CN102817388A - Dynamic positioning and dynamic tracking system of drag suction dredger and control method thereof - Google Patents
Dynamic positioning and dynamic tracking system of drag suction dredger and control method thereof Download PDFInfo
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Abstract
The invention relates to a dynamic positioning and dynamic tracking system of a drag suction dredger and a control method thereof, which belong to the technical field of engineering ship automation. The dynamic positioning and dynamic tracking system of the drag suction dredger comprises a control panel, a programmable logic controller, a heading measurement device, a position measurement device, a wind direction and wind speed measurement device, a ship motion attitude measurement device, a propeller and a steering engine, wherein the control panel is connected with and controls the programmable logic controller, the heading measurement device, the position measurement device, the wind direction and wind speed measurement device, the ship motion attitude measurement device, the propeller and the steering engine. The positioning and dynamic tracking control method aims to detect actual positions and target positions, actual motion directions and target directions of the drag suction dredger and a drag head, controls a thruster on the dredger so as to enable the dredger to be kept at required positions and headings, and accurately controls dredging operation. The dynamic positioning and dynamic tracking system and the control method thereof have the advantages of simple structure, convenience in operation, accurate control, multiple modes, high dredging efficiency and the like.
Description
Technical field
The invention belongs to the engineering ship technical field of automation, particularly relate to a kind of trailing suction hopper dredger dynamic positioning and dynamic tracking system and control method thereof.
Background technology
At present, along with the fast development of economic globalization, the scale of engineerings such as the waterway construction at harbour, marine reclamation land, rivers and lakes regulation is increasing, and also increasingly high to construction period, the dredging efficient that how to improve dredge boat just seems particularly urgent.Existing trailing suction hopper dredger power is location and dynamic tracking system not; Can't realize the position of trailing suction hopper dredger or drag head and the control of track; Greatly reduce the efficient and the precision of dredging operation, the technical barrier of precise dredging such as become ditching groove, backfill operation, hole.
Summary of the invention
The technical problem of the present invention for existing in the solution known technology, and a kind of trailing suction hopper dredger dynamic positioning and dynamic tracking system and control method thereof are provided.
One of the object of the invention provide a kind of have simple in structure, easy to operate, accurately control, pattern is various, the trailing suction hopper dredger dynamic positioning and the dynamic tracking system of characteristics such as dredging efficient height.
The technical scheme that trailing suction hopper dredger dynamic positioning of the present invention and dynamic tracking system are taked for solution prior art problem is:
Trailing suction hopper dredger dynamic positioning and dynamic tracking system are characterized in: dynamic positioning and dynamic tracking system comprise console, programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Console connects control programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Carry out dynamic positioning of vessels and dynamic tracking, accurately control the raking, sucking mud digging ship dredging operation.
Trailing suction hopper dredger dynamic positioning of the present invention and dynamic tracking system can also adopt following technical measures:
Described trailing suction hopper dredger dynamic positioning and dynamic tracking system; Be characterized in: console comprises control computer, mode conversion switch, control button, indicator lamp and control crank, has signals collecting, signal filtering, programmable logic controller (PLC) and propeller thrust to distribute control software and human interface software in the control computer; Course Measuring Unit is a gyro compass.
Two of the object of the invention provides precise dredging operation such as a kind ofly be suitable for ditching groove, backfill operation, hole, have easy to operate, accurately control, pattern is various, the trailing suction hopper dredger dynamic positioning and the dynamic tracing control method of characteristics such as dredging efficient height.
The technical scheme that trailing suction hopper dredger dynamic positioning of the present invention and dynamic tracing control method are taked for solution prior art problem is:
Trailing suction hopper dredger dynamic positioning and dynamic tracing control method are characterized in: console connects control programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Console is gathered Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring information; The physical location of detection trailing suction hopper dredger and drag head and target location, actual motion direction and goal direction; Influence according to wind, wave and stream external disturbance power calculates the size that returns to the target location required thrust, thruster on the PLC controls dredge boat; Produce corresponding pitch and rudder angle command signal; Make dredge boat keep desired position and course, carry out trailing suction hopper dredger dynamic positioning and dynamic tracking, realize that accurate tracking dredges.
