CN102518161B - 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 Dredging Technology field, particularly a kind of direct elevation control dredging method for dredge ship.
Background technology
In conventional dredging works, the method that dredging vessel generally all adopts sounding survey benchmark to control is carried out dredging operation.Horizontal navigation and location adopt GPS global positioning system to unify dredge boat construction electrical patterns system that boats and ships carry, computer screen shows in real time and monitors plane excavation position; Severity control adopts on-the-spot tidal observation in real time as height datum and boats and ships Depth control system, and according to the target cutting depth data of artificial input and tidal level at that time, control dredging facility is transferred to excavation depth.
The method adopting in current conventional dredging works need to be carried out the conversion of sounding survey datum and engineering design elevation, owing to being subject to tidal level, divide the impact of the factors such as band, stormy waves stream and dredging facility deadweight (as drag head, reamer head and grab bucket etc.) variation, therefore control deviation is larger, is difficult to guarantee stable workmanship.
Summary of the invention
For solving the larger problem of control deviation in the dredging works of above-mentioned existence, the invention discloses a kind of direct elevation control dredging method for dredge ship, can make the precision of high process control under water reach Centimeter Level requirement.
A direct elevation control dredging method for dredge ship, comprises the following steps:
RTK movement station and process status sensor are set on dredge boat; By RTK movement station, gather satellite data and RTK datum station data, the status data of dredging in process by the collection of process status sensor;
The status data gathering according to process status sensor, and the satellite data of RTK movement station collection and RTK datum station data are carried out to real-time carrier phase difference processing, obtain the locator data of dredging facility;
According to the locator data of the dredging facility obtaining, calculate dredging facility height datum;
According to the dredging facility height datum calculating, the excavation position of location dredging facility.
Compared with prior art, direct elevation control dredging method for dredge ship provided by the present invention, has adopted based on real-time dynamic carrier phase difference technology, overcomes error component of the prior art, can realize construction ship off-lying sea automatic fixing depth and dredge.The present invention can be applicable in dredge boat construction, location technology based on real-time dynamic carrier phase difference and on-the-spot tidal observation technology are in real time combined, reached round-the-clock elevation location navigation high seas working, elevation location precision can reach Centimeter Level, meets the demand of subaqueous construction location completely.Not only greatly improve dredging efficiency and workmanship, and met the construction requirement that exceeds conventional height accuracy index standard.
Accompanying drawing explanation
Fig. 1 is the schematic flow diagram of direct elevation control dredging method for dredge ship of the present invention;
Fig. 2 is the direct elevation schematic diagram of direct elevation control dredging method for dredge ship of the present invention.
The specific embodiment
For further setting forth the technological means that the present invention takes and the effect obtaining, below in conjunction with accompanying drawing and preferred embodiment, the technical scheme to direct elevation control dredging method for dredge ship proposed by the invention, knows and complete description.
Using and in grab dredger, apply direct elevation control dredging method for dredge ship provided by the present invention as specific embodiment.The control system of dredging is by a series of process status sensors on grab dredger, RTK movement station, data acquisition module, dredging facility monitors module, dredging facility motion-control module and electromechanical integration driver element form, data acquisition module receives construction ship and the status data of dredging facility and the data of RTK movement station in the site operation being gathered by process status sensor, and calculate height datum according to related algorithm model, dredging facility supervision module is revised and is compensated height datum, calculate and describe out construction ship dredging facility space coordinates accurately, motion-control module is by controlling construction ship electromechanical integration driver element, exactly the dredging facility of construction ship is put into specify and excavates position.
Refer to Fig. 1, the schematic flow diagram of direct elevation control dredging method for dredge ship of the present invention.
S101 arranges RTK movement station and process status sensor on dredge boat; By RTK movement station, gather satellite data and RTK datum station data, the status data of dredging in process by the collection of process status sensor;
RTK movement station refers to real-time dynamic carrier phase difference movement station, is called for short RTK movement station.
According to dredging works project construction region actual conditions, RTK datum station is set on the bank or utilizes the region of constructing in dredging works project existing with reference to RTK datum station, lay the abnormal net of high process control.
Process status sensor, means: tidal level receiver, compass, spatial attitude sensor, drinking water pressure sensor, radar level gauge, 1cm resolution ratio laser angular displacement measurement sensor, DC voltage and current sensor, depth-sounder, load sensor, level angle sensor, bridge inclination sensor, stroke and approach switch and angular displacement sensor etc.
According to dredging works project construction region actual conditions, some observation stations of tidal level are on the bank set or utilize the existing tidal level observation station, region of constructing in dredging works project, lay tidal level observational network.
