CN109632259B - Device and method for measuring subsidence of longitudinal section of self-propelled ship model in hydraulic physical model test - Google Patents
Device and method for measuring subsidence of longitudinal section of self-propelled ship model in hydraulic physical model test Download PDFInfo
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Abstract
The invention provides a method for measuring the sinking amount of a longitudinal section of a self-propelled ship model in a hydraulic physical model test, which comprises the following steps: s1: establishing a two-dimensional coordinate system of the area array CCD; s2: measuring the distance from the laser ranging sensor to the area array CCD in a still water state; s3: presetting a route of a self-propelled ship model on the hydraulic physical model; s4: enabling the self-propelled ship model to pass through the position right below the laser ranging sensor, measuring the vertical distance from a pixel swept by the laser to the laser ranging sensor, and triggering the area array CCD to measure the two-dimensional coordinate of the pixel swept by the laser; s5: calculating the sinking amount of the longitudinal section of the self-propelled ship model by using the measured data; the invention utilizes a vertical laser ranging sensor to measure the heave change in the self-propelled ship model motion process in real time, combines a two-dimensional area array CCD to track the change of two-dimensional coordinates of a laser measuring point, and corrects the heave change of the self-propelled ship model under the superposition action of longitudinal and transverse inclination postures onto the longitudinal section of the self-propelled ship model so as to calculate the actual sinking amount of the self-propelled ship model.
Description
Technical Field
The invention relates to the technical field of monitoring of the sinking amount of a self-propelled ship model, in particular to a device and a method for measuring the sinking amount of a longitudinal section of the self-propelled ship model in a hydraulic physical model test.
Background
When a ship navigates in a restricted channel, the pressure and speed distribution of a flow field around the ship body are uneven, so that the obvious sinking, trim and manipulation performances of the ship are poor, and particularly, the sinking phenomenon of the ship is more obvious when the ship navigates at a high speed, which becomes one of important factors influencing the navigation safety of the ship. The self-propelled ship model test can intuitively and truly reflect the comprehensive influence of channel water flow conditions and boundary conditions on ship navigation, and the self-propelled ship model sinking amount is a key parameter for evaluating the minimum navigation water depth.
At present, a straight ruler is attached to a self-propelled ship model, and the sinking amount is measured by means of manual reading after snapshot, the sinking amount of the self-propelled ship model relative to the surrounding water surface can only be obtained by the method, and the surrounding water surface sinks in the motion process of the self-propelled ship model, so that the actual sinking amount of the self-propelled ship model cannot be measured by the method. Currently, information technology is also adopted for measurement, for example, an angle sensor type self-propelled ship model sinkage measurement method is provided by king shagfu (king shagfu. angle sensor type self-propelled ship model sinkage measurement method [ J ] ship sea engineering, 1997(3):51-54.) and the like, the method requires that a navigation rod is installed on a self-propelled ship model, and many self-propelled ship models do not have the condition, so that the application range of the method is limited. Peak, etc. (peak, zheng bao you, gu han bin, six-component non-contact test system [ J ] waterway port, 2004,25(1):48-50.) proposed that the self-propelled ship model motion factor is measured by using a camera, and the method is only suitable for measuring the self-propelled ship model sinking amount at a fixed calibration position because the camera has distortion and perspective problems, while the self-propelled ship model navigation position is uncertain and limited in application.
The bottom of the ship is usually in an arc shape, the bottom of the longitudinal section of the ship is closest to the river bottom, the minimum surplus water depth of a channel is reflected, and the sinking amount of the ship is measured based on the sinking amount of the longitudinal section. However, the amount of sinking in the longitudinal section is difficult to measure, and it is common to measure the amount of sinking in other parts of the hull as the amount of sinking of the ship. In the self-propelled ship model test, due to the fact that fluid pressure around the ship body is not uniform, the self-propelled ship model generates transverse inclination in the moving process, and sinking amounts of the left side and the right side of the longitudinal section of the self-propelled ship model are not consistent. The measurement of the deflection in the area outside the longitudinal section requires correction to the longitudinal section, otherwise slight deflection angles lead to large errors in the deflection conversion to the original form. This critical problem is not addressed in the prior art.