Trailing suction hopper dredger dynamic positioning of the present invention and dynamic tracing control method can also adopt following technical measures:
Described trailing suction hopper dredger dynamic positioning and dynamic tracing control method; Be characterized in: console accurately detects the physical location and the target location deviation of trailing suction hopper dredger and drag head; Programmable logic controller (PLC) carries out thrust to thruster on the dredge boat and distributes, and makes dredge boat carry out that automatic course made good is dredged, tracking is dredged, fix a point to dredge, tracking is thrown mud, rainbow bow spray dredging operation.
Described trailing suction hopper dredger dynamic positioning and dynamic tracing control method are characterized in: automatically the course made good pattern of dredging is that trailing suction hopper dredger is accurately dredged according to the course bearing of dredging that sets, and promotes rake pipe, the end of dredging when dredging terminal point.
Described trailing suction hopper dredger dynamic positioning and dynamic tracing control method are characterized in: to be trailing suction hopper dredger according to the trajectory precise dynamic of dredging that sets follow the tracks of the tracking pattern of dredging dredges, and when the terminal point of trajectory is dredged in design, promotes rake pipe, the end of dredging.
Described trailing suction hopper dredger dynamic positioning and dynamic tracing control method are characterized in: the fixed point pattern of dredging is the accurately reciprocal forward/rewind along short distance design course line of trailing suction hopper dredger, and the rake dredging operation that hoists automatically/put is until the end of dredging of this narrow and small distance.
Described trailing suction hopper dredger dynamic positioning and dynamic tracing control method are characterized in: it is that trailing suction hopper dredger is followed the tracks of according to the throwing mud track precise dynamic that sets and thrown mud that tracking is thrown the mud pattern, closes Ni Men during to the terminal point of throwing the mud track, throws mud and finishes.
Described trailing suction hopper dredger dynamic positioning and dynamic tracing control method; Be characterized in: to be trailing suction hopper dredger accurately control boats and ships to parameter and dredge according to setting position and bow rainbow bow jet mould formula; Three kinds of mode of operations are arranged under this pattern: the one, accurately control the trailing suction hopper dredger directed bow spray operation of fixing a point; The 2nd, accurately control trailing suction hopper dredger according to the setting track and carry out camber line bow spray operation, the 3rd, accurately control trailing suction hopper dredger according to setup parameter and accomplish covering of the fan bow spray operation.
Advantage and good effect that the present invention has are:
Trailing suction hopper dredger dynamic positioning and dynamic tracking system and control method thereof are owing to adopted brand-new technology scheme of the present invention; Compared with prior art; The present invention can make that trailing suction hopper dredger is used for ditching groove, backfill operation, precise dredging such as hole, and improves dredging efficient.Make simple modification in application software with being provided with, just can be widely used on the special boats such as cable laying ship, pipe laying barge, crane ship.
Description of drawings
Fig. 1 is that trailing suction hopper dredger dynamic positioning of the present invention and dynamic tracking system are formed structural representation;
Fig. 2 is the automatic course made good of the present invention pattern diagram of dredging;
Fig. 3 is the dynamic tracking tracking of the present invention pattern diagram of dredging.
Among the figure: 1-motion, 2-anerovane, 3-gyro compass, 4-log, 5-DGPS; The 6-depth-sounder, 7-DP active station, 8-Industrial Personal Computer (IPC), 9-programmable logic controller (PLC), 10-left side adjustable spiral slurry and left rudder; Right adjustable spiral slurry of 11-and right standard rudder, 12-bow sideways-acting propeller, the 13-stem to, 14-course made good, 15-dredge boat; 16-harrows pipe, the 17-drag head, and the 18-track line, 19-design navigation channel line, 20-designs the course line; The 21-dredge boat, 22-harrows pipe, 23-drag head, 24-track line, 25-design navigation channel line.
The specific embodiment
For further understanding technology contents of the present invention, characteristics and effect, the following examples of giving an example now, and conjunction with figs. specifies as follows:
Trailing suction hopper dredger dynamic positioning and dynamic tracking system comprise console, programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Console connects control programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Carry out dynamic positioning of vessels and dynamic tracking, accurately control the raking, sucking mud digging ship dredging operation.
