CN104880145B - A kind of dredger grab bucket monitoring system - Google Patents
A kind of dredger grab bucket monitoring system Download PDFInfo
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- CN104880145B CN104880145B CN201510361939.5A CN201510361939A CN104880145B CN 104880145 B CN104880145 B CN 104880145B CN 201510361939 A CN201510361939 A CN 201510361939A CN 104880145 B CN104880145 B CN 104880145B
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Abstract
This application provides a kind of dredger grab bucket monitoring system, for detecting the dredger grab bucket working depth, the working depth arrives the vertical range of the water surface for edge in the grab bucket, the dredger includes being used for grab bucket and the rope roll dredged, the grab bucket is connected by cable wire with rope roll, one end of the cable wire is fixed on the rope roll, and the rope roll can export or recycle cable wire to control the grab bucket down or up by rotating, and the monitoring system includes：At least one signal generating module, depth detection module and processing module.It can realize the detection to working depth of grabbing bucket by detecting rope roll working status, the working depth of grab bucket can be accurately obtained, facilitate staff to understand the working status of grab bucket, work efficiency higher.
Description
Technical field
The present invention relates to dredger machinery field, in particular to a kind of dredger grab bucket monitoring system.
Background technology
Dredger can carry out dredging operation in river or ocean, can clear up the objects such as mud in water, realize clear
Manage navigation channel and excavate the operations such as basin, foundation trench.
Grab bucket dredger completes dredging operation by the grab bucket on ship, is needing accurately to control depth of dredging
In operation, the prior art is by representing the Ma Ge of length with being brushed on the cable wire being connected of grabbing bucket, being observed by human eye
Ma Ge come determine grab bucket depth, such depth monitoring clearly very fall behind, it is impossible to accurately know grab bucket work
Depth, makes troubles to mud diging working, and work efficiency is low.
The content of the invention
This application provides a kind of dredger grab bucket monitoring system, it is intended to improves the above problem.
What the application was realized in：
A kind of dredger grab bucket monitoring system, for detecting the dredger grab bucket working depth, the working depth is
Along the vertical range for arriving the water surface in the grab bucket, the dredger includes being used for grab bucket and the rope roll dredged, the grab bucket
It is connected by cable wire with rope roll, one end of the cable wire is fixed on the rope roll, and the rope roll can lead to
Overwinding transfers out or recycles cable wire to control the grab bucket down or up, and the monitoring system includes：
At least one signal generating module, side of at least one signal generating module along the cylinder of the rope roll
Wall edge or drum surface are uniformly arranged, and can be rotated with the rope roll；
Depth detection module, is fixed on and outside the rope roll and position opposite with the sidewall edge of the rope roll
Put, for one first output pulse of generation when a signal generating module passes through the detection module；
Processing module, for receiving the first output pulse, obtains the working depth of the grab bucket.
Coordinated by signal generating module and depth detection module and produce output pulse, obtain working depth.
Further, the first output pulse includes the increased depth increase pulse of characterization working depth and characterization depth
The depth of reduction reduces pulse, when the signal generating module for it is multiple when, adjacent two signal generating modules along cable wire
Reel edge obtains the grab bucket at intervals of a distance interval, the processing module according to the described first output pulse
Working depth includes：
It is working depth benchmark zero point to preset the position contacted with the water surface of grabbing bucket；
Calculate the depth increase pulse received since the working depth benchmark zero point and depth reduces the sum of pulse
Amount；
Increase the work at present depth of the total quantity acquisition grab bucket of pulse and depth reduction pulse according to the depth,
Including：A depth increase pulse is often received, increases a distance interval in working depth benchmark zero point, often receives one
Depth reduces pulse, reduces by a distance interval in working depth benchmark zero point.
The work depth that depth increases pulse and depth reduces pulse, can be grabbed bucket can be handled by processing module
Degree.
Further, the dredger is further included for driving the angle driving dress grabbed bucket and moved in the horizontal plane
Put, the system also includes：
Operating angle benchmark zero point setting module, for setting the operating angle benchmark zero point of the grab bucket；
Angle detection module, the angle detection module is connected with the angle driving apparatus, for detecting the angle
Spend the rotation direction of driving device rotation and relative to the turned first angle of operating angle benchmark zero point, and generate angle
Degree detection signal；
The processing module is additionally operable to receive the angle detection signal, and according to the angle detection signal, obtains institute
State the operating angle of grab bucket.