Disclosure of Invention
In view of the above, the invention aims to provide a device and a method for measuring the sinking amount of a longitudinal section of a self-propelled ship model in a hydraulic physical model test.
The invention provides a measuring device for measuring the sinking amount of a longitudinal section of a self-propelled ship model in a hydraulic physical model test, which comprises a self-propelled ship model, an area array CCD, a laser ranging sensor, a communication module and an upper computer, wherein the area array CCD is arranged on the self-propelled ship model;
the self-propelled ship model is a hydraulic physical model test ship model with a remote control self-propelled function;
the area array CCD is arranged on the upper surface of the self-propelled ship model, and the plane of the area array CCD is vertical to the longitudinal section of the self-propelled ship model and the middle section of the self-propelled ship model; the central axis of the area array CCD in the length direction is positioned on the plane of the longitudinal section of the self-propelled ship model;
the laser ranging sensor is arranged right above a navigation line which is preset on the hydraulic physical model by the self-propelled ship model, and the self-propelled ship model can navigate and pass through from right below the laser ranging sensor; the laser emitting direction of the laser ranging sensor is vertical to a still water horizontal plane of the hydraulic physical model;
the laser ranging sensor is used for measuring the vertical distance from the pixel on the area array CCD passing through the position right below the laser ranging sensor to the laser ranging sensor and triggering the area array CCD to measure the two-dimensional coordinate of the pixel passing through the position right below the laser ranging sensor;
the laser ranging sensor is connected with the upper computer through the communication module and used for sending the measured vertical distance of each pixel on the area array CCD to the upper computer;
the area array CCD is connected with an upper computer through a communication module and used for sending the two-dimensional coordinates of each pixel on the area array CCD obtained through measurement to the upper computer;
and the upper computer is used for calculating the actual sinking amount of the longitudinal section of the self-propelled ship model according to the measured vertical distance and two-dimensional coordinates from each pixel on the area array CCD to the laser ranging sensor.
Further, the communication module is a wireless communication module.
Correspondingly, the invention also provides a method for measuring the sinking amount of the longitudinal section of the self-propelled ship model in the hydraulic physical model test, which comprises the following steps:
s1: establishing a two-dimensional coordinate system of the area array CCD: in the forward direction of the self-propelled ship model, a two-dimensional coordinate system of the area array CCD is established by taking the right rear point of the area array CCD as an original point, taking the line behind the area array CCD as a transverse axis, taking the direction in which the right side line of the area array CCD points to the left side line of the area array CCD as the positive direction of the transverse axis, taking the right side line of the area array CCD as a longitudinal axis and taking the direction in which the bow of the self-propelled ship model points to the stern as the positive direction of the longitudinal axis; the positive direction of the self-propelled ship model is the direction in which the bow of the self-propelled ship model points to the stern of the self-propelled ship model and is parallel to the length direction of the self-propelled ship model;
s2: under the hydrostatic state of the hydraulic physical model, the distance h from the plane where the area array CCD is located to the laser ranging sensor is obtained through the measurement of the laser ranging sensor0；
S3: presetting a route of a self-propelled ship model on the hydraulic physical model;
s4: the self-propelled ship model sails on the hydraulic physical model along a preset route and passes through the position under the laser ranging sensor, the laser ranging sensor emits laser to sequentially scan a group of pixels on the area array CCD, and the vertical distance h from the group of pixels to the laser ranging sensor is measurediAnd triggering the area array CCD to measure and obtain the two-dimensional coordinates (x) of the group of pixelsi，yi)，
Wherein h isiRepresents the vertical distance from the ith pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD, xiAnd yiRespectively representing the abscissa and the ordinate of the ith pixel passing through the position right below the laser ranging sensor on the area array CCD, wherein i is 1,2, … and N; n represents the total pixel number of the area array CCD scanned by the laser;
s5: upper computer receiving h0、(xi，yi) And hiAccording to h0、(xi，yi) And hiAnd calculating the actual sinking amount of the longitudinal section of the self-propelled ship model.
