 冯康情 陈柱枫 于 2021-08-03 设计创作，主要内容包括：本发明涉及船舶检测技术领域,具体涉及一种岸基船舶稳性监测系统与方法,它包括靠泊船舶、监测系统、硬件系统,所述硬件系统包括激光雷达、岸桥作业系统和岸桥监控计算机,所述激光雷达的顶部设有岸桥小车,所述岸桥小车的一侧设有岸桥大车,所述激光雷达滑动连接于岸桥小车底部,且激光雷达的安装面朝向靠泊船舶,激光雷达实时采集船舶横摇倾角,所述激光雷达与岸桥监控计算机之前设有网络交换机,两者通过网络交换机位于同一局域网下并实现信号连通,所述岸桥作业系统连接于网络交换机；监测系统与网络交换机连接。(The invention relates to the technical field of ship detection, in particular to a shore-based ship stability monitoring system and a shore-based ship stability monitoring method, which comprise a berthing ship, a monitoring system and a hardware system, wherein the hardware system comprises a laser radar, a shore bridge operating system and a shore bridge monitoring computer, a shore bridge trolley is arranged at the top of the laser radar, a shore bridge cart is arranged on one side of the shore bridge trolley, the laser radar is connected to the bottom of the shore bridge trolley in a sliding manner, the mounting surface of the laser radar faces towards the berthing ship, the laser radar acquires the ship roll inclination angle in real time, a network switch is arranged in front of the laser radar and the shore bridge monitoring computer, the laser radar and the shore bridge monitoring computer are positioned under the same local area network through the network switch and realize signal communication, and the shore bridge operating system is connected to the network switch; the monitoring system is connected with the network switch.)

1. The utility model provides a bank base boats and ships stationarity monitoring system, includes berthing boats and ships (1), monitoring system (2), hardware system, its characterized in that: the hardware system comprises a laser radar (3), a shore bridge operation system (4) and a shore bridge monitoring computer (5), wherein a shore bridge trolley (6) is arranged at the top of the laser radar (3), a shore bridge cart (7) is arranged on one side of the shore bridge trolley (6), the laser radar (3) is connected to the bottom of the shore bridge trolley (6) in a sliding mode, the mounting surface of the laser radar (3) faces towards a berthing ship (1), the laser radar (3) collects the ship rolling inclination angle in real time, a network switch (8) is arranged in front of the laser radar (3) and the shore bridge monitoring computer (5), the laser radar (3) and the shore bridge monitoring computer are located under the same local area network through the network switch (8) and are communicated with each other through signals, the shore bridge operation system (4) is connected to the network switch (8), and the shore bridge operation system (4) is connected with the network switch (8);

the monitoring system (2) is connected with a network switch (8).

2. A shore-based ship stability monitoring method is characterized by comprising the following specific steps:

firstly, acquiring point cloud data of the cross section outline of the upper part of a ship by using a laser radar (3), and performing linear fitting on the point cloud data obtained by each scanning to obtain the cross section outline of the ship;

secondly, according to the contour line of the cross section of the ship, top angular points of a left ship board and a right ship board can be obtained, and the two focuses are connected by a straight line to obtain a ship surface line;

because the distances between the left side and the right side of the same ship and at the same cross section position are unchanged, the ship surface lines at the front and the back are only related to the rolling motion, and in a coordinate system taking the laser radar (3) as the circle center, the included angle between the ship surface line and the horizontal line can be used as the rolling angle of the ship during data acquisition each time;

thirdly, continuous data acquisition is carried out, when the length of the acquired inclination angle data sequence is equal to 1000, cubic spline curve fitting is carried out on the data sequence once to obtain a plurality of (N) extreme points, the distance N (i) between every two extreme points is calculated, i is 1-N-1, then the average value of N (1) to N (N-1) is calculated, and if the result is m, the rolling period T of the ship is m;

when the length of the acquired inclination angle data sequence is more than 1000, when x data are newly added, the fitting data sequence is from 100 to 1000+ x;

acquiring basic information of the ship by using a shore bridge operation system (4), wherein the basic information comprises ship displacement D, ship type width B and gravity center height Zg, and calculating according to a rattan adding formula to obtain the inertia moment of the ship:

I＝D(B^2+Zg^2)/(12*g) (1)

then calculating that the initial stability of the ship is high:

h＝4*π^2*I/(D*T^2) (2)

and finally, judging whether the initial stability h is within the threshold range, and alarming if the initial stability h exceeds the threshold.