The operating angle of grab bucket can be acquired by angle detection module, facilitates staff to operate.
Further, the operating angle benchmark zero point setting module includes：It is arranged on the angle driving apparatus
Zero-point positioning signal generating unit and zero-point positioning sensor, wherein：
When the zero-point positioning sensor receives the magnetic signal that the zero-point positioning signal generating unit is sent, it is
Operating angle benchmark zero point.
Further, the signal generating module is magnet steel, and the depth detection module is hall sensor.
Further, the angle detection module is rotary encoder.
Further, the system also includes：
Measuring opening module, the Measuring opening module is connected with the processing module, for detecting the grab bucket
Open angle.It could be aware that the open angle of grab bucket, facilitate staff to understand the working status of grab bucket.
Further, the dredger is controlled by arm and grabbed bucket, the system also includes：
Weight measurement module, the weight measurement module are connected with the processing module, for measuring the grab bucket weight
Amount；
Radius measurement module, the radius measurement module are used to measure the half of the radius of turn of the grab bucket in the horizontal plane
Footpath measurement module；
Boom angle measurement module, the boom angle measurement module are arranged on the arm, and institute is controlled for measuring
State the angle of the arm of grab bucket；
Display module, the display module are connected with the processing module, for showing the processing module acquisition
Parameter.It could be aware that the angle of the weight of grab bucket, radius of turn and arm, and shown by display module, facilitate user
Understand the working status of grab bucket.
Further, the first Isolation Amplifier Module is further included, first Isolation Amplifier Module is examined with the depth respectively
Survey module, processing module are connected, for carrying out isolation amplification to the described first output pulse.It can realize to the first output arteries and veins
Isolation, pick-up and the amplification of punching.
Further, the second Isolation Amplifier Module is further included, second Isolation Amplifier Module is examined with the angle respectively
Survey module, processing module are connected, for carrying out isolation amplification to the angle detection signal.It can realize to detect angle and believe
Number isolation, pick-up and amplification.
The beneficial effects of the invention are as follows：In this application, module, depth detection module and processing are occurred by setting signal
Module, can realize the detection to working depth of grabbing bucket, can be accurately obtained and grab by detecting the working status of rope roll
The working depth of bucket, facilitates staff to understand the working status of grab bucket, work efficiency higher.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not to be seen as
It is the restriction to scope, for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the scheme of installation of the signal generating module for the monitoring system that the application embodiment provides；
Fig. 2 is the schematic diagram for the monitoring system that the application embodiment provides；
Fig. 3 is the flow chart that the processing module that the application embodiment provides obtains working depth；
Fig. 4 is the schematic diagram for the monitoring system that the application embodiment provides；
Fig. 5 is the schematic diagram for the monitoring system that the application embodiment provides；
Fig. 6 is the schematic diagram for the monitoring system that the application embodiment provides；
The schematic diagram for the monitoring system that Fig. 7 the application embodiment provides.
Embodiment
To make the purpose, technical scheme and advantage of the application embodiment clearer, implement below in conjunction with the application
Attached drawing in mode, is clearly and completely described the technical solution in the application embodiment, it is clear that described reality
The mode of applying is a part of embodiment of the application, rather than whole embodiments.Based on the embodiment in the application, ability
The every other embodiment that domain those of ordinary skill is obtained without creative efforts, belongs to the application
The scope of protection.Therefore, below the detailed description of the presently filed embodiment to providing in the accompanying drawings be not intended to limit will
The scope of the present application of protection is sought, but is merely representative of the selected embodiment of the application.Based on the embodiment in the application,
The every other embodiment that those of ordinary skill in the art are obtained without creative efforts, belongs to this
Apply for the scope of protection.
In the description of the present application, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease of
Describe the application and simplify to describe, rather than indicate or imply that signified equipment or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that limitation to the application.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present application, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in this application.
In this application, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Please refer to Fig.1 to Fig. 7.