Details are as follows for the concrete structure of present embodiment:
Trailing suction hopper dredger dynamic positioning and dynamic tracking system are made up of console, programmable logic controller (PLC) (PLC), attitude of ship motion measurement unit, wind direction and wind velocity measuring system, course measuring unit, position measuring system (DGPS), dredging track display system, left adjustable pitch propeller (CPP), right adjustable pitch propeller (CPP), left rudder machine, right standard rudder machine and bow sideways-acting propeller.
1. console is made up of control computer, mode conversion switch, control button, indicator lamp, control crank, operation keyboard, printer and uninterrupted power source.The control computer is selected for use and is ground magnificent IPC610 high-performance Industrial Personal Computer (IPC), and as the DP/DT master controller, master controller contains control software and human interface software such as signals collecting, signal filtering, controller, thrust distribution.
2. programmable logic controller (PLC) is selected Siemens S7-400 for use, as the actuator of system, and control button, indicator lamp, control crank, propeller, steering wheel etc.
3. attitude of ship motion measurement unit is selected Kongsberg Seatex MRU-Z for use, measures waving, jolt and surging of boats and ships.
4. the wind direction and wind velocity measuring system is selected the ultrasonic anemoclinograph of GILL WindObserver II for use, measuring wind and wind direction, wind speed precision 2% 12m/s, wind speed resolution ratio 0.01m/s, wind direction precision ± 2 °, 1 ° of wind direction resolution ratio.
5. the course measuring unit adopts gyro compass, selects An Xiusi STD-22 for use, measure the boats and ships bow to, bow to precision ± 0.1 °.
6. position measuring system adopts difference global global position system (DGPS), measures vessel position, selects Trimble SPS461 type RTK pattern for use, has 1 centimetre positioning accuracy.
7. dredging the track display system is that dredge boat provides dredging track and the monitoring of dredging section, also to dynamic positioning and dynamic tracking system the trajectory of dredging that presets is provided simultaneously.
Embodiment 2
Trailing suction hopper dredger dynamic positioning and dynamic tracing control method; Referring to embodiment 1 each ingredient, console connects control programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Console is gathered Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring information; The physical location of detection trailing suction hopper dredger and drag head and target location, actual motion direction and goal direction; Influence according to wind, wave and stream external disturbance power calculates the size that returns to the target location required thrust, thruster on the PLC controls dredge boat; Produce corresponding pitch and rudder angle command signal; Make dredge boat keep desired position and course, carry out trailing suction hopper dredger dynamic positioning and dynamic tracking, realize that accurate tracking dredges.
Console accurately detects the physical location and the target location deviation of trailing suction hopper dredger and drag head; Programmable logic controller (PLC) carries out thrust to thruster on the dredge boat and distributes, and makes dredge boat carry out that automatic course made good is dredged, tracking is dredged, fix a point to dredge, tracking is thrown mud, rainbow bow spray dredging operation.Automatically the course made good pattern of dredging is that trailing suction hopper dredger is accurately dredged according to the course bearing of dredging that sets, and promotes rake pipe, the end of dredging when dredging terminal point.To be trailing suction hopper dredger according to the trajectory precise dynamic of dredging that sets follow the tracks of the tracking pattern of dredging dredges, and when the terminal point of trajectory is dredged in design, promotes rake pipe, the end of dredging.The fixed point pattern of dredging is the accurately reciprocal forward/rewind along short distance design course line of trailing suction hopper dredger, and the rake dredging operation that hoists automatically/put is until the end of dredging of this narrow and small distance.It is that trailing suction hopper dredger is followed the tracks of according to the throwing mud track precise dynamic that sets and thrown mud that tracking is thrown the mud pattern, closes Ni Men during to the terminal point of throwing the mud track, throws mud and finishes.To be trailing suction hopper dredger accurately control boats and ships to parameter and dredge according to setting position and bow rainbow bow jet mould formula; Three kinds of mode of operations are arranged under this pattern: the one, accurately control the trailing suction hopper dredger directed bow spray operation of fixing a point; The 2nd, accurately control trailing suction hopper dredger according to the setting track and carry out camber line bow spray operation, the 3rd, accurately control trailing suction hopper dredger according to setup parameter and accomplish covering of the fan bow spray operation.
