CN102518161A - Direct elevation control dredging method for dredge ship - Google Patents
Direct elevation control dredging method for dredge ship Download PDFInfo
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Abstract
The invention discloses a direct elevation control dredging method for a dredge ship, which comprises the following steps: arranging an RTK (Real Time Kinematic) mobile station and a process state sensor on the dredge ship; acquiring the positioning data of a dredger according to the RTK mobile station and the process state sensor; calculating the elevation criterion of the dredger according to the positioning data of the dredger; and positioning the dredging position of the dredger according to the elevation criterion. As the positioning technology based on real-time dynamic carrier phase difference and the on-site real-time tidal observation technology are combined, the method has the advantages that all-weather elevation positioning navigated far sea operation is realized, and the elevation positioning accuracy can reach the centimeter level. Therefore, the dredging efficiency and the engineering quality are greatly improved, and the construction requirements higher than the conventional elevation precision index specification are met.
Description
Technical field
The invention belongs to the dredging works technical field, the direct Height control of the particularly a kind of dredge boat method of dredging.
Background technology
In conventional dredging works, dredging vessel generally all adopts the method for sounding survey benchmark control to carry out dredging operation.Horizontal navigation and location adopt the GPS global positioning system to unify dredge boat construction electrical patterns system that boats and ships carry, computer screen shows in real time and monitor the plane and excavate the position; Degree of depth control adopts the on-site real-time tidal observation as height datum and boats and ships depthkeeping control system, according to the target cutting depth data of manual work input and tidal level at that time, controls dredging facility and transfers to excavation depth.
The method that adopts in the present conventional dredging works need be carried out the conversion of sounding survey datum and engineering design elevation; Divide the influence of factors such as band, stormy waves stream and dredging facility deadweight (like drag head, reamer head and grab bucket etc.) variation owing to receive tidal level; Therefore control deviation is bigger, is difficult to guarantee stable workmanship.
Summary of the invention
Be the bigger problem of control deviation in the dredging works that solves above-mentioned existence, the invention discloses the direct Height control of a kind of dredge boat method of dredging, can making under water, the precision of Height control reaches the Centimeter Level requirement.
The direct Height control of a kind of dredge boat method of dredging may further comprise the steps:
RTK movement station and process status sensor are set on dredge boat;
Through RTK movement station and process status sensor, obtain the locator data of dredging facility;
According to the locator data of the dredging facility that obtains, calculate the dredging facility height datum;
According to the dredging facility height datum that calculates, the excavation position of location dredging facility.
Compared with prior art, the direct Height control of the dredge boat provided by the present invention method of dredging has adopted based on Real-time and Dynamic carrier phase difference technology, overcomes error component of the prior art, and the boats and ships off-lying sea automatic fixing depth of can realizing constructing is dredged.The present invention can be applicable in the dredge boat construction; Combine location technology and on-site real-time tidal observation technology based on Real-time and Dynamic carrier phase difference; Reached round-the-clock elevation location navigation high seas working; The elevation location precision can reach Centimeter Level, satisfies the demand of subaqueous construction location fully.Not only improve dredging efficiency and workmanship greatly, and satisfied the construction requirement that exceeds conventional height accuracy index standard.
Description of drawings
Fig. 1 is the dredge schematic flow diagram of method of the direct Height control of dredge boat of the present invention;
Fig. 2 is the dredge direct elevation schematic diagram of method of the direct Height control of dredge boat of the present invention.
The specific embodiment
Be further set forth the present invention technological means of being taked and the effect that obtains,,, know and complete description the dredge technical scheme of method of the direct Height control of dredge boat proposed by the invention below in conjunction with accompanying drawing and preferred embodiment.
Dredge method as specific embodiment in grab dredger, to use the direct Height control of dredge boat provided by the present invention.The control system of dredging is made up of a series of process status sensors, RTK movement station, data acquisition module, dredging facility monitor module, dredging facility motion-control module and the electromechanical integration driver element on the grab dredger; Data acquisition module receives construction boats and ships and the status data of dredging facility and the data of RTK movement station in the site operation of being gathered by the process status sensor; And according to related algorithm Model Calculation height datum; The dredging facility monitor module is revised and is compensated height datum; Calculate and describe out construction boats and ships dredging facility space coordinates accurately; Motion-control module is through control construction boats and ships electromechanical integration driver element, and the dredging facility of the boats and ships of will constructing exactly is put into to specify and excavates the position.
