CN106153014A - The manufacturing system of trailing suction hopper dredger construction location 3D landform under water - Google Patents

The manufacturing system of trailing suction hopper dredger construction location 3D landform under water Download PDF

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Publication number
CN106153014A
CN106153014A CN201510196195.6A CN201510196195A CN106153014A CN 106153014 A CN106153014 A CN 106153014A CN 201510196195 A CN201510196195 A CN 201510196195A CN 106153014 A CN106153014 A CN 106153014A
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China
Prior art keywords
rake
rake arms
angle sensor
suction inlet
programmable logic
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CN201510196195.6A
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周雨淼
肖晔
陈新华
沈彦超
杨波
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CCCC National Engineering Research Center of Dredging Technology and Equipment Co Ltd
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CCCC National Engineering Research Center of Dredging Technology and Equipment Co Ltd
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Priority to CN201510196195.6A priority Critical patent/CN106153014A/en
Publication of CN106153014A publication Critical patent/CN106153014A/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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Abstract

The manufacturing system of trailing suction hopper dredger construction location 3D landform under water, the rake arms position system constituted including rake arms equipment and Programmable Logic Controller, the vessel position system that GPS beacon machine and gyro compass are constituted with control computer, data handling system and graphic hotsopt display system composition, measurement rake arms angular transducer, the suction inlet pressure transducer of detection rake arms suction inlet state are installed in rake arms；GPS beacon machine is installed at driver's cabin top；In the middle of navigation platform, gyro compass is installed, it is characterized in that angular transducer and suction inlet pressure transducer connect through the detection signal input part of signal cable and rake arms position system；The signal input part of rake arms position system is connected with the acquisition system of programmable logic controller (PLC)；GPS beacon machine is connected by data transmission link with control computer with gyro compass；The acquisition system of Programmable Logic Controller and control computer are connected by gateway and data handling system；Data handling system is connected by gateway and graphic display system.