The specific operation process of present embodiment:
Trailing suction hopper dredger dynamic positioning and dynamic tracking system constantly detect physical location and the target location of trailing suction hopper dredger and drag head, the deviation of actual motion direction and goal direction through position and course measuring system; Influence according to external disturbance power such as wind, wave, streams calculates the size that returns to the target location required thrust; Each thruster on the dredge boat is carried out thrust to be distributed; Produce corresponding pitch and rudder angle command signal, make dredge boat keep desired position and bow to.
After selecting " course made good is dredged automatically " functional mode; Setting dredge track to; Dynamic positioning and dynamic tracking system calculate the size that returns to the target location required thrust according to the influence of external disturbance power such as the deviation of position measuring system signal and target location and wind, wave, stream; Each thruster on the dredge boat is carried out thrust distribute, produce the control corresponding command signal, control boats and ships automatically and dredge track to carrying out dredging operation according to design.Because in the process of dredging, rake arm resistance is a fast-changing big resistance, dynamic positioning and dynamic tracking system compensate rake arm resistance automatically, and dredge boat is dredged according to design speed.Trailing suction hopper dredger navigation promotes rake pipe, the end of dredging when dredging terminal point.This pattern is applicable to that wind, stream cause stem to course deviation when big more greatly.
After selecting " tracking is dredged " functional mode, in dredging track display system, set the trajectory that to dredge, be sent to dynamic positioning and dynamic tracking system through Ethernet after being converted into the engineering coordinate.In the time of near trailing suction hopper dredger navigates by water the dredging trajectory starting point that extremely designs; After " tracking is dredged " operation page or leaf of dynamic positioning and dynamic tracking system is gone up selection trace point (trace point is any point on left drag head or right drag head or the ship), put rake, select sign on then.Dynamic positioning and dynamic tracking system calculate the size that returns to the target location required thrust according to the influence of external disturbance power such as the deviation of position measuring system signal and target location and wind, wave, stream; Each thruster on the dredge boat is carried out thrust to be distributed; Produce the control corresponding command signal, the control ship's navigation is carried out dredging operation on design dredging track.Because in the process of dredging, rake arm resistance is a fast-changing big resistance, dynamic positioning and dynamic tracking system compensate rake arm resistance automatically, and dredge boat is dredged according to design speed.The trailing suction hopper dredger navigation promotes rake when extremely designing the terminal point of dredging track and manages the end of dredging.
After selecting " fixed point is dredged " functional mode, in dredging track display system, set the trajectory that to dredge, be sent to dynamic positioning and dynamic tracking system through Ethernet after being converted into the engineering coordinate.In the time of near trailing suction hopper dredger navigates by water the dredging trajectory starting point that extremely designs; " fixed point is dredged " operation page or leaf at dynamic positioning and dynamic tracking system is gone up the number of times of selecting trace point (trace point is any point on left drag head or right drag head or the ship) and back and forth dredging, and selects sign on then.Dynamic positioning and dynamic tracking system calculate the size that returns to the target location required thrust according to the influence of external disturbance power such as the deviation of position measuring system signal and target location and wind, wave, stream; Each thruster on the dredge boat is carried out thrust distribute, produce the control corresponding command signal.Ship is beginning to reach the standard grade when dredging, and system sends to dredging control system and transfers drag head to projected depth, and beginning is dredged along the design course line.When arriving the design air terminal; System sends the drag head that hoists to certain position to dredging control system; Sending after dredging control system carries out to allow the reversing order to give dynamic positioning and dynamic tracking system; Dynamic positioning and dynamic tracking system control boats and ships repeat the next one and dredge the cycle according to the design navigation back cutting mud starting point that falls back.This pattern is applicable to that trailing suction hopper dredger is swept shallow some construction or the construction operation in narrow and small location.