Further, the step S5 includes calculating an actual sinking amount at the longitudinal section of the bow of the self-propelled ship model and an actual sinking amount at the longitudinal section of the stern of the self-propelled ship model;
the calculation formula of the actual sinking amount at the longitudinal section of the bow of the self-propelled ship model is as follows:
wherein,. DELTA.h1Showing the actual sinkage, h, at the longitudinal section of the bow of the self-propelled ship model1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor is shown in a still water state; x is the number of1The abscissa represents the pixel which passes through the position right below the laser ranging sensor on the 1 st area array CCD; l isxThe width size of the area array CCD is shown; beta represents the transverse inclination angle in the process of the navigation movement of the self-propelled ship model;
the calculation formula of the actual sinking amount at the longitudinal section of the stern of the self-propelled ship model is as follows:
wherein,. DELTA.hNShowing the actual amount of sinking, h, in longitudinal section at the stern of the self-propelled ship modelNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNAnd the abscissa of the pixel passing through the position right below the laser ranging sensor on the Nth area array CCD is shown.
Further, the calculation formula of β is:
wherein h isNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNRepresents the abscissa, h, of the Nth pixel passing right below the laser ranging sensor on the area array CCD1On a planar array CCDThe vertical distance from the pixel passing through the position right below the laser ranging sensor to the laser ranging sensor is 1 st; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor in a still water state is represented; x is the number of1And the abscissa represents the pixel on the area array CCD, which passes through the position right below the laser ranging sensor at the 1 st position.
The invention has the beneficial effects that: the invention utilizes the vertical laser ranging sensor to measure the heave change in the self-propelled ship model motion process in real time, combines the two-dimensional area array CCD to track the change of the two-dimensional coordinate of the laser measuring point, and corrects the heave change of the self-propelled ship model under the superposition action of longitudinal and transverse inclination postures onto the longitudinal section of the self-propelled ship model to calculate and obtain the actual sinking amount of the self-propelled ship model.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of a method of the present invention;
FIG. 3 is a schematic diagram of a two-dimensional coordinate system of an area array CCD under a hydrostatic state of a hydraulic physical model;
fig. 4 is a schematic diagram of a two-dimensional coordinate system of the area array CCD in the case where the self-propelled ship model is inclined.
Detailed Description
As shown in fig. 1, the device for measuring the sinking amount of the longitudinal section of the self-propelled ship model for the hydraulic physical model test provided by the invention comprises a self-propelled ship model, an area array CCD, a laser ranging sensor, a communication module and an upper computer;
the self-propelled ship model is a hydraulic physical model test self-propelled ship model with a remote control self-propelled function; in this embodiment, the hydraulic physical model is a model for simulating a river. The hydraulic physical model can be regarded as a river reduced according to a scale, belongs to the prior art, and when the settlement of the longitudinal section of the self-propelled ship model in the hydraulic physical model test is measured, the river to be simulated is directly reduced according to a certain size, and is built by using materials such as cement, sand, bricks and the like, so that the hydraulic physical model test belongs to the prior art and is not repeated herein.
The area array CCD is arranged on the upper surface of the self-propelled ship model, and the plane of the area array CCD is vertical to the longitudinal section of the self-propelled ship model and the middle section of the self-propelled ship model; the central axis of the area array CCD in the length direction is positioned on the plane of the longitudinal section of the self-propelled ship model; the self-propelled ship model navigation motion process inevitably can take place heel and pitch, and laser measurement station route and self-propelled ship model longitudinal axis do not coincide, adopts two-dimensional area array CCD to track the laser measurement station, records the two-dimensional coordinate of laser measurement station in real time, and the precision is high, and is adapted to various gesture changes of self-propelled ship model. Under still water state, the elevation of each point on the surface of the area array CCD sensor is the same, namely, the area array CCD sensor is in a horizontal state. The area array CCD pixels are arranged in two dimensions, when laser is incident to a certain pixel, an optical signal is converted into an electric signal on the pixel, and the area array CCD sensor outputs a two-dimensional coordinate of the point.