See also Fig. 1, the dredge schematic flow diagram of method of the direct Height control of dredge boat of the present invention.
S101 is provided with RTK movement station and process status sensor on dredge boat;
The RTK movement station is meant Real-time and Dynamic carrier phase difference movement station, is called for short the RTK movement station.
According to dredging works project construction zone actual conditions, the RTK datum station is set on the bank or utilizes in the dredging works project construction region existing with reference to the RTK datum station, lay the unusual net of Height control.
The process status sensor means: tidal level receiver, compass, spatial attitude sensor, drinking water pressure sensor, radar level gauge, 1cm resolution ratio laser angle displacement measurement sensor, DC voltage and current sensor, depth-sounder, load sensor, level angle sensor, bridge inclination sensor, stroke reach near switch and angular displacement sensor etc.
According to dredging works project construction zone actual conditions, some observation stations of tidal level on the bank are set or utilize construction existing tidal level observation station, region in the dredging works project, lay the tidal level observational network.
S102 obtains the locator data of dredging facility through RTK movement station and process status sensor;
The effect of drinking water pressure sensor, spatial attitude sensor is: follow the tracks of because of stormy waves stream influences hull and shake, cause the deviation of dredging facility aspect the degree of depth; Tracking is because of in the cycle operation process, and dredging facility influences the deviation of depthkeeping because of the fully loaded or unloaded weight change that causes causes the stem position to move up and down; Tracking changes the depthkeeping deviation that causes because of the drauht of hull water, oil consumption influence.
The effect of depth-sounder is: measure the depth of water from depth-sounder tap point to the seabed.
The effect of laser angle displacement measurement sensor is: detect in the former known technology the dredging facility fixing depth device because of pulsimeter metering-orifice bit interval greater than 10cm, and produce depthkeeping bias contribution thus greater than 10cm.Through increasing 1cm resolution ratio laser angle displacement measurement sensor, substitute former measuring transducer device, make pulse measurement deviation in the fixing depth device less than 2cm.
The effect of radar level gauge is: the vertical height that detects RTK antenna to moment sea level.
The effect of compass is: detect indication construction boats and ships relative earth reference direction in horizontal plane.
The effect of load sensor is: detect the variation of diesel engine row pressure or load factors such as supercharging, hydraulic fluid pressure or wirerope tension force.
DC voltage and current sensor effect are: the output torque size that detects the dredging facility power-equipment.
The effect of level angle sensor is: detect the construction boats and ships and tilt to the influence of accommodation elevation because of other factors cause hull.
The effect of bridge inclination sensor is: dredging facility boom hoisting luffing angle changes the influence to the current height measurement precision of dredging facility in the detection construction.
The effect that stroke reaches near switch is: the wirerope that detects dredging facility boom hoisting in the construction stretches because of the influence of load variations to the current height measurement precision of dredging facility.
The effect of angular displacement sensor is: the lifting radius and the facility that detect dredging facility in the construction are conducted oneself with dignity to the influence of the current height measurement precision of dredging facility.
The construction boats and ships are provided with the tidal level data receiver, and the tidal level data receiver receives the tidal level data of construction area, and with the tidal level transfer of data to data acquisition module.
The construction boats and ships are provided with the RTK movement station; Boats and ships RTK movement station is when gathering satellite data through RTK gps system receiver antenna; Handle separate the mediation real-time analysis from the data chain signal of RTK datum station again; And in the RTK movement station two groups of data to gathering and receiving, carry out the processing of real-time carrier phase difference, draw Centimeter Level space three-dimensional locator data.And the RTK gps signal transferred to data acquisition module.
The data that provide in conjunction with the RTK movement station, and, obtain the locator data of dredging facility through the process status sensor acquisition status data in the process of dredging.