After selecting " tracking throwing mud " functional mode, in dredging track display system, set and throw the mud trajectory, be sent to dynamic positioning and dynamic tracking system through Ethernet after being converted into the engineering coordinate.When near trailing suction hopper dredger navigation to the trajectory starting point of design, go up selection trace point (trace point is any point on the ship) at " tracking throwing mud " operation page or leaf of dynamic positioning and dynamic tracking system and begin to throw mud.Dynamic positioning and dynamic tracking system calculate the size that returns to the target location required thrust according to the influence of external disturbance power such as the deviation of position measuring system signal and target location and wind, wave, stream; Each thruster on the dredge boat is carried out thrust to be distributed; Produce the control corresponding command signal, the control ship's navigation is thrown on the mud track in design and is thrown the mud operation.Close Ni Men when trailing suction hopper dredger navigates by water to the terminal point of throwing the mud track, throw mud and finish.
After selecting " spray of rainbow bow " functional mode, three kinds of mode of operations can be arranged: pattern 1, pattern 2, mode 3.
During " spray of the rainbow bow " pattern 1 of selection, accomplish the directed bow spray of fixed point operation.On " spray of rainbow bow " pattern 1 operation page or leaf, be provided with position and bow to; Click start button; The influence that dynamic positioning and dynamic tracking system produce external disturbance power such as jet power during according to the deviation of position measuring system signal and target location and wind, wave, stream and bow spray calculates the size that returns to the target location required thrust, each thruster on the dredge boat is carried out thrust distribute, and produces the control corresponding command signal; The control boats and ships keep accommodation and bow to constant, accomplish the directed bow spray of fixed point operation.
During " spray of the rainbow bow " pattern 2 of selection, accomplish camber line bow spray operation.On " spray of rainbow bow " pattern 2 operation page or leaf, be provided with position, ship center of rotation (stem, ship center, ship stern), bow to excursion and bow to stepping rate; Click start button; The influence that dynamic positioning and dynamic tracking system produce external disturbance power such as jet power during according to the deviation of position measuring system signal and target location and wind, wave, stream and bow spray calculates the size that returns to the target location required thrust; Each thruster on the dredge boat is carried out thrust to be distributed; Produce the control corresponding command signal, the control boats and ships keep the accommodation and rotatablely move, and accomplish camber line bow spray operation.
When selecting " spray of rainbow bow " mode 3, accomplish covering of the fan bow spray operation.On " spray of rainbow bow " mode 3 operation page or leaf, original position, final position, ship center of rotation (stem, ship center, ship stern), stem are set to excursion and rotary speed; Click start button; The influence that dynamic positioning and dynamic tracking system produce external disturbance power such as jet power during according to the deviation of position measuring system signal and target location and wind, wave, stream and bow spray calculates the size that returns to the target location required thrust; Each thruster on the dredge boat is carried out thrust to be distributed; Produce the control corresponding command signal, make dredge boat according to desired location and bow to moving, accomplish the covering of the fan bow and spray operation.
Claims (9)
1. trailing suction hopper dredger dynamic positioning and dynamic tracking system, it is characterized in that: dynamic positioning and dynamic tracking system comprise console, programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Console connects control programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Carry out dynamic positioning of vessels and dynamic tracking, accurately control the raking, sucking mud digging ship dredging operation.
2. according to described trailing suction hopper dredger dynamic positioning of claim 1 and dynamic tracking system; It is characterized in that: console comprises control computer, mode conversion switch, control button, indicator lamp and control crank, has signals collecting, signal filtering, programmable logic controller (PLC) and propeller thrust to distribute control software and human interface software in the control computer; Course Measuring Unit is a gyro compass.
3. according to described trailing suction hopper dredger dynamic positioning of claim 1 and dynamic tracing control method, it is characterized in that: console connects control programmable logic controller (PLC), Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring, propeller and steering wheel; Console is gathered Course Measuring Unit, position-measurement device, wind direction and wind velocity measurement mechanism, ship motion attitude measuring information; The physical location of detection trailing suction hopper dredger and drag head and target location, actual motion direction and goal direction; Influence according to wind, wave and stream external disturbance power calculates the size that returns to the target location required thrust, thruster on the PLC controls dredge boat; Produce corresponding pitch and rudder angle command signal; Make dredge boat keep desired position and course, carry out trailing suction hopper dredger dynamic positioning and dynamic tracking, realize that accurate tracking dredges.