The laser ranging sensor is arranged right above a navigation line which is preset on the hydraulic physical model of the self-propelled ship model, and the self-propelled ship model can navigate and pass right below the laser ranging sensor; the laser emitting direction of the laser ranging sensor is vertical to a still water horizontal plane of the hydraulic physical model; the laser ranging sensor can be arranged according to the position relation with the hydraulic physical model by adopting various existing installation devices, such as: a horizontal support rod with the length direction parallel to a still water horizontal plane of the hydraulic physical model and perpendicular to the width direction of the hydraulic physical model is arranged right above the hydraulic physical model, and two ends of the horizontal support rod in the length direction respectively extend to two side edges of the hydraulic physical model in the width direction; two ends of the horizontal supporting rod in the length direction are respectively provided with a vertical supporting rod which is perpendicular to the length direction of the hydraulic physical model and perpendicular to the horizontal supporting rod; two ends of the vertical supporting rod in the length direction are respectively fixed on the horizontal supporting rod and two side edges of the hydraulic physical model in the width direction; the laser ranging sensor is fixed on the horizontal support rod and is positioned right above a navigation track line which is preset on the hydraulic physical model of the self-propelled ship model. The bearing structure that horizontal support pole and vertical support pole are constituteed is firm, avoids laser range finding sensor to rock, guarantees that the measuring accuracy is high.
The laser ranging sensor is used for measuring the vertical distance from a pixel on the area array CCD passing through the position right below the laser ranging sensor to the laser ranging sensor and triggering the area array CCD to measure the two-dimensional coordinate of the pixel passing through the position right below the laser ranging sensor, and only the horizontal coordinate in the two-dimensional coordinate is used when the sinking amount of the longitudinal section of the self-propelled ship model is calculated; the vertical distance from the pixel to the laser ranging sensor is the comprehensive effect of sinking, pitching and transversely inclining the self-propelled ship model in the vertical direction.
The laser ranging sensor is connected with the upper computer through the communication module and used for sending the measured vertical distance of each pixel on the area array CCD to the upper computer;
the area array CCD is connected with an upper computer through a communication module and used for sending two-dimensional coordinates (only horizontal coordinates are used) of each pixel on the area array CCD obtained through measurement to the upper computer;
and the upper computer is used for calculating the actual sinking amount of the longitudinal section of the self-propelled ship model according to the measured vertical distance and two-dimensional coordinates (only horizontal coordinates are used here) from each pixel on the area array CCD to the laser ranging sensor. Through the device, the heave change in the self-propelled ship model motion process is measured in real time by using the vertical laser ranging sensor, the change of the two-dimensional coordinate of the laser measuring point is tracked by combining the two-dimensional area array CCD, and the heave change of the self-propelled ship model is corrected to the longitudinal section of the self-propelled ship model so as to calculate and obtain the actual subsidence of the self-propelled ship model.
The communication module is a wireless communication module. The wireless communication module can adopt various wireless communication modules such as bluetooth, WIFI, Lora antenna to communicate, prefers following wireless communication module in this embodiment: the wireless communication module comprises a wireless signal transmission device I connected with the laser ranging sensor, a wireless signal transmission device II connected with the area array CCD and a wireless signal receiver connected with the upper computer, the laser ranging sensor sends the vertical distance of each pixel on the area array CCD which is measured by the laser ranging sensor and passes through the laser ranging sensor to the wireless signal receiver through the wireless signal transmission device I, the area array CCD sends the measured horizontal coordinate of each pixel on the area array CCD which passes through the laser ranging sensor and passes through the area array CCD to the wireless signal receiver through the wireless signal transmission device II, and the wireless signal receiver sends the received signal to the upper computer. Above-mentioned wireless communication module simple structure, low cost, and use wireless communication module to avoid the interference of wire communication to the ship model navigation of navigating oneself, and than wire communication, the navigation of ship model of navigating oneself and the water in the water conservancy project physical model do not have the interference to wireless communication, and wireless communication mode is more reliable.