S103 calculates the dredging facility height datum according to the locator data of the dredging facility that obtains;
See also Fig. 2, the dredge direct elevation schematic diagram of method of the direct Height control of dredge boat of the present invention.The parameter of each Digital ID representative is following among the figure:
1-1-1 RTK gps system receiver antenna; The 1-1-2 depth-sounder; The 1-1-3 dredging facility; 1-1-4 dredging facility hoist steel cable; 1-2-1 moment sea level; The 1-2-2 sounding plane of reference; The 1-2-3 depth datum; 1-2-4 WGS-84 ellipsoid; 1-2-5 sea bed face; The geodetic height H of 1-3-1 gps system receiver antenna; The geodetic height HD of 1-3-2 depth datum; 1-3-3 digital terrain fitting algorithm obtains the current depth of water HC (or depth-sounder is to current depth of water of tap point) of tap point; 1-3-4 figure carries depth of water h; The geodetic height P of 1-3-5 seabed tap point; 1-3-6 RTK antenna and moment the sea level vertical height DR; 1-3-7 construction drauht D.
Vertical lower in construction boats and ships RTK antenna installation site (central point of face is just in time overlooked in the subpoint position of antenna at dredging facility, promptly both plane coordinatess overlap) is installed radar level gauge.Detect through radar level gauge, obtain vertical height DR (1-3-6) data on RTK antenna (1-1-1) and moment sea level (1-2-1), as one of input variable of data acquisition module.
Detect workboat body space attitude data D (1-3-7) through process status sensors such as drinking water pressure, spatial attitudes, as one of input variable of data acquisition module.
Data acquisition module; Use location technology and the distant newspaper on-site real-time of the tidal level tidal observation technology of Real-time and Dynamic carrier phase difference GPS (RTK GPS) simultaneously; Through RTK technology and on-site real-time tidal observation technology complementation; And the error correction between RTK signal and real-time tidal observation signal, realize real-time online, continuous, stable, effectively accurate Height control process.
Through computer control algorithm, redundant computation obtains the dredging facility height datum.
Data acquisition module obtains the geodetic height H (1-3-1) of gps system receiver antenna through the RTK three-dimensional adjustment to the RTK gps signal; If when utilizing the RTK movement station to obtain geodetic height; Then utilize the tidal level data of tidal level receiver to obtain geodetic height H; And utilize the regional depth datum geodetic height model of setting up of engineering, obtain the geodetic height HD (1-3-2) of the depth datum of any point with interpolation method.Cooperate (1-1-2) current depth of water HC (1-3-3), set up out and find the solution the mathematic(al) mode h=HD-H+HC+D+DR that figure carries depth of water h, thereby realized that GPS geodetic height commentaries on classics H is changed to figure and carries depth of water h (1-3-4) data to tap point.
In the dredging works waters certain measuring point the time become the water level field and control be provided by the water-level observation sequence of one or more tidal stations; The construction area tidal level data that data collecting module collected tidal level data receiver provides; The multistation Model Calculation of utilizing simulation, dividing band method, time difference method and least square fitting method to pass through single station, two stations, three stations and divide based on network of triangle; Obtain the tidal data of this measuring point, i.e. moment sea level (1-2-1).
Data acquisition module extracts original elevation message information from gather the RTK gps signal after receiving RTK gps signal and tidal level data.And computer is differentiated it: when jumping points (continuous, slyness) so that not producing of RTK gps signal extraction elevation information is indivedual, use the RTK gps signal to resolve height datum; When the elevation information generation of RTK gps signal is jumped point individually, use the tidal level data correction to survey altitude data, resolve height datum then.
Utilize correct RTK benchmark altitude data, check the possible branch band measured deviation of tidal level station Data transmission, to guarantee the precision and the validity of tidal level measured value, as the alternative height datum of RTK benchmark abnormal time section.In addition, right through two types of height datums being carried out real-time numeric ratio, judge the legitimacy of height datum data this moment.Promptly, realized redundant acquisition dredging facility height datum through computer control algorithm.
S104 locatees the excavation position of dredging facility according to the dredging facility height datum that calculates.
According to dredging facility height datum that calculates and preset parameters of construction technology, calculate location, the excavation position elevation of dredging facility.According to location, the excavation position elevation of dredging facility, dredging facility is implemented motion control, the excavation position of location dredging facility.
