基于声呐测距的多通道内河船舶吃水深度检测系统

发布时间：2018-04-24 05:10

本文选题：声呐测距 + 多通道　；参考：《杭州电子科技大学》2017年硕士论文

【摘要】：随着浙江省水运业的快速发展,水上交通运输繁忙,船舶搁浅等水上交通事故频繁发生。当吃水深度较大的船舶经过较浅险的河段时,一旦发生搁浅就会严重阻碍其它船舶的水上运输。传统的船舶吃水深度检测方法检测效率较低,测量精度较差,降低了水上管理部门对水上交通的治理效率。因此迫切需要一种新型的船舶吃水深度检测系统,能够自动对行驶的船舶进行吃水深度检测,提高测量精度,帮助水运业管理部门进行水上交通的有效管理。现阶段的工业测深仪多为双通道测深仪,若利用市售的双通道测深仪来搭建多通道船舶吃水深度检测系统,多个测深仪同时工作时,各声呐探头之间的回波干扰现象严重,致使测深仪中不能进行精确的距离计算,导致测距失败。基于以上问题,本文提出了一种基于声呐测距的多通道内河船舶吃水深度检测系统。检测系统中采用声呐测距的原理进行内河船舶的吃水深度检测,利用水底安装法,将声呐探头线阵放置于测量水域河床底部,降低了检测装置受人为因素的影响程度。检测系统中的多个声呐检测通道之间采用分时复用的原理进行轮询检测,消除了多个声呐检测通道同时工作时的回波干扰问题。多通道检测系统利用LabVIEW编写上位机的控制界面,使得测量结果显示直观。本多通道检测系统包括硬件设备与上位机控制软件两部分。硬件设备包括声呐信号发射与接收调理电路以及NI sbRIO-9637嵌入式计算机。声呐信号发射与接收调理电路包括功率放大电路、收发转换电路、带通滤波电路、后级放大电路四部分,主要用于对声呐信号进行功率放大以及对回波信号进行滤波放大等处理。NI sbRIO-9637嵌入式计算机通过以太网与PC上位机连接,上位机软件通过驱动嵌入式计算机上的八路数字输出I/O引脚以及八路模拟输入I/O引脚,来实现八路声呐信号的分时发射与八路回波信号的分时接收。上位机软件分为声呐信号的分时发射算法、回波信号的分时接收算法以及船舶吃水深度计算三个部分。声呐信号的分时发射算法用于驱动嵌入式计算机上的八路数字I/O口轮流输出200KHz的声呐信号;回波信号分时接收算法用于驱动嵌入式计算机上的八路模拟I/O口轮流接收对应检测通道的回波信号;船舶吃水深度检测计算算法利用回波信号中的一次回波信号结合渡越时间法[1],计算船舶的最大吃水深度值。最后通过将硬件设备与上位机软件进行联合调试,对多通道检测系统的测距精度、回波干扰问题以及系统检测时间进行实验研究。实验结果表明:该多通道内河船舶吃水深度检测系统在水深为3.5m的运河水域,测距误差小于4%,水下最小探测距离小于35cm,该方案切实可行,具有一定的推广应用价值。
[Abstract]:With the rapid development of water transportation industry in Zhejiang Province, waterborne traffic accidents occur frequently, such as busy water transportation and stranded ships. When a ship with a higher draught depth passes through a shallow and dangerous reach, grounding will seriously hinder the water transportation of other ships. The traditional ship draft depth detection method has low detection efficiency and poor measuring precision, which reduces the efficiency of water traffic management. Therefore, a new type of ship draft depth detection system is urgently needed, which can automatically detect the draft depth of the moving ship, improve the accuracy of the survey, and help the management department of the shipping industry to manage the water transportation effectively. At this stage, most of the industrial sounders are two-channel sounders. If a multi-channel ship draught depth detection system is built by using the dual-channel sounder sold on the market, the echo interference between sonar probes is serious when several sounders are working at the same time. The result is that the accurate distance calculation can not be carried out in the sounder, which results in the ranging failure. Based on the above problems, this paper presents a multi-channel inland ship draft depth detection system based on sonar ranging. In the detection system, the principle of sonar ranging is used to detect the draught depth of inland river ships, and the sonar probe linear array is placed at the bottom of the river bed in the water area by using the method of underwater installation, which reduces the degree of the influence of human factors on the detection device. In the detection system, the principle of time-sharing and multiplexing is used to detect multiple sonar detection channels, which eliminates the echo interference problem when multiple sonar detection channels are working at the same time. The multi-channel detection system uses LabVIEW to write the control interface of the upper computer, which makes the measurement result display intuitively. The multi-channel detection system consists of hardware equipment and PC control software. The hardware includes sonar signal transmitting and receiving circuit and NI sbRIO-9637 embedded computer. The sonar signal transmitting and receiving conditioning circuit includes four parts: power amplifier circuit, transceiver circuit, bandpass filter circuit, post-stage amplifier circuit. It is mainly used for sonar signal power amplification and echo signal filter amplification. NI sbRIO-9637 embedded computer is connected to PC through Ethernet. Eight-channel digital output I / O pin and 8-channel analog input I / O pin are driven by the upper computer software to realize the time-sharing transmission of the 8-channel sonar signal and the time-sharing reception of the 8-channel echo signal. The software of upper computer is divided into three parts: the time-sharing transmitting algorithm of sonar signal, the time-sharing receiving algorithm of echo signal and the calculation of ship draught depth. The time-sharing algorithm of sonar signal is used to drive the 8-channel digital I / O port on embedded computer to output the sonar signal of 200KHz in turn. The echo signal timesharing algorithm is used to drive the 8-channel analog I / O port on the embedded computer to receive the echo signal of the corresponding detection channel in turn. Calculation algorithm of ship draught depth the maximum draught depth of ship is calculated by using the primary echo signal in the echo signal combined with the transit time method [1]. Finally, the range accuracy, echo interference and detection time of the multi-channel detection system are studied by debugging the hardware and software. The experimental results show that the range error of the system is less than 4 and the minimum underwater detection distance is less than 35 cm. The scheme is feasible and has a certain value of popularization and application.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U693.4

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