Correspondingly, as shown in fig. 2, the invention provides a method for measuring the sinking amount of the longitudinal section of the self-propelled ship model in the hydraulic physical model test, which comprises the following steps:
s1: as shown in fig. 3, a two-dimensional coordinate system of the area array CCD is established: in the forward direction of the self-propelled ship model, a two-dimensional coordinate system of the area array CCD is established by taking the right rear point of the area array CCD as an original point, taking the line behind the area array CCD as a transverse axis, taking the direction in which the right side line of the area array CCD points to the left side line of the area array CCD as the positive direction of the transverse axis, taking the right side line of the area array CCD as a longitudinal axis and taking the direction in which the bow of the self-propelled ship model points to the stern as the positive direction of the longitudinal axis; the positive direction of the self-propelled ship model is the direction in which the bow of the self-propelled ship model points to the stern of the self-propelled ship model and is parallel to the length direction of the self-propelled ship model; fig. 3 is a schematic diagram of a two-dimensional coordinate system of the area array CCD in a hydrostatic state of the hydraulic physical model. Under the ideal condition, if the self-propelled ship model has no transverse inclination and longitudinal inclination in the motion process and only has sinking change, each pixel of the CCD plane sinks by the same amount. In the actual motion process of the self-propelled ship model, transverse inclination and longitudinal inclination can be generated, so that the sinking amount of each point pixel on the CCD plane is inconsistent. The two-dimensional coordinate system of the area array CCD changes along with the transverse inclination and/or the longitudinal inclination of the self-propelled ship model.
S2: under the hydrostatic state of the hydraulic physical model, the distance h from the plane where the area array CCD is located to the laser ranging sensor is obtained through the measurement of the laser ranging sensor0(ii) a Because each pixel of the CCD plane sinks by the same amount in the still water state, the vertical distance from the pixel under the laser ranging sensor to the laser ranging sensor is measured by the laser ranging sensor and is the level of the area array CCD in the still water stateThe distance of the facet to the laser ranging sensor.
S3: presetting a route of a self-propelled ship model on the hydraulic physical model; the preset self-propelled ship model route is preset in an artificial regulation mode.
S4: the self-navigation ship model sails on the hydraulic physical model along a preset air route and passes through the position under the laser ranging sensor (in the process, the self-navigation ship model can incline, namely, heeling and/or pitching), the laser ranging sensor emits laser to sequentially sweep a group of pixels on the area array CCD, and the vertical distance h from the group of pixels to the laser ranging sensor is measurediAnd triggering the area array CCD to measure and obtain the two-dimensional coordinates (x) of the group of pixelsi，yi) In the embodiment, the method for remotely controlling the sailing of the self-propelled ship model and the circuit and the mechanical structure of the remotely controlled self-propelled ship model are the prior art, and the description is omitted, in the actual operation, only the existing device for remotely controlling the self-propelled ship model and other corresponding products need to be purchased directly, the remote control device which needs to be installed on the self-propelled ship model is installed on the self-propelled ship model, the circuit for remotely controlling the self-propelled ship model and other corresponding products do not need to be designed additionally, and the installation method is also the prior art, and will not be described in detail herein. The laser scans a group of pixels on the area array CCD, and the laser can be incident and emergent from the edge line of each direction of the area array CCD, for example, the laser is incident to the area array CCD from the left edge line of the area array CCD in the positive direction of the self-propelled ship model, and is emergent from the front edge line of the area array CCD in the positive direction of the self-propelled ship model after scanning a plurality of pixels.
Wherein h isiRepresents the vertical distance x from the ith pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCDiAnd yiRespectively representing the abscissa and ordinate of the ith pixel passing through the laser ranging sensor on the area array CCD, wherein i is equal to1,2, …, N; n represents the total pixel number of the area array CCD scanned by the laser; in this embodiment, it is assumed that the sampling frequencies of the laser ranging sensor and the area array CCD sensor are both f, and when the ship model moves to the area array CCD when the laser measuring point just enters, the two sensors are triggered to sample simultaneously. And when the laser measuring point exits the area array CCD, stopping sampling by the two sensors at the same time. As shown in FIG. 4, the movement path of the laser measuring point is shown as AB in FIG. 4. Laser is incident to the area array CCD sensor to form a laser measuring point C, and the horizontal inclination angle is small, so that the plane coordinate of the pixel at the point C is the plane coordinate (x) of the point Cc,yc). Furthermore, when the area array CCD measures and obtains the abscissa of the pixel, the ordinate y of the pixel is also measured and obtainedi(ii) a Wherein, yiAnd the vertical coordinate of the ith pixel passing through the right lower part of the laser ranging sensor on the area array CCD is represented.