The construction boats and ships in operation process because surged, influence of various factors such as ocean current and wind direction, its attitude of ship also is a change at random, this variation meeting is from the precision of aspect effect Height control processes such as pitching, rolling and driftage.
The dredging facility monitor module utilizes the monitoring parameter of each process status sensor, calculates and show the real time position of construction boats and ships dredging facility construction through algorithm model, keeps watch on the dredging facility construction overall process.And the height datum data of utilizing data acquisition module to provide, the monitored data that provides in conjunction with all kinds of monitoring sensors draws accurately real-time dredging facility geographical space coordinate to the real-time correction and the compensation of height datum.Promptly, revise the excavation position deviations of dredging facility in real time according to the status data in the process of dredging of process status sensor acquisition.
Through spatial attitude sensor sensing unit and angle rate of change sensing unit, respond to and detect the three dimensional change of ship appearance with this.Special being directed against owing to the effect of surging, construction boats and ships produce to hang down with surging swings.The construction boats and ships hang down to swinging and make height datum produce deviation.The spatial attitude sensor hangs down to dredging facility monitor module input boats and ships and swings testing result, and is inclined to one side to the method school of the height value of synchronization with the vertical fluctuating numerical applications of swinging of boats and ships by the dredging facility monitor module.
Through 1cm resolution ratio laser angle displacement measurement sensor, obtain the dredging facility hanger rope cable long measured value of certainty of measurement less than 2cm, as one of data acquisition module input variable, reduce the contribution amount of dredging plant to the depthkeeping control deviation.
Detect the drauht data of constructing through the drinking water pressure sensor, the fully loaded or unloaded weight change that causes causes the stem position to move up and down because of dredging facility in compensation, and the drauht that influences because of hull water, oil consumption changes the depthkeeping deviation that causes.
Detect data through level angle sensor, bridge inclination sensor, stroke and near switch, angular displacement sensor etc., compensation is because of the dredging facility elevation variation that hull tilts, dredging facility boom hoisting brake inertia, dredging facility hoist steel cable stretch, dredging facility lifting radius and factors such as speed, hull mass cause.
The dredging facility monitor module is with radar level gauge monitoring dredging facility arm safe operation minimum angle-of-incidence.
Through measuring the RTK movement station of verification, its precision can reach 1～2ppm; Through measuring the depth-sounder of verification, its limits of error are 0.1% of the actual measurement depth of water; Its precision of radar level gauge through measuring verification can reach 0.1% of range; Its precision of drinking water pressure sensor through measuring verification can reach 0.1% of range; The match of analysis-by-synthesis error, the precision that influences the depth measurement height datum is in the Centimeter Level scope.In sum, height datum that provides through data acquisition module and dredging facility monitor module be to correction and compensation that height datum carried out, can calculate and be described in the depth measurement height datum that can construct and have high confidence level under the sea conditions.
The dredging facility motion-control module through the electromechanical integration driver element, is carried out the accurate setting movement operation of construction boats and ships dredging facility.
Construction boats and ships electromechanical integration driver element means: the brake holding device of control dredging facility, disc brake apparatus, numerical scale valve, stop valve, reversal valve, hydraulic power transmission equipment etc.Wherein, the control device of control dredging facility: brake holding device and disc brake apparatus, in the movement travel of dredging facility wirerope, the instruction of accepting motion-control module is opened and is closed, ends, and makes dredging facility accurately implement starting, brake.The control device of control dredging facility: digital Billy's valve, stop valve and reversal valve etc.; In the movement travel of dredging facility wirerope; The instruction of accepting the dredging facility motion-control module is opened and is closed, stops, and makes dredging facility accurately implement the precise displacement action of different depth.
Preferably, excavate in the location before the position of facility,, need the plane of location dredging facility to excavate the position according to the dredge boat of gathering and the status data of dredging facility.Utilize the detection data of process status sensors such as RTK movement station, compass to carry out the plane survey of dredging facility (x, y) location.
The dredging facility motion-control module; Utilize dredging facility monitor module monitoring dredging facility actual elevation (x, y, z); According to construction requirement; Through the electromechanical integration driver element, control drives the three-dimensional motion direction and the construction action of dredging facility, particularly drives the construction action of dredging facility in vertical direction control.