The embodiment of the present application provides a kind of dredger grab bucket monitoring system, deep for detecting the dredger grab bucket work
Degree, the working depth in the grab bucket along the vertical range for arriving the water surface, the dredger include being used for the grab bucket dredged and
Rope roll 101, the grab bucket are connected by cable wire with rope roll 101, and one end of the cable wire is fixed on the cable wire
On reel, the rope roll 101 can control down or up, the prison of the grab bucket by rotating output or recycling cable wire
Examining system includes：
At least one signal generating module 102, side wall of at least one signal generating module along the rope roll
Edge or mandrel surface are uniformly arranged, and can be rotated with the rope roll；
Depth detection module 103, be fixed on outside the rope roll and with the sidewall edge or volume of the rope roll
The opposite position in cylinder surface, it is first defeated for generating one when a signal generating module pass through the detection module
Go out pulse；
Processing module 104, for receiving the first output pulse, obtains the working depth of the grab bucket.
In the embodiment of the present application, signal generating module 102 can be magnet steel, and corresponding depth detection module 103 is just
Can be hall sensor, magnet steel can produce a stable magnetic field in its certain scope, and hall sensor can
To perceive magnetic field, and a pulse is generated when perceiving magnetic field.
The grab bucket of dredger is to be connected to by cable wire on rope roll, and rope roll completes the defeated of cable wire by rotating
Go out or recycle, when exporting cable wire, grab bucket can decline, and when rope roll recycles cable wire, grab bucket can rise, and pass through
The rotation of control rope roll controls the working depth of grab bucket to realize.In the embodiment of the present application, signal generating module 102 can
To be multiple, naturally it is also possible to be one, the quantity of signal generating module 102 is set with being actually needed, if necessary to accurate
Control the working depth of grab bucket, it is possible to set it is multiple, if only needing rough control working depth, it is possible to appropriate to reduce
The quantity of signal generating module.Signal generating module 102 may be mounted in the sidewall edge of rope roll, can also be installed on
The surface of the cylinder of reel, when signal generating module for it is multiple when, can be by signal generating module along sidewall edge or cylinder
Surface is uniformly arranged so that the distance of two neighboring signal generating module is equal, since cable wire is to be rotated to receive by the cylinder of reel
Collection, the side wall of rope roll will monitor cable wire once the equal length of the circle cable wire wound in the length in week and reel
Length is converted into the spacing distance between monitoring signal generation module.
Depth detection module 103 can be fixedly mounted on the other positions opposite with signal generating module, such as be installed on side
The opposite position in wall edge or the opposite position of mandrel surface, specific mounting means can determine as the case may be.Depth detection
Module 103 is when signal generating module is rotated in the detection range of depth detection module with reel, it is possible to generate one it is defeated
Go out pulse, and the direction of rotation of reel is different, the signal for causing the signal generating module that depth detection module receives to produce
And it is different, so as to produce different output pulses.
Pass through analysis of the processing module to output pulse, it is possible to acquire the working depth of grab bucket.
In the embodiment of the present application, module, depth detection module and processing module are occurred by setting signal, can passed through
The working status of rope roll is detected, realizes the detection to working depth of grabbing bucket, the working depth of grab bucket can be accurately obtained,
Staff is facilitated to understand the working status of grab bucket, work efficiency higher.
Further, in certain embodiments, the first output pulse includes the increased depth increasing of characterization working depth
Add pulse and characterize the depth reduction pulse of depth reduction, when the signal generating module is multiple, adjacent two signals
Module occurs exports arteries and veins at intervals of a distance interval, the processing module along rope roll edge according to described first
Punching, obtaining the working depth of the grab bucket includes：
Step 201, it is working depth benchmark zero point to preset the position contacted with the water surface of grabbing bucket；
Step 202, calculate the depth increase pulse received since the working depth benchmark zero point and depth reduces arteries and veins
The total quantity of punching；
Step 203, increase the total quantity of pulse, depth reduction pulse according to the depth, obtain the current of the grab bucket
Working depth, including：A depth increase pulse is often received, increases a distance interval in working depth benchmark zero point, often
Receive a depth and reduce pulse, reduce by a distance interval in working depth benchmark zero point.