The status data that S102 gathers according to process status sensor, and the satellite data of RTK movement station collection and RTK datum station data are carried out to real-time carrier phase difference processing, obtain the locator data of dredging facility;
The effect of drinking water pressure sensor, spatial attitude sensor is: follow the tracks of because stormy waves stream affects hull and shake, cause the deviation of dredging facility aspect the degree of depth; Tracking is because of in cycle operation process, and dredging facility, because the fully loaded or unloaded changes in weight causing causes stem position to move up and down, affects the deviation of depthkeeping; The depthkeeping deviation that the drauht variation that tracking affects because of hull water, oil consumption causes.
The effect of depth-sounder is: measure the depth of water from depth-sounder to seabed tap point.
The effect of laser angular displacement measurement sensor is: detect dredging facility fixing depth device in former known technology and be greater than 10cm because of pulsimeter metering-orifice bit interval, and produce the depthkeeping bias contribution that is greater than 10cm thus.By increasing 1cm resolution ratio laser angular displacement measurement sensor, substitute former measuring transducer device, make the pulse measurement deviation in fixing depth device be less than 2cm.
The effect of radar level gauge is: detect RTK antenna to the vertical height on moment sea level.
The effect of compass is: detect indication construction ship relative earth reference direction in horizontal plane.
The effect of load sensor is: detect the variation of the load factors such as diesel engine row pressure or supercharging, hydraulic fluid pressure or wirerope tension force.
DC voltage and current sensor effect are: the output torque size that detects dredging facility power-equipment.
The effect of level angle sensor is: detect construction ship and cause the impact that hull tilts on accommodation elevation because of other factors.
The effect of bridge inclination sensor is: detect dredging facility boom hoisting luffing angle in construction and change the impact on the current height measurement precision of dredging facility.
The effect of stroke and approach switch is: the wirerope that detects dredging facility boom hoisting in construction stretches because of the impact of load variations on the current height measurement precision of dredging facility.
The effect of angular displacement sensor is: detect lifting radius and the impact of facility deadweight on the current height measurement precision of dredging facility of dredging facility in construction.
Construction ship is provided with tidal level data receiver, and tidal level data receiver receives the tidal level data of construction area, and by tide level data transmission to data acquisition module.
Construction ship is provided with RTK movement station, boats and ships RTK movement station is when gathering satellite data by RTK gps system receiver antenna, again the Data-Link signal from RTK datum station being separated to mediation real-time analysis processes, and in RTK movement station to two groups of data that gather and receive, carry out the processing of real-time carrier phase difference, draw Centimeter Level space three-dimensional locator data.And RTK gps signal is transferred to data acquisition module.
The data that provide in conjunction with RTK movement station, and the status data of dredging in process by the collection of process status sensor, obtain the locator data of dredging facility.
S103, according to the locator data of the dredging facility obtaining, calculates dredging facility height datum;
Refer to Fig. 2, the direct elevation schematic diagram of direct elevation control dredging method for dredge ship of the present invention.In figure, the parameter of each Digital ID representative is as follows:
1-1-1RTK gps system receiver antenna; 1-1-2 depth-sounder; 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; 1-2-3 depth datum; 1-2-4WGS-84 ellipsoid; 1-2-5 sea bed face; The geodetic height H of 1-3-1GPS 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(of tap point or depth-sounder to the current depth of water of tap point); 1-3-4 figure carries depth of water h; The geodetic height P of 1-3-5 seabed tap point; 1-3-6RTK antenna and moment sea level vertical height DR; 1-3-7 construction ship drinking water D.
In construction ship RTK antenna installation site, the vertical lower of (central point of face is just in time overlooked in the subpoint position of antenna at dredging facility, both plane coordinatess overlap), installs radar level gauge.By radar level gauge, detect, 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.
By process status sensors such as drinking water pressure, spatial attitudes, detect workboat body space attitude data D (1-3-7), as one of input variable of data acquisition module.
Data acquisition module, use location technology and the on-the-spot tidal observation technology in real time of the distant report of tidal level of real-time dynamic carrier phase difference GPS (RTK GPS) simultaneously, by RTK technology and on-the-spot tidal observation technology complementation in real time, and RTK signal and the error correction between tidal observation signal in real time, realize real-time online, continuous, stable, effectively accurate elevation control procedure.
By computer control algorithm, redundant computation obtains dredging facility height datum.