S5: upper computer receiving h0、(xi，yi) And hiAccording to h0、(xi，yi) And hiAnd calculating the actual sinking amount of the longitudinal section of the self-propelled ship model. In this embodiment, pixels swept by the laser are calculated by using the AB line in fig. 4. By the method, the heave change in the self-propelled ship model motion process is measured in real time by using the vertical laser ranging sensor, the change of the two-dimensional coordinate of the laser measuring point is tracked by combining the two-dimensional area array CCD, and the heave change of the self-propelled ship model is corrected to the longitudinal section of the self-propelled ship model so as to calculate and obtain the actual subsidence of the self-propelled ship model.
The step S5 includes calculating an actual sinking amount at the longitudinal section of the bow of the self-propelled ship model and an actual sinking amount at the longitudinal section of the stern of the self-propelled ship model;
the actual sinking amount of the longitudinal section of the bow of the self-propelled ship model can be obtained by correcting the vertical distance when the laser measuring point enters the CCD, and the calculation formula of the actual sinking amount of the longitudinal section of the bow of the self-propelled ship model is as follows:
wherein,. DELTA.h1Showing the actual sinkage, h, at the longitudinal section of the bow of the self-propelled ship model1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor on the area array CCD to the laser ranging sensor is represented, namely the vertical distance from the pixel on the area array CCD positioned at the longitudinal section of the ship bow of the self-propelled ship model to the laser ranging sensor; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor is shown in a still water state; x is the number of1The horizontal coordinate of the pixel which passes through the position right below the laser ranging sensor on the 1 st area array CCD is shown, namely the horizontal coordinate of the pixel on the area array CCD at the longitudinal section of the ship bow of the self-propelled ship model; l isxThe width size of the area array CCD is shown; beta represents the transverse inclination angle in the process of the navigation movement of the self-propelled ship model; (1) in the formula h1-h0And the vertical distance correction quantity when the laser measuring point enters the CCD is shown.
The calculation formula of the actual sinking amount at the longitudinal section of the stern of the self-propelled ship model is as follows:
wherein,. DELTA.hNShowing the actual amount of sinking, h, in longitudinal section at the stern of the self-propelled ship modelNThe vertical distance from the Nth pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented, namely the vertical distance from the last 1 pixel passing through the position right below the laser ranging sensor on the area array CCD to the laser ranging sensor is represented, namely the vertical distance from the pixel on the area array CCD located at the longitudinal section at the stern of the self-propelled ship model to the laser ranging sensor; x is the number ofNAnd the abscissa of the pixel passing through the position right below the laser ranging sensor on the Nth area array CCD is shown, namely the abscissa of the last pixel passing through the position right below the laser ranging sensor on the area array CCD, namely the abscissa of the pixel on the area array CCD at the longitudinal section at the stern of the self-propelled ship model.
The calculation formula of the beta is as follows:
wherein h isNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNThe abscissa representing the pixel passing right below the laser ranging sensor on the Nth of the area array CCD, i.e. the abscissa, h, of the last 1 pixel passing right below the laser ranging sensor on the area array CCD1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor in a still water state is represented; x is the number of1And the abscissa represents the pixel on the area array CCD, which passes through the position right below the laser ranging sensor at the 1 st position.
(1) The derivation and expansion of equations (3) is calculated as follows:
calculation of first, pitch
The pitch angle α during the course of a self-propelled ship model can be expressed as:
α<0 indicates that the bow sinkage is greater than the stern, alpha>0 means that the bow sinkage is less than the stern, and α -0 means that no trim occurs; l isyThe length dimension of the area array CCD, namely the dimension of the area array CCD in the direction of the longitudinal axis, is a known quantity; h isNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor is represented;
calculation of two, heeling
The heeling beta during the navigation of the self-propelled ship model can be expressed as follows:
beta is taken as the reference of the central axis of the ship body (the central axis is parallel to the length direction of the self-propelled ship model)<0 denotes the self-propelled ship model rotating counterclockwise (left leaning) around the central axis, beta>0 means that the model of the vessel is rotating clockwise (right roll) around the central axis, and β ═ 0 means that no heeling has occurred; wherein h isNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNRepresents the abscissa h of the Nth pixel passing through the laser ranging sensor on the area array CCD1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor in a still water state is represented; x is the number of1And the abscissa of the pixel which passes through the position right below the laser ranging sensor on the area array CCD is shown on the area array CCD.