Description

The manufacturing system of trailing suction hopper dredger construction location 3D landform under water
Technical field
The invention belongs to waterway dredging application system, the system of 3D landform under water is especially provided for trailing suction hopper dredger construction.
Background technology
Currently used more advanced water-depth measurement equipment is multibeam sounding system, its distinguishing feature is energy primary emission and receives string wave beam, in the case of the controlling factors such as measurement ship's speed are proper, multibeam echosounder can carry out the face depth measurement of all standing to a region, improve the working performance that surveying vessel is measured, provide convenience for water-depth measurement.But owing to multibeam sounding system needs to be carried out water-depth measurement by multi-sensor cooperation, observation is many, source of error is the most, and (such as location and the delay of depth measurement, sea-floor relief affects, weather condition, the mounting means of instrument, dredging processing method, the error that depth of water screening principle etc. produces), the accuracy of parametric measurement and the severe degree of working environment, affect the quality of depth measurement result the most to a great extent, thus have influence on the accurate display of water-bed landform.
Traditional underwater topography display uses surveying vessel measurement result to make, and does not have real time effect, and the sea-floor relief that the error owing to producing during surveying vessel measurement causes the most latter made underwater topography and strand to inhale when ship is formally constructed exists larger difference.
It is mounted with that beam transmitting receives transducer array (sonar probe) on existing advanced trailing suction hopper dredger, multibeam signals control processes electronic system, the DGPS differential satellite alignment system (GPS beacon machine) of geodetic coordinates is provided, there is provided rake inhale stem to gyro compass, rake is provided to inhale ship rolling, pitching, the sensor of the attitude datas such as sedimentation.Multibeam sounding system uses extensive angle and multichannel directional reception technology, it is thus achieved that high density vertically hung scroll formula submarine topography data under water.Transmitting transducer arrays is utilized to launch the sound wave that wide sector covers to seabed, utilize reception transducer array that sound wave is carried out narrow beam reception, the irradiation footprint to sea-floor relief is formed by launching, receive the orthogonality pointed to sector, these footprints are carried out appropriate process, once detect the water depth value of the measured points, seabed of up to a hundred in just providing the vertical plane vertical with course, measure the size of submarine target, shape and height change along the one fixed width of course line, depict the three-dimensional feature of sea-floor relief.Rolling deviation that during measurement, present in multiple-beam system installation process, lateral angles and regulation of longitudinal angle cause and pitching deviation, the navigation delay caused during boat trip and gyro compass deviation, the change of tidal level (reference datum), the change of Seawater sound velocity structure all can cause the displacement of measuring point, thus have influence on sounding survey precision, cause the distortion of seabed form.
Summary of the invention
The present invention needs the problem solved to be to provide a kind of job site in varied situations, gets rid of multibeam sounding system detecting error, is directly generated the manufacturing system of 3D landform under water by trailing suction hopper dredger drag head construction location.
Technical scheme includes a set of rake arms equipment and is positioned at the rake arms position system that the Programmable Logic Controller of dredging control station is constituted, the GPS beacon machine of a set of acquisition Ship GPS position and ship bow to gyro compass with control the vessel position system that computer is constituted, a set of calculating drag head geodetic coordinates and set up the data handling system of data model and be positioned at the graphic hotsopt display system composition of dredging control station, the upper rake pipe horizontal angle sensor measuring rake arms angle is installed in rake arms, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor, the suction inlet pressure transducer of detection rake arms suction inlet state；Driver's cabin top is provided with the GPS beacon machine of detection vessel position；Navigation platform in the middle of be provided with detection ship bow to gyro compass, it is characterized in that described upper rake pipe horizontal angle sensor, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor and suction inlet pressure transducer connect through the detection signal input part of signal cable and rake arms position system；The signal input part of rake arms position system is connected with the acquisition system of the programmable logic controller (PLC) (PLC) being positioned at dredging control station；Described GPS beacon machine and ship bow to gyro compass be connected by data transmission link with controlling computer；Acquisition system and the control computer of the Programmable Logic Controller of dredging control station are connected by gateway and data handling system；Data handling system is connected by gateway and graphic display system.
The Advantageous Effects of the present invention: Direct3D technology can be applied to generate 3D topography under water by calculating the geodetic coordinates of drag head based on technique scheme.In ship work progress inhaled by rake, by upper rake pipe horizontal angle sensor, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, the angle change calculations of lower rake pipe vertical angle sensor detection upper rake pipe and lower rake pipe goes out the drag head height relative to suction inlet, the pressure change calculations detected by suction inlet pressure transducer goes out the suction inlet degree of depth, drag head actual grade is calculated relative to suction inlet height and suction inlet depth gauge by drag head, drag head is calculated away from hull horizontal range by suction inlet bend pipe and hull horizontal range and rake tube angulation, design parameter in conjunction with hull parameters and rake arms can calculate drag head position in hull coordinate system；Based on the GPS beacon machine installed in vessel position system and gyro compass, it is thus achieved that the geodetic coordinates of GPS beacon machine and hull place coordinate system are relative to the deviation angle of earth coordinates.Calculated drag head position in hull coordinate system before in conjunction with and drag head position in hull coordinate system can be converted to earth coordinates and calculate the geodetic coordinates of drag head by deviation angle.Geodetic coordinates at drag head construction location is converted to orderly array of values and represents ground elevation, set up digital terrain model (DEM), the present invention represents with the point of mathematical definition the elevation change of underwater topography, utilizes the geodetic coordinates of drag head to set up digital terrain model (DEM).In the present invention, main employing multi-resolution models simplifies technology (LOD) generation landform grid, it is input to landform grid information in 3D drawing DLL (Direct3D) draw, and the color value on degree of depth CLUT is composed in the threedimensional model being made up of digital terrain model (DEM) data.The present invention directly uses drag head position to set up underwater digit relief model, can effectively reduce and use the data distortion caused due to water sports in multibeam sounding system, the echo impact that water body foreign body produces, the data distortion that sound wave secondary reflection causes, the data distortion that extreme terrain causes under water, Sound speed profile uses the problem that the factors such as the error in data that different empirical model causes cause, it is possible to reduce the multibeam sounding system later stage needs to carry out data process thus the further data distortion problem that causes.Degree of depth CLUT is utilized to render by the difference of the height of vertex position in grid, the digital terrain model (DEM) used makes computer can describe relief representation by the resolution of different levels, use multi-resolution models to simplify technology (LOD) and generate landform grid, can show more complicated underwater topography in real time with less room and time is more accurate under specific resolution, minimizing data processing time realization rake is inhaled underwater topography in ship work progress and is shown in real time.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the upper rake pipe of rake arms and lower rake pipe geometric parameter schematic diagram.