Data acquisition module obtains the geodetic height H (1-3-1) of gps system receiver antenna through RTK three-dimensional adjustment to RTK gps signal, if while utilizing RTK movement station to obtain geodetic height, utilize the tidal level data acquisition geodetic height H of tidal level receiver, and the depth datum geodetic height model in the engineering region of utilize setting up, with interpolation method, obtain the geodetic height HD (1-3-2) of the depth datum of any point.Coordinate (1-1-2) to the current depth of water HC (1-3-3) of tap point, set up out and solve the mathematic(al) mode h=HD-H+HC+D+DR that figure carries depth of water h, thereby realized GPS geodetic height, turn H and be changed to figure and carry depth of water h (1-3-4) data.
In dredging works waters certain measuring point time become water level field and provide control 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, utilize simulation, divide with method, time difference method and least square fitting method and calculate by single station, two stations, three stations and the multistation model based on network of triangle division, obtain the tidal data of this measuring point, i.e. moment sea level (1-2-1).
Data acquisition module, after receiving RTK gps signal and tidal level data, extracts original elevation message information from gather RTK gps signal.And computer is differentiated it: when with RTK gps signal, extract elevation information do not produce indivedual hops (continuous, round and smooth) time, use RTK gps signal to resolve height datum; When the elevation information of RTK gps signal produces indivedual hop, use tidal level data correction actual measurement altitude data, then resolve height datum.
Utilize correct RTK benchmark altitude data, check tidal level station and transmit minute band measured deviation that data are possible, to guarantee precision and the validity of tidal level measured value, as the alternative height datum of RTK benchmark abnormal time section.In addition, by two class height datums are carried out to real-time numeric ratio pair, judge the legitimacy of height datum data this moment.By computer control algorithm, realized redundancy and obtained dredging facility height datum.
S104, according to the dredging facility height datum calculating, locates the excavation position of dredging facility.
According to the dredging facility height datum calculating and default 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 to motion control, the excavation position of location dredging facility.
Construction ship is in operation process, and owing to being surged, the impact of the many factors such as ocean current and wind direction, its attitude of ship is also change at random, and this variation meeting is from the precision of the aspect effect elevation control procedures such as pitching, rolling and driftage.
Dredging facility monitors module, utilizes the monitoring parameter of each process status sensor, is calculated and shown the real time position of construction ship dredging facility construction by algorithm model, monitors dredging facility construction overall process.And the height datum data of utilizing data acquisition module to provide, real-time correction and the compensation of the monitored data providing in conjunction with all kinds of monitoring sensors to height datum, draws accurately real-time dredging facility geographical space coordinate.According to the status data of dredging in process of process status sensor collection, revise in real time the excavation position deviations of dredging facility.
By spatial attitude sensor sensing unit and angle rate of change sensing unit, with this, respond to and detect the three dimensional change of ship appearance.Special in the effect owing to surging, construction ship produces to hang down with surging and swings.Construction ship hangs down to swinging and makes height datum produce deviation.Spatial attitude sensor monitors the vertical testing result of swinging of module input boats and ships to dredging facility, by dredging facility, monitors that module 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 1cm resolution ratio laser angular displacement measurement sensor, obtain the long measured value of dredging facility hanger rope cable that certainty of measurement is less than 2cm, as one of data acquisition module input variable, reduce the contribution amount of dredging plant to Depth control deviation.
By drinking water pressure sensor detection construction ship drinking water data, compensate because the fully loaded or unloaded changes in weight causing of dredging facility causes stem position to move up and down, and the drauht affecting because of hull water, oil consumption changes the depthkeeping deviation causing.
By level angle sensor, bridge inclination sensor, stroke and approach switch, angular displacement sensor etc., detect data, compensate the dredging facility elevation variation causing because of factors such as hull inclination, dredging facility boom hoisting brake inertia, the stretching of dredging facility hoist steel cable, dredging facility lifting radius and speed, hull masses.
Dredging facility monitors module, by 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; Through measuring its precision of radar level gauge of verification, can reach 0.1% of range; Through measuring its precision of drinking water pressure sensor of verification, can reach 0.1% of range; Comprehensive analytical error matching, affects the precision of depth measurement height datum within the scope of Centimeter Level.In sum, the height datum providing by data acquisition module and dredging facility monitor correction and the compensation that module is carried out for height datum, can calculate and be described in to construct to have the depth measurement height datum of high confidence level under sea conditions.
Dredging facility motion-control module, by electromechanical integration driver element, carries out the accurate setting movement operation of construction ship dredging facility.
Construction ship electromechanical integration driver element, means: the band type brake apparatus of control dredging facility, disc brake apparatus, digital proportional valve, stop valve, reversal valve, hydraulic power transmission equipment etc.Wherein, control the control device of dredging facility: band type brake apparatus and disc brake apparatus, in the movement travel of dredging facility wirerope, the instruction of accepting motion-control module is opened and closed, ends, and makes dredging facility accurately implement starting, brake.Control the control device of dredging facility: digital Billy's valve, stop valve and reversal valve etc., in the movement travel of dredging facility wirerope, the instruction of accepting 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 the position of facility in location before, according to the dredge boat gathering and the status data of dredging facility, need to locate the plane of dredging facility and excavate position.Utilize the detection data of the process status sensors such as RTK movement station, compass to carry out plane survey (x, the y) location of dredging facility.