In the embodiment of the present application, the working depth of grab bucket is calculated since the position that grab bucket is contacted with the water surface, i.e.,
The position that is contacted with the water surface of grab bucket is set as working depth benchmark zero point, due to grab bucket from ship motion to the water surface on when, cable wire
Reel is also that can rotate to output cable wire, but the working depth grabbed bucket need not calculate this distance, so
It is working depth benchmark zero point to preset the position that grab bucket is contacted with the water surface, and the working depth of grab bucket is counted since the water surface
Calculate.
After working depth benchmark zero point is set, it is possible to which calculating is received from since the working depth benchmark zero point
Depth increase pulse and depth reduce pulse total quantity.Rope roll when rotated, drives signal generating module to revolve together
Turning, when depth detection module is passed through in the rotation of each signal generating module, depth detection module can all generate an output pulse,
When rope roll rotates output cable wire, signal generating module is driven from a direction close to depth detection module, depth detection
Module can produce depth increase pulse, when rope roll rotates recycling cable wire, will drive signal generating module from another
One direction is close to depth detection module, and at this time, depth detection module will generate a depth and reduce pulse.
Increase the quantity of pulse and depth reduction pulse by calculating depth respectively, in conjunction with signal generating module adjacent two
The distance between a interval, it is possible to the working depth of grab bucket is calculated.
For example, on the rope roll of 10 meters of a Zhou Changwei, 5 signal generating modules have been evenly arranged, then adjacent
The distance between two signal generating modules interval is exactly 2 meters, since working depth benchmark zero point, at a time, if
Depth detection module generates altogether 10 depth increase pulses, indicates that rope roll rotation outputs 20 meters, i.e., often receives
Increase pulse to a depth, a distance interval will be increased in working depth.
The example above simply introduces roughly work calculating process, and specific implementation situation can set more signals that mould occurs
Block 102, it is possible to avoid the appearance of error.
Further, in certain embodiments, the dredger is further included for driving the grab bucket to move in the horizontal plane
Dynamic angle driving apparatus, the system also includes：
Operating angle benchmark zero point setting module 105, for setting the operating angle benchmark zero point of the grab bucket；
Angle detection module 106, the angle detection module 106 is connected with the angle driving apparatus, for detecting
Rotation direction that the angle driving apparatus rotates and relative to the turned first angle of operating angle benchmark zero point, and
Generate angle detection signal；
The processing module 104 is additionally operable to receive the angle detection signal, and according to the angle detection signal, obtains
The operating angle of the grab bucket.
Monitoring system can also monitor the operating angle of grab bucket, and dredger can be controlled when carrying out dredging operation on the water surface
Rotation to carry out different regions dredging operation in the horizontal plane for grab bucket, the monitoring system in the embodiment of the present application, by setting
Operating angle benchmark zero point setting module is put, to set the operating angle benchmark zero point of grab bucket.
The operating angle benchmark zero point setting module can include：The zero point being arranged on the angle driving apparatus is determined
Position signal generating unit and zero-point positioning sensor, wherein：When the zero-point positioning sensor receives the zero-point positioning letter
It is operating angle benchmark zero point during the magnetic signal that number generating unit is sent.
The grab bucket of dredger is subjected to displacement in the horizontal plane by angle driving apparatus driving, under normal circumstances, due to ship
The limitation of body in itself, the grab bucket of dredger can not carry out 360 degree of rotation on dredger, by setting a zero point can
Know the relative position of grab bucket, a zero-point positioning signal generating unit and zero-point positioning sensing are set on angle driving apparatus
Device, zero-point positioning signal generating unit can be one block of magnet steel, and zero-point positioning sensor can be a hall sensor, work as magnetic
When steel is located in the sensing range of hall sensor, it is possible to determine that grab bucket position at this time is exactly operating angle reference zero
Point.
Angle driving apparatus can include the cyclotron mechanism that driving bearing and driving bearing drive, the device with grab bucket connection
On cyclotron mechanism, by driving the cyclotron mechanism to drive the rotation with the device of grab bucket connection, and then realize grab bucket in water
The displacement of plane, angle detection module can be a rotary encoder at this time, which is installed on driving bearing
On, when driving bearing rotates, drive rotary encoder movement, it is possible to measure the rotation angle of bearing, and then know to grab bucket
Operating angle.