Technical Field

The invention relates to the technical field of ship detection, in particular to a shore-based ship stability monitoring system and method.

Background

The safety of container ship berthing, the safety and the efficiency of port machine loading and unloading are key links for guaranteeing port operation safety, restricting the period of dredging ports, improving logistics service quality and reducing the cost of related industrial chains, and the stability of the ship is timely controlled, so that the serious accidents of container ship overturning, channel blockage and the like can be effectively avoided.

In order to ensure the safety of the floating state and stability of the ship and improve the stowage precision and the loading and unloading efficiency, the longitudinal/rolling steady-state inclination angle of the ship is not allowed to be larger than the inclination angle (generally 3deg) in the loading and unloading process specified in the container port loading and unloading safety specification, and the approved loader is provided for the class I ship with the ship length of 100m or more clearly specified in the sea ship building entry specification.

Disclosure of Invention

In view of the above situation, and in order to overcome the defects in the prior art, the present invention provides a system and a method for monitoring the stability of a shore-based ship, wherein a shore bridge computer and a laser radar installed at the lower part of a shore bridge trolley are used to obtain ship profile information, and a ship roll inclination angle data sequence is obtained after fitting analysis, so as to obtain the buoyancy and stability information of the ship.

The technical purpose of the invention is realized by the following technical scheme:

a shore-based ship stability monitoring system comprises a berthing ship, a monitoring system and a hardware system, wherein the hardware system comprises a laser radar, a shore bridge operation system and a shore bridge monitoring computer, a shore bridge trolley is arranged at the top of the laser radar, a shore bridge cart is arranged on one side of the shore bridge trolley, the laser radar is connected to the bottom of the shore bridge trolley in a sliding mode, the mounting surface of the laser radar faces the berthing ship, the laser radar acquires the ship roll inclination angle in real time, a network switch is arranged in front of the laser radar and the shore bridge monitoring computer, the laser radar and the shore bridge monitoring computer are located under the same local area network through the network switch and are communicated with each other through signals, and the shore bridge operation system is connected to the network switch;

the monitoring system is connected with the network switch.

Further, a shore-based ship stability monitoring method comprises the following specific steps:

acquiring point cloud data of the cross section outline of the upper part of the ship by using a laser radar, and performing linear fitting on the point cloud data obtained by each scanning to obtain the cross section outline of the ship;

secondly, according to the contour line of the cross section of the ship, top angular points of a left ship board and a right ship board can be obtained, and the two focuses are connected by a straight line to obtain a ship surface line;

because the distances between the left side and the right side of the same ship and at the same cross section position are not changed, the ship surface lines at the front and the back are only related to the rolling motion, and in a coordinate system taking a laser radar as a circle center, the included angle between the ship surface line and the horizontal line at each time can be used as the rolling angle of the ship during data acquisition;

thirdly, continuous data acquisition is carried out, when the length of the acquired inclination angle data sequence is equal to 1000, cubic spline curve fitting is carried out on the data sequence once to obtain a plurality of (N) extreme points, the distance N (i) between every two extreme points is calculated, i is 1-N-1, then the average value of N (1) to N (N-1) is calculated, and if the result is m, the rolling period T of the ship is m;

when the length of the acquired inclination angle data sequence is more than 1000, when x data are newly added, the fitting data sequence is from 100 to 1000+ x;

acquiring basic information of the ship by using a shore bridge operation system, wherein the basic information comprises ship displacement D, ship model width B and gravity center height Zg, and calculating according to a rattan adding formula to obtain the inertia moment of the ship:

I＝D(B^2+Zg^2)/(12*g) (1)

then calculating that the initial stability of the ship is high:

h＝4*π^2*1/(D*T^2) (2)

and finally, judging whether the initial stability h is within the threshold range, and alarming if the initial stability h exceeds the threshold.

In conclusion, the invention has the following beneficial effects:

according to the method, a sensor information system is not needed to be installed on the ship, the sensor is only needed to be installed on the shore bridge trolley, the key index of ship stability can be obtained through conversion from the contour line to the inclination angle, fitting of the inclination angle data sequence and extreme point judgment, real-time monitoring of the ship stability is effectively achieved, and the method is simple in system, convenient to maintain, low in cost and high in application and popularization value.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, and are not to be considered limiting of the invention, in which:

FIG. 1 is a system topology of the present invention;

fig. 2 is a schematic view of the berthing vessel of the present invention.