Dredging facility motion-control module, utilize dredging facility to monitor the actual elevation (x of module monitors dredging facility, y, z), according to construction requirement, by electromechanical integration driver element, control the three-dimensional motion direction and the construction action that drive dredging facility, particularly control in the vertical direction the construction action that drives dredging facility.
By load sensor, detect data, catch: after dredging facility is transferred brake inertial impulse, wirerope tensile stress, dredging facility closure has been dredged in mud layer, promote dredging facility and leave the mud face status datas such as sudden load change of moment, using one of input variable as automatic controlling system algorithm, overburden safety monitoring.Dredging facility motion-control module records the hardpan elevation after storage excavation simultaneously.And refresh current section display graphics interface.
By DC voltage and current sensor, indirectly obtain the output torque size of dredging facility power-equipment, as one of input variable of dredging facility moving control module for controlling algorithm.
By the plane positioning data of RTK GPS and the field data that monitoring of working condition sensor cohort is aboard ship installed, automated system provides plane excavation track, hull spatial attitude and the Condition Monitoring Data interface of dredging facility excavation under water, can realize graphical, digitlization construction.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any modification of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in claim protection domain of the present invention.
Claims (4)
1. a direct elevation control dredging method for dredge ship, is characterized in that, comprises the following steps:
RTK movement station and process status sensor are set on dredge boat; By RTK movement station, gather satellite data and RTK datum station data, the status data of dredging in process by the collection of process status sensor; Wherein, RTK movement station is real-time dynamic carrier phase difference movement station;
The status data gathering according to process status sensor, and the satellite data of RTK movement station collection and RTK datum station data are carried out to real-time carrier phase difference processing, obtain the locator data of dredging facility;
According to the locator data of the dredging facility obtaining, by computer control algorithm, redundant computation dredging facility height datum:
By 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; By depth-sounder, obtaining depth-sounder is HC to the depth of water of tap point; By drinking water pressure sensor, obtaining dredge boat drinking water data is D; By radar level gauge obtain RTK movement station antenna and moment sea level vertical height data be DR; According to following formula, calculating dredging facility height datum is h:h=HD-H+HC+D+DR;
According to the dredging facility height datum calculating, the excavation position of location dredging facility.
2. direct elevation control dredging method for dredge ship as claimed in claim 1, it is characterized in that, in the described step that RTK movement station and process status sensor be set on dredge boat, described process status sensor comprise following one or more: tidal level receiver, compass, spatial attitude sensor, drinking water pressure sensor, radar level gauge, laser angular displacement measurement sensor, DC voltage and current sensor, depth-sounder, load sensor, level angle sensor, bridge inclination sensor and angular displacement sensor.
3. direct elevation control dredging method for dredge ship as claimed in claim 1, is characterized in that, described according to the dredging facility height datum calculating, and the step of the excavation position of location dredging facility, comprises the following steps:
According to the dredging facility height datum calculating and default 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 to motion control, the excavation position of location dredging facility.
4. direct elevation control dredging method for dredge ship as claimed in claim 1, it is characterized in that, described according to the dredging facility height datum calculating, the step of the excavation position of location dredging facility, comprise the following steps: according to the status data of dredging in process of process status sensor collection, revise in real time the excavation position deviations of dredging facility.
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| CN104818740B (en) * | 2015-03-16 | 2017-04-19 | 天津港航工程有限公司 | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger |
| CN106193169B (en) * | 2016-08-22 | 2018-11-27 | 中交天航港湾建设工程有限公司 | A kind of deep construction method of cutter suction dredger near limit digging |
| CN106199664B (en) * | 2016-08-24 | 2018-08-28 | 广西新港湾工程有限公司 | A kind of engineering ship localization method of GPS-RTK and radio compass composition |
| CN109138018B (en) * | 2018-09-07 | 2021-08-20 | 中交广州航道局有限公司 | Grab bucket control method and system, computer equipment and computer storage medium |
| CN109208676B (en) * | 2018-09-13 | 2021-04-20 | 中交广州航道局有限公司 | Method and system for controlling dredging, computer device, and computer storage medium |
| CN112081167B (en) * | 2020-09-08 | 2022-07-05 | 镇江市亿华系统集成有限公司 | Control method for high-flatness grab bucket ship foundation trench fine excavation operation |
| 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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