Angle detection module 106 is detecting rotation direction that the angle driving apparatus rotates and relative to the work
After the turned first angle of angle reference zero point, angle detection signal is generated.Processing module is handled according to angle detection signal
The operating angle grabbed bucket.
In the embodiment of the present application, the rotation status of the rotary encoder detection driving bearing on driving bearing,
In real work, driving bearing generally can also be engaged by gear with cyclotron mechanism, can obtain driving bearing with calculated in advance
After turning over an angle, cyclotron mechanism can rotate through how many angle, and according to such correspondence, processing module can basis
The rotation angle of cyclotron mechanism is calculated in first angle, the operating angle grabbed bucket.
By setting angle detection module 106, the relative position grabbed bucket in the horizontal plane can be clearly known, to dredge
The dredging operation monitoring of ship provides angular position information, ensures the accurate of dredging operation, improves work efficiency.
Further, in certain embodiments, the system also includes：
Measuring opening module 107, the Measuring opening module 107 are connected with the processing module, described for detecting
The open angle of grab bucket.
By setting Measuring opening module 107 to detect the open angle of grab bucket, operating personnel are facilitated to monitor grab bucket
Working status.
In the embodiment of the present application, dredger further includes the opening and closing reel for controlling the grab bucket opening and closing, the opening and closing
Reel controls opening or closing for the grab bucket by exporting or recycling cable wire, the system also includes：
Module occurs at least one secondary signal, and sidewall edge of the module along the opening and closing reel occurs for the secondary signal
It is uniformly arranged, can be with the opening and closing reel rotation；
Measuring opening module, is fixed on and outside the rope roll and position opposite with the sidewall edge of the rope roll
Put, for one second output arteries and veins of generation when module passes through the Measuring opening module to occur whenever a secondary signal
Punching；
The processing module is additionally operable to receive the second output pulse, obtains the opening and closing angle of the opening and closing reel.
The method of work of Measuring opening module is similar with the method for work of depth detection module, and Measuring opening module can adopt
With hall sensor, module, which occurs, for secondary signal can also use magnet steel, and opening and closing reel when rotated, drives secondary signal hair
Raw module rotation, when Measuring opening module is passed through in rotation, by the detection in magnetic field, the generation of Measuring opening module exports pulse,
And the difference of direction of rotation, can generate different pulses, for example, reel is opened and closed when exporting cable wire, the open angle of grab bucket
Diminish, not receiving one second output pulse will correspond to obtain an angle, show that the open angle of grab bucket changes this
Angle.
Further, in certain embodiments, the dredger is controlled by arm and grabbed bucket, the system also includes：
Weight measurement module 108, the weight measurement module 108 are connected with the processing module, described for measuring
Grab bucket weight；
Radius measurement module 109, the radius measurement module 108 are used to measure the rotation half of the grab bucket in the horizontal plane
The radius measurement module in footpath；
Boom angle measurement module 110, the boom angle measurement module 110 is arranged on the arm, for measuring
Control the angle of the arm of the grab bucket；
Display module 111, the display module 111 is connected with the processing module, for showing the processing module
The parameter of acquisition.
By setting weight measurement module 108 to measure the overall weight grabbed bucket, so as to know soil in grab bucket
Weight, could be aware that the radius of turn of grab bucket by radius measurement module 109, it is convenient in operation, be adjusted flexibly, by hanging
Arm Angle Measurement Module 110 could be aware that the operating angle of arm, and by display module 111, can show various parameters
Show to come, facilitate staff to watch, understand the working status of grab bucket in time.
Further, in certain embodiments, further include：
First Isolation Amplifier Module 112, first Isolation Amplifier Module respectively with the depth detection module, processing mould
Block is connected, for carrying out isolation amplification to the described first output pulse；
Second Isolation Amplifier Module 113, second Isolation Amplifier Module respectively with the angle detection module, processing mould
Block is connected, for carrying out isolation amplification to the angle detection signal.
Pass through set the first Isolation Amplifier Module, the second Isolation Amplifier Module, it is possible to achieve to the pick-up of signal, conversion,
Isolation and amplification, facilitate processing of the processing module to signal.