Thirdly, calculating the sinking amount of the longitudinal section
The length of the area array CCD is small, the self-propelled ship model moves the transverse inclination within a certain distance of the CCD length and can be considered to be not changed, and the sinking amount of the longitudinal section of the ship head can be obtained by correcting the vertical distance when the laser measuring point enters the CCD:
wherein,. DELTA.h1Showing the actual sinkage, h, at the longitudinal section of the bow of the self-propelled ship model1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor is represented; x is the number of1The abscissa represents the pixel which passes through the position right below the laser ranging sensor on the 1 st area array CCD; l isxThe width dimension of the area array CCD, namely the dimension of the area array CCD in the direction of the horizontal axis, is a known quantity; beta represents the transverse inclination angle of the self-propelled ship model in the process of sailing; (1) in the formula h1-h0And the vertical distance correction quantity when the laser measuring point enters the CCD is shown.
The sinking amount of the stern longitudinal section can be obtained by correcting the vertical distance when the laser measuring point exits from the CCD:
wherein,. DELTA.hNShowing the actual amount of sinking, h, in longitudinal section at the stern of the self-propelled ship modelNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNAnd the abscissa of the pixel passing through the position right below the laser ranging sensor on the Nth area array CCD is shown. (2) In the formula hN-h0And the vertical distance correction quantity when the laser measuring point exits the area array CCD is represented.
Fourthly, calculating the navigation speed of the self-propelled ship model
The instantaneous two-dimensional motion speed of the self-propelled ship model can be expressed as follows:
v＝(f·(xi+1-xi),f·(yi+1-yi)) (5)
wherein x isi+1And xiRespectively representing the abscissa of the pixel which is the (i + 1) th pixel and the pixel which passes through the position right below the laser ranging sensor on the area array CCD on a two-dimensional coordinate system of the area array CCD, wherein the pixel which is the (i + 1) th pixel and the pixel which passes through the position right below the laser ranging sensor are adjacent pixels; y isi+1And yiRespectively represents the ordinate of the i +1 th pixel and the i th pixel passing through the right lower part of the laser ranging sensor on the area array CCD, f represents the sampling frequency of the laser ranging sensor and the area array CCD, and the adjacent sampling time is
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. The utility model provides a measuring device of hydraulic physics model test self-propelled ship model longitudinal section deflection which characterized in that: the system comprises a self-propelled ship model, an area array CCD, a laser ranging sensor, a communication module and an upper computer;
the self-propelled ship model is a hydraulic physical model test self-propelled ship model with a remote control self-propelled function;
the area array CCD is arranged on the upper surface of the self-propelled ship model, and the plane of the area array CCD is perpendicular to the longitudinal section of the self-propelled ship model and the middle section of the self-propelled ship model; the central axis of the area array CCD in the length direction is positioned on the plane of the longitudinal section of the self-propelled ship model;
the laser ranging sensor is arranged right above a route preset on the hydraulic physical model by the self-propelled ship model, and the self-propelled ship model can navigate and pass right below the laser ranging sensor; the laser emitting direction of the laser ranging sensor is vertical to a still water horizontal plane of the hydraulic physical model;
the laser ranging sensor is used for measuring the vertical distance from the pixel on the area array CCD passing through the position right below the laser ranging sensor to the laser ranging sensor and triggering the area array CCD to measure the two-dimensional coordinate of the pixel passing through the position right below the laser ranging sensor;
the laser ranging sensor is connected with the upper computer through the communication module and used for sending the measured vertical distance of each pixel on the area array CCD to the upper computer;
the area array CCD is connected with an upper computer through a communication module and used for sending the two-dimensional coordinates of each pixel on the area array CCD obtained through measurement to the upper computer;
the upper computer is used for calculating the actual sinking amount of the longitudinal section of the self-propelled ship model according to the measured vertical distance and two-dimensional coordinates from each pixel on the area array CCD to the laser ranging sensor;
the communication module is a wireless communication module.