Fig. 3 is rake arms side view.
Fig. 4 is rake arms top view.
Detailed description of the invention
Present embodiment includes a set of rake arms equipment and is positioned at the rake arms position system that the Programmable Logic Controller of dredging control station is constituted, the GPS beacon machine of a set of acquisition Ship GPS position and ship bow to gyro compass with control the vessel position system that computer is constituted, a set of calculating drag head geodetic coordinates and set up the data handling system of data model and be positioned at the graphic hotsopt display system composition of dredging control station.The measurement upper rake pipe horizontal angle sensor of rake arms angle, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor are installed in rake arms, the suction inlet pressure transducer of detection rake arms suction inlet state, the installation site of each sensor above-mentioned is: above rake pipe vertical angle sensor (2) is installed on rake tube side limit and vertically locates, and is used for measuring rake pipe vertical angle；Upper rake pipe horizontal angle sensor (3) is installed at rake pipe horizontal plane, is used for measuring rake pipe level angle；Lower rake pipe vertical angle sensor (5) is installed on lower rake tube side limit and vertically locates, and is used for measuring lower rake pipe vertical angle；Lower rake pipe horizontal angle sensor (4) is installed at lower rake pipe horizontal plane, is used for measuring lower rake pipe level angle；Suction inlet pressure transducer (1) is installed at suction inlet, is used for calculating the current suction inlet degree of depth；Each sensor above-mentioned is connected with the detection signal input part of rake arms position system through signal cable；The detection signal input part of rake arms position system is connected with the acquisition system of the Programmable Logic Controller being positioned at dredging control station；Described GPS beacon machine and ship bow to gyro compass be connected by data transmission link with controlling computer, GPS beacon machine is installed on driver's cabin top, for obtaining the WGS84 coordinate of installed position；Gyro compass is installed on driver's cabin navigation platform middle, is used for obtaining the deviation angle relative to earth coordinates；The remittance transmission of all information collected is carried out data process and sets up digital terrain model to data handling system by TCP gateway by data；Digital terrain model is by generating in TCP gateway transmission to graphic hotsopt display system and showing in man machine interface.
In drag head work progress, use the primary voltage (V that the upper rake pipe horizontal angle sensor installed in rake arms, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor obtain01) and output voltage (V1) calculate angle (A1, B1,, A2, B2), the primary voltage (V that suction inlet pressure transducer (1) obtains02) and output voltage (V2) calculate drinking water, suction inlet bend pipe length (L0), upper rake pipe (F0F1, length L1), lower rake pipe (F1F2, length L2), suction inlet bend pipe and hull horizontal range (r1), calculate the drag head degree of depth and horizontal offset:
Drag head is away from suction inlet vertical height (hy):
hy = h0 +h1 +h2 = L0 sinB1 + F0H1 + F1H2
= L0 sinB1 + F0F1 sinB1 + F1F2 sinB2= (L0 + L1) sinB1 + L2 sinB2
Drag head is away from hull horizontal range (ry):
ry = r0 + r1 + r2= r0 + L1 sinA1 + L2 cosB2 sin(A1’+ A2’)
= r0 + L1 sinA1 + L2 [ sinA1(cos2B2 - sin2A2)1/2+ sinA2(cos2B1 - sin2A1)1/2 ]/cosB1
Drag head actual grade h and drag head are away from suction inlet vertical height hy, suction inlet pressure transducer drinking water h3, suction inlet pressure transducer and suction inlet difference in height h4One-tenth relation: h=hy +h3 +h4
Drag head is traversing: rx= L1-L1((cosB1)2-(sinA1)2)1/2+
L2-L2[(cos2B1 - sin2A1)1/2(cos2B2 - sin2A2)1/2 -sinA1sinA2 ]/cosB1
Rake arms angle, θ (A1, A2, B1, B2) and angular transducer output voltage V1, initial voltage V01With initial angle θ0Relation: θ=K1(V1 - V01)+θ0
Suction inlet drinking water sensor drinking water h3Sensor output voltage V is absorbed water with suction inlet2, initial voltage V02Initially absorb water h03One-tenth relation: h3 = K2(V2 - V02)+h03
Obtained the WGS84 coordinate being presently installed on boats and ships this point by GPS beacon machine, be geodetic coordinates by converting this Coordinate Conversion.The position being arranged on boats and ships according to GPS, with the head and the tail centrage of boats and ships as the longitudinal axis, the afterbody vertical center line of ship is transverse axis, set up the coordinate system of hull, obtain GPS coordinate in this coordinate system, by the measurement of gyro compass, calculate the deviation angle obtaining boats and ships coordinate system relative to earth coordinates.In hull coordinate system, according to coordinate and the design parameter of hull of GPS, it is thus achieved that drag head coordinate in hull coordinate system.The relative deviation angle of the pre-test then passed through and hull Coordinate Conversion are the computing formula of geodetic coordinates, it is thus achieved that the geodetic coordinates (geodetic longitude L, geodetic latitude B and the earth elevation H) of drag head.
Geodetic coordinates at drag head construction location is converted to orderly array of values ({ Vi(Xi,Yi,Zi), i=1,2,3,---n, wherein (Xi,Yi) represent the plane coordinates in this region, Zi is (Xi, Yi) corresponding elevation) represent ground elevation, set up digital terrain model (DEM), the point utilizing mathematical definition changes to the elevation representing underwater topography, digital terrain model is divided into the regular grid (sizing grid represents data precision) of 1m*1m, the earth elevation H by drag head geodetic coordinates is given to the elevation of each grid, 4m as a length of in drag head, width is 2m, after drag head crosses rake every time, the altitude data of 4*2 grid is had to will be updated to the earth elevation H of drag head geodetic coordinates.In the present invention, (multi-resolution models simplifies technology and utilizes the visual redundancy characteristic of human eye main employing multi-resolution models simplification technology (LOD) generation landform grid, different with the complexity of the distance of distance viewpoint and atural object itself according to direction of visual lines, use level of detail to be in various degree described the different piece of terrain scene.Number of triangles to be processed is needed during the terrain rendering being greatly reduced, accelerate the real-time rendering speed of landform), it is input to landform grid information in 3D drawing DLL (Direct3D) draw, and the color value on degree of depth CLUT is composed in the threedimensional model being made up of digital terrain model (DEM) data.In graphic hotsopt display system, set up 3D environment, draw out 3D topography under water and be transferred to dredge display on the display of control station by gateway.