It these are only the preferred embodiment of the application, be not limited to the application, for the technology of this area
For personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (9)
- The monitoring system 1. a kind of dredger is grabbed bucket, it is characterised in that for detecting the dredger grab bucket working depth, the work Make depth as, along the vertical range for arriving the water surface, the dredger includes being used for grab bucket and the rope roll dredged in the grab bucket, The grab bucket is connected by cable wire with rope roll, and one end of the cable wire is fixed on the rope roll, the cable wire Reel can export or recycle cable wire to control the grab bucket down or up by rotating, and the monitoring system includes：At least one signal generating module, side edge of at least one signal generating module along the cylinder of the rope roll Edge or drum surface are uniformly arranged, and can be rotated with the rope roll；Depth detection module, be fixed on outside the rope roll and position opposite with the sidewall edge of the rope roll, For one first output pulse of generation when a signal generating module passes through the detection module, the cable wire volume The direction of rotation of cylinder is different, and the depth detection module produces different output pulses；Processing module, for receiving the first output pulse, obtains the working depth of the grab bucket；The dredger is further included for driving the angle driving apparatus grabbed bucket and moved in the horizontal plane, and the system is also wrapped Include：Operating angle benchmark zero point setting module, for setting the operating angle benchmark zero point of the grab bucket；Angle detection module, the angle detection module respectively with the angle driving apparatus and the operating angle benchmark zero point Setting module is connected, for detecting the rotation direction of the angle driving apparatus rotation and relative to the operating angle benchmark The turned first angle of zero point, and generate angle detection signal；The processing module is additionally operable to receive the angle detection signal, and according to the angle detection signal, is grabbed described in acquisition The operating angle of bucket.
- 2. system according to claim 1, it is characterised in that the first output pulse includes characterization working depth increase Depth increase pulse and characterize depth reduction depth reduce pulse, when the signal generating module for it is multiple when, it is adjacent Two signal generating modules along rope roll edge at intervals of a distance interval, the processing module is according to described first Pulse is exported, obtaining the working depth of the grab bucket includes：It is working depth benchmark zero point to preset the position contacted with the water surface of grabbing bucket；Calculate the depth increase pulse received since the working depth benchmark zero point and depth reduces the total quantity of pulse；Increase the work at present depth of the total quantity acquisition grab bucket of pulse and depth reduction pulse, bag according to the depth Include：A depth increase pulse is often received, increases a distance interval in working depth benchmark zero point, often receives a depth Degree reduces pulse, reduces by a distance interval in working depth benchmark zero point.
- 3. system according to claim 1, it is characterised in that the operating angle benchmark zero point setting module includes：If Zero-point positioning signal generating unit and zero-point positioning sensor on the angle driving apparatus are put, wherein：When the zero-point positioning sensor receives the magnetic signal that the zero-point positioning signal generating unit is sent, as work Angle reference zero point.
- 4. system according to claim 1, it is characterised in that the signal generating module is magnet steel, the depth detection Module is hall sensor.
- 5. system according to claim 1, it is characterised in that the angle detection module is rotary encoder.
- 6. system according to claim 1, it is characterised in that the system also includes：Measuring opening module, the Measuring opening module is connected with the processing module, for detecting the opening of the grab bucket Angle.
- 7. system according to claim 1, it is characterised in that the dredger is controlled by arm and grabbed bucket, the system Further include：Weight measurement module, the weight measurement module are connected with the processing module, for measuring the grab bucket weight；Radius measurement module, the radius that the radius measurement module is used to measure the radius of turn of the grab bucket in the horizontal plane are surveyed Measure module；Boom angle measurement module, the boom angle measurement module are arranged on the arm, are grabbed for measuring described in control The angle of the arm of bucket；Display module, the display module are connected with the processing module, the parameter obtained for showing the processing module.
- 8. system according to claim 1, it is characterised in that the system also includes：First Isolation Amplifier Module, first Isolation Amplifier Module are connected with the depth detection module, processing module respectively Connect, for carrying out isolation amplification to the described first output pulse.
- 9. system according to claim 8, it is characterised in that the system also includes：Second Isolation Amplifier Module, second Isolation Amplifier Module are connected with the angle detection module, processing module respectively Connect, for carrying out isolation amplification to the angle detection signal.
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