Detect data through load sensor; Catch: after dredging facility is transferred brake inertial impulse, wirerope tensile stress, dredging facility closure in mud layer and dredged and accomplish; Promote dredging facility and leave the mud face status datas such as sudden load change of moment, will be as one of input variable of automatic controlling system algorithm, overburden safety monitoring.The dredging facility motion-control module writes down the hardpan elevation behind the storage excavation simultaneously.And refresh current section display graphics interface.
Through DC voltage and current sensor, obtain the output torque size of dredging facility power-equipment indirectly, as one of input variable of dredging facility moving control module for controlling algorithm.
Through the plane positioning data of RTK GPS and the field data that monitoring of working condition sensor cohort aboard ship is installed; Automated system provides plane excavation track, hull spatial attitude and the status monitoring of dredging facility excavation under water data interface, can realize graphical, digitlization construction.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of within spirit of the present invention and principle, being done, be equal to replacement and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (7)
1. the direct Height control of dredge boat method of dredging is characterized in that, may further comprise the steps:
RTK movement station and process status sensor are set on dredge boat;
Through RTK movement station and process status sensor, obtain the locator data of dredging facility;
According to the locator data of the dredging facility that obtains, calculate the dredging facility height datum;
According to the dredging facility height datum that calculates, the excavation position of location dredging facility.
2. the direct Height control of the dredge boat as claimed in claim 1 method of dredging is characterized in that, and is said through RTK movement station and process status sensor, obtains the step of the locator data of dredging facility, may further comprise the steps:
Gather satellite data and RTK datum station data through the RTK movement station;
Through the process status sensor acquisition status data in the process of dredging;
According to the status data of process status sensor acquisition, and the satellite data and the RTK datum station data of the collection of RTK movement station are carried out real-time carrier phase difference processing, obtain the locator data of dredging facility.
3. the direct Height control of the dredge boat as claimed in claim 1 method of dredging; It is characterized in that; In the said step that RTK movement station and process status sensor be set on dredge boat, said process status sensor comprise following one or more: tidal level receiver, compass, spatial attitude sensor, drinking water pressure sensor, radar level gauge, laser angle displacement measurement sensor, DC voltage and current sensor, depth-sounder, load sensor, level angle sensor, bridge inclination sensor, stroke and near switch and angular displacement sensor.
4. the direct Height control of the dredge boat as claimed in claim 3 method of dredging; It is characterized in that; The locator data of the dredging facility that said basis is obtained; Calculate the step of dredging facility height datum, may further comprise the steps: through computer control algorithm, redundant computation obtains the dredging facility height datum.
5. the direct Height control of the dredge boat as claimed in claim 4 method of dredging is characterized in that, through computer control algorithm, redundant computation obtains to may further comprise the steps in the step of dredging facility height datum said:
Through RTK movement station or tidal level receiver, obtaining geodetic height is H;
Set up depth datum geodetic height model, the geodetic height that obtains depth datum is HD;
Obtaining depth-sounder through depth-sounder is HC to the depth of water of tap point;
Obtaining dredge boat drinking water data through the drinking water pressure sensor is D;
Through radar level gauge obtain the RTK movement station antenna and moment the sea level the vertical height data be DR;
Calculating the dredging facility height datum according to following formula is h:
h＝HD-H+HC+D+DR。
6. the direct Height control of the dredge boat as claimed in claim 1 method of dredging is characterized in that, and is said according to the dredging facility height datum that calculates, and the step of the excavation position of location dredging facility may further comprise the steps:
According to dredging facility height datum that calculates and preset parameters of construction technology, calculate location, the excavation position elevation of dredging facility;
According to location, the excavation position elevation of dredging facility, dredging facility is implemented motion control, the excavation position of location dredging facility.
7. the direct Height control of the dredge boat as claimed in claim 2 method of dredging; It is characterized in that; Said according to the dredging facility height datum that calculates; The step of the excavation position of location dredging facility may further comprise the steps: according to the status data in the process of dredging of process status sensor acquisition, revise the excavation position deviations of dredging facility in real time.
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| CN114724410A (en) * | 2022-03-16 | 2022-07-08 | 广州中交通信有限公司 | Bridge collision prediction system and method |
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