Claims (1)

1. the manufacturing system of trailing suction hopper dredger construction location 3D landform under water, including a set of rake arms equipment and the rake arms position system of the Programmable Logic Controller composition being positioned at dredging control station, the GPS beacon machine of a set of acquisition Ship GPS position and ship bow to gyro compass with control the vessel position system that computer is constituted, a set of calculating drag head geodetic coordinates and set up the data handling system of data model and be positioned at the graphic hotsopt display system composition of dredging control station, the upper rake pipe horizontal angle sensor measuring rake arms angle is installed in rake arms, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor, the suction inlet pressure transducer of detection rake arms suction inlet state；Driver's cabin top is provided with the GPS beacon machine of detection vessel position；Navigation platform in the middle of be provided with detection ship bow to gyro compass, it is characterized in that described upper rake pipe horizontal angle sensor, upper rake pipe vertical angle sensor and lower rake pipe horizontal angle sensor, lower rake pipe vertical angle sensor and suction inlet pressure transducer connect through the detection signal input part of signal cable and rake arms position system；The signal input part of rake arms position system is connected with the acquisition system of the programmable logic controller (PLC) being positioned at dredging control station；Described GPS beacon machine and ship bow to gyro compass be connected by data transmission link with controlling computer；Acquisition system and the control computer of the Programmable Logic Controller of dredging control station are connected by gateway and data handling system；Data handling system is connected by gateway and graphic display system.
CN201510196195.6A 2015-04-23 2015-04-23 The manufacturing system of trailing suction hopper dredger construction location 3D landform under water Pending CN106153014A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109208686A (en) * 2017-07-05 2019-01-15 武汉德尔达科技有限公司 It is a kind of to survey integrating advanced water measuring system for dredging for free floating suction dredge(r)
CN109215431A (en) * 2018-10-29 2019-01-15 中船第九设计研究院工程有限公司 A kind of rake suction unit vehicle special mechanism for simulation test
CN112765717A (en) * 2021-01-28 2021-05-07 广东长信建设有限公司 Low-energy-consumption environment-friendly dredging construction system and method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102174827A (en) * 2011-03-25 2011-09-07 江苏铭科软件有限公司 Integrated dredging monitoring system
EP2644781A1 (en) * 2012-03-30 2013-10-02 Ondernemingen Jan De Nul, naamloze vennootschap Pumping means intended for being trailed by a trailing suction hopper dredger and trailing suction hopper dredger equipped with such pumping means.
EP2708293A1 (en) * 2012-09-18 2014-03-19 Grovawa B.V. Method, installation and composition for the storage of contaminated material
CN205209490U (en) * 2015-04-23 2016-05-04 中交疏浚技术装备国家工程研究中心有限公司 Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102174827A (en) * 2011-03-25 2011-09-07 江苏铭科软件有限公司 Integrated dredging monitoring system
EP2644781A1 (en) * 2012-03-30 2013-10-02 Ondernemingen Jan De Nul, naamloze vennootschap Pumping means intended for being trailed by a trailing suction hopper dredger and trailing suction hopper dredger equipped with such pumping means.
EP2708293A1 (en) * 2012-09-18 2014-03-19 Grovawa B.V. Method, installation and composition for the storage of contaminated material
CN205209490U (en) * 2015-04-23 2016-05-04 中交疏浚技术装备国家工程研究中心有限公司 Trailing suction hopper dredger construction position is manufacturing system of 3D topography under water

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109208686A (en) * 2017-07-05 2019-01-15 武汉德尔达科技有限公司 It is a kind of to survey integrating advanced water measuring system for dredging for free floating suction dredge(r)
CN109208686B (en) * 2017-07-05 2020-12-29 武汉德尔达科技有限公司 Dredging and measuring integrated water depth measuring system for self-propelled trailing suction dredger
CN109215431A (en) * 2018-10-29 2019-01-15 中船第九设计研究院工程有限公司 A kind of rake suction unit vehicle special mechanism for simulation test
CN112765717A (en) * 2021-01-28 2021-05-07 广东长信建设有限公司 Low-energy-consumption environment-friendly dredging construction system and method

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Application publication date: 20161123