In the figure, 1, berthing a ship; 2. a monitoring system; 3. a laser radar; 4. a shore bridge operation system; 5. a shore bridge monitoring computer; 6. a shore bridge trolley; 7. a shore bridge cart; 8. a network switch.

Detailed Description

The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings of fig. 1 to 2. The structural contents mentioned in the following embodiments are all referred to the attached drawings of the specification.

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Example 1: as shown in fig. 1 to 2, a shore-based ship stability monitoring system comprises a berthing ship 1, a monitoring system 2 and a hardware system, wherein the hardware system comprises a laser radar 3, a shore bridge operation system 4 and a shore bridge monitoring computer 5, a shore bridge trolley 6 is arranged at the top of the laser radar 3, a shore bridge cart 7 is arranged on one side of the shore bridge trolley 6, the laser radar 3 is connected to the bottom of the shore bridge trolley 6 in a sliding mode, the mounting surface of the laser radar 3 faces the berthing ship 1, the laser radar 3 collects ship roll inclination angles in real time, the data collection frequency f is not lower than 20Hz and transmits the data to the shore bridge monitoring computer 5 in real time, and when the roll inclination angles exceed a safety threshold value, the monitoring computer sends out acousto-optic alarm and short message alarm signals to prevent ship rollover accidents.

A network switch 8 is arranged in front of the laser radar 3 and the quayside crane monitoring computer 5, the laser radar and the quayside crane monitoring computer are positioned under the same local area network through the network switch 8 and realize signal communication, and the quayside crane operation system 4 is connected with the network switch 8;

the monitoring system 2 is connected to a network switch 8.

According to the shore-based monitoring system 2, a monitoring method is matched, and the method comprises the following specific steps:

and (3) acquiring point cloud data of the cross section outline of the upper part of the ship by using the laser radar 3, and performing linear fitting on the point cloud data obtained by each scanning to obtain the cross section outline of the ship.

Because the ship can move under the excitation of stormy waves or loading and unloading operations, and the movement form is complex, the ship can be decomposed into heave movement, left-right transverse movement, front-back drifting movement, rolling movement, pitching movement and horizontal rotation movement, and the left-right transverse movement and the front-back drifting movement can be ignored due to the constraint of the mooring ropes.

According to the contour line of the cross section of the ship, top angular points of a left ship board and a right ship board can be obtained, and the two focuses are connected by a straight line to obtain a ship surface line.

Because the distances between the left side and the right side of the same ship and at the same cross section position are unchanged, the ship surface lines at the front and the back are only related to the rolling motion, and in a coordinate system taking the laser radar 3 as the circle center, the included angle between the ship surface line and the horizontal line every time can be used as the rolling angle of the ship during data acquisition.

And performing continuous data acquisition, performing cubic spline curve fitting on the data sequence once when the length of the acquired inclination angle data sequence is equal to 1000 to obtain a plurality of (N) extreme points, calculating the distance N (i) between every two extreme points, wherein i is 1 to N-1, then calculating the average value of N (1) to N (N-1), and if the result is m, determining that the ship rolling period T is m.

When the length of the acquired inclination angle data sequence is more than 1000, the fitting data sequence is from 100 to 1000+ x every time x data are newly added.

Utilize bank bridge operating system 4, control bank bridge operating system to obtain the basic information of boats and ships, including boats and ships displacement D, the wide B of boats and ships type, the high Zg of focus can be calculated according to the formula of adding rattan and obtain the moment of inertia of boats and ships:

I＝D(B^2+Zg^2)/(12*g) (1)

then calculating that the initial stability of the ship is high:

h＝4*π^2*I/(D*T^2) (2)

and finally, judging whether the initial stability h is within the threshold range, and alarming if the initial stability h exceeds the threshold.

While the invention has been described in further detail with reference to specific embodiments thereof, it is not intended that the invention be limited to the specific embodiments thereof; for those skilled in the art to which the present invention pertains and related technologies, the extension, operation method and data replacement should fall within the protection scope of the present invention based on the technical solution of the present invention.