2. A method for measuring the sinking amount of a longitudinal section of a self-propelled ship model in a hydraulic physical model test, which is suitable for the device of claim 1, and is characterized in that: the method comprises the following steps:
s1: establishing a two-dimensional coordinate system of the area array CCD: in the forward direction of the self-propelled ship model, a two-dimensional coordinate system of the area array CCD is established by taking the right rear point of the area array CCD as an original point, taking the line behind the area array CCD as a transverse axis, taking the direction in which the right side line of the area array CCD points to the left side line of the area array CCD as the positive direction of the transverse axis, taking the right side line of the area array CCD as a longitudinal axis and taking the direction in which the bow of the self-propelled ship model points to the stern as the positive direction of the longitudinal axis; the positive direction of the self-propelled ship model is the direction in which the bow of the self-propelled ship model points to the stern of the self-propelled ship model and is parallel to the length direction of the self-propelled ship model;
s2: under the hydrostatic state of the hydraulic physical model, the distance h from the plane where the area array CCD is located to the laser ranging sensor is obtained through the measurement of the laser ranging sensor0；
S3: presetting a route of a self-propelled ship model on the hydraulic physical model;
s4: the self-propelled ship model sails on the hydraulic physical model along a preset route and passes through the position under the laser ranging sensor, the laser ranging sensor emits laser to sequentially scan a group of pixels on the area array CCD, and the vertical distance h from the group of pixels to the laser ranging sensor is measurediAnd triggering the area array CCD to measure and obtain the two-dimensional coordinates (x) of the group of pixelsi，yi)；
Wherein h isiRepresents the vertical distance x from the ith pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCDiAnd yiRespectively representing the abscissa and the ordinate of the ith pixel passing through the position right below the laser ranging sensor on the area array CCD, wherein i is 1,2, … and N; n represents the total pixel number of the area array CCD scanned by the laser;
s5: upper computer receiving h0、(xi，yi) And hiAccording to h0、(xi，yi) And hiAnd calculating the actual sinking amount of the longitudinal section of the self-propelled ship model.
3. The method for measuring the sinking amount of the longitudinal section of the self-propelled ship model in the hydraulic physical model test according to claim 2, wherein the method comprises the following steps: the step S5 includes calculating an actual sinking amount at the longitudinal section of the bow of the self-propelled ship model and an actual sinking amount at the longitudinal section of the stern of the self-propelled ship model;
the calculation formula of the actual sinking amount at the longitudinal section of the bow of the self-propelled ship model is as follows:
wherein,. DELTA.h1Showing the actual sinkage, h, at the longitudinal section of the bow of the self-propelled ship model1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor is shown in a still water state; x is the number of1The abscissa represents the pixel which passes through the position right below the laser ranging sensor on the 1 st area array CCD; l isxThe width size of the area array CCD is shown; beta represents the transverse inclination angle in the process of the navigation movement of the self-propelled ship model;
the calculation formula of the actual sinking amount at the longitudinal section of the stern of the self-propelled ship model is as follows:
wherein,. DELTA.hNShowing the actual amount of sinking, h, in longitudinal section at the stern of the self-propelled ship modelNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNAnd the abscissa of the pixel passing through the position right below the laser ranging sensor on the Nth area array CCD is shown.
4. The method for measuring the sinking amount of the longitudinal section of the self-propelled ship model in the hydraulic physical model test according to claim 3, wherein the method comprises the following steps: the calculation formula of the beta is as follows:
wherein h isNThe vertical distance from the Nth pixel passing through the right lower part of the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; x is the number ofNRepresents the abscissa h of the Nth pixel passing through the laser ranging sensor on the area array CCD1The vertical distance from the 1 st pixel passing through the position right below the laser ranging sensor to the laser ranging sensor on the area array CCD is represented; h is0The distance between the plane where the area array CCD is located and the laser ranging sensor in a still water state is represented; x is the number of1And the abscissa represents the pixel on the area array CCD, which passes through the position right below the laser ranging sensor at the 1 st position.
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