4. according to described trailing suction hopper dredger dynamic positioning of claim 3 and dynamic tracing control method; It is characterized in that: console accurately detects the physical location and the target location deviation of trailing suction hopper dredger and drag head; Programmable logic controller (PLC) carries out thrust to thruster on the dredge boat and distributes, and makes dredge boat carry out that automatic course made good is dredged, tracking is dredged, fix a point to dredge, tracking is thrown mud, rainbow bow spray dredging operation.
5. according to described trailing suction hopper dredger dynamic positioning of claim 4 and dynamic tracing control method; It is characterized in that: the course made good pattern of dredging is that trailing suction hopper dredger is accurately dredged according to the course bearing of dredging that sets automatically; Promote the rake pipe when dredging terminal point, the end of dredging.
6. according to described trailing suction hopper dredger dynamic positioning of claim 4 and dynamic tracing control method; It is characterized in that: the tracking pattern of dredging is that trailing suction hopper dredger is dredged according to the trajectory precise dynamic tracking of dredging that sets;, design promotes the rake pipe when dredging the terminal point of trajectory, the end of dredging.
7. according to described trailing suction hopper dredger dynamic positioning of claim 4 and dynamic tracing control method; It is characterized in that: the fixed point pattern of dredging is the accurately reciprocal forward/rewind along short distance design course line of trailing suction hopper dredger; Automatically the rake dredging operation that hoists/put is until the end of dredging of this narrow and small distance.
8. according to described trailing suction hopper dredger dynamic positioning of claim 4 and dynamic tracing control method; It is characterized in that: it is that trailing suction hopper dredger is followed the tracks of throwing mud according to the throwing mud track precise dynamic that sets that tracking is thrown the mud pattern; Close Ni Men during to the terminal point of throwing the mud track, throw mud and finish.
9. according to described trailing suction hopper dredger dynamic positioning of claim 4 and dynamic tracing control method, it is characterized in that: to be trailing suction hopper dredger accurately control boats and ships to parameter and dredge according to setting position and bow rainbow bow jet mould formula; Three kinds of working methods are arranged under this pattern: the one, accurately control the trailing suction hopper dredger directed bow spray operation of fixing a point; The 2nd, accurately control trailing suction hopper dredger according to the setting track and carry out camber line bow spray operation, the 3rd, accurately control trailing suction hopper dredger according to setup parameter and accomplish covering of the fan bow spray operation.
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| CN103129729A (en) * | 2013-01-28 | 2013-06-05 | 中交天津航道局有限公司 | Thrust distribution optimizing method for power positioning system of dredge boat |
| CN103303434A (en) * | 2013-05-22 | 2013-09-18 | 中交天津航道局有限公司 | Dynamic positioning and dynamic tracking model test system for drag suction dredger |
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| CN103552680A (en) * | 2013-11-12 | 2014-02-05 | 中交天津航道局有限公司 | Fan-shaped bow jet positioning and control method for trailing suction hopper dredger |
| CN104818740A (en) * | 2015-03-16 | 2015-08-05 | 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 |
| 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 |
| CN106199664A (en) * | 2016-08-24 | 2016-12-07 | 广西新港湾工程有限公司 | A kind of GPS RTK and the engineering ship localization method of radio compass composition |
| 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 |
| CN107604962A (en) * | 2017-08-28 | 2018-01-19 | 中交广州航道局有限公司 | Rake inhales ship and blows male female head rapid abutting joint system without auxiliary stem |
| CN109183884A (en) * | 2018-09-30 | 2019-01-11 | 苏州凯财速诚电子科技有限公司 | A kind of intelligent control and efficiency collaboration optimization system based on dredging robot |
| CN113089745A (en) * | 2021-04-12 | 2021-07-09 | 上海交通大学 | Bow blowing male-female head intelligent butt joint system and method for trailing suction ship without auxiliary ship |
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