CN107012904B - A kind of the Analysis of Soil Type method and control method of dredger dredging - Google Patents
A kind of the Analysis of Soil Type method and control method of dredger dredging Download PDFInfo
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- CN107012904B CN107012904B CN201710255771.9A CN201710255771A CN107012904B CN 107012904 B CN107012904 B CN 107012904B CN 201710255771 A CN201710255771 A CN 201710255771A CN 107012904 B CN107012904 B CN 107012904B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- Mining & Mineral Resources (AREA)
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Abstract
The invention discloses the Analysis of Soil Type method and control method of a kind of dredger dredging, the Analysis of Soil Type method includes: 1) to acquire the dredging data of dredger in real time；2) according to the dredging data and spoil hopper model, the undisturbed sinking speed of the soil of dredging is calculated；3) particle diameter of the soil is calculated according to the undisturbed sinking speed；4) in conjunction with the particle diameter of known soil type particle size distribution range and the soil, the type of the soil is determined.The Analysis of Soil Type method can determine soil types in real time, avoid exploring soil types bring project amount offline, and then reduce the dredging time, improve dredging efficiency, reduce dredging cost；The control method of dredger dredging of the invention analyzes soil types using the Analysis of Soil Type method in real time, and adjusts relevant control parameter in time according to the soil types analyzed, reduces the dredging time, improves dredging efficiency.
Description
Technical field
The present invention relates to a kind of Analysis of Soil Type method, the Analysis of Soil Type method of especially a kind of dredger dredging
And control method.
Background technique
It is growing with domestic dredging market, dredger coastal waterway maintenance, port construction, reclaim land from the sea etc. it is thin
It dredges in engineering and plays a great role.Soil is the main object of dredger work, and the dredging efficiency of dredger depends on dredger
Dredge pump revolving speed, the speed of a ship or plane, drag head control parameters such as angle over the ground setting, and these control parameters are required to according to dredging soil
Type is adjusted.Currently, dredger dredging Job Operations rely primarily on the way for obtaining soil types based on off-line analysis data
Diameter is usually: firstly, obtaining dredging soil by exploration ship before dredging operation；Then, it is sampled, is sent to laboratory
Analyze soil types；Finally, the soil types analyzed is sent to dredger, reference is provided for construction personnel.It is this from
The Analysis of Soil Type mode of line make dredge the time it is longer, dredging higher cost.If can be real during dredging operation
When analyze dredging markets earth type, then can avoid the increased exploration cost of off-line analysis and time, improve construction efficiency, reduce construction
Cost.Therefore, the soil types for how providing dredging in real time becomes one of dredger dredging field urgent problem to be solved.
Summary of the invention
The purpose of the present invention is to provide the Analysis of Soil Type method and control method of a kind of dredger dredging, Neng Gou
Soil types is analyzed in real time in dredger dredging operation process, and the increased exploration cost of off-line analysis and time, raising is avoided to apply
Work efficiency rate reduces construction cost.
To achieve the above object, the present invention provides a kind of Analysis of Soil Type method of dredger dredging, including following step
It is rapid:
1) the dredging data of dredger are acquired in real time；
2) according to the dredging data and spoil hopper model, the undisturbed sinking speed of the soil of dredging is calculated；
3) particle diameter of the soil is calculated according to the undisturbed sinking speed；
4) in conjunction with the particle diameter of known soil type particle size distribution range and the soil, the soil is determined
Type.
Further, in step 1), the dredging data include: mixture into cabin flow, and mixture excess flow mixes
Object is closed into cabin density.
Further, in step 1), the biography being mounted on dredger is combined using the programmable logic controller (PLC) of dredger
Sensor acquires the dredging data, while connecting the programmable logic controller (PLC) and ethernet server using Ethernet, complete
At the real-time Transmission of the dredging data.
Further, step 2) includes following procedure:
2.1) stowage is calculated according to the dredging data and spoil hopper model；
2.2) in the overflow stage, the clear water flow in excess flow is calculated according to the dredging data and spoil hopper model；
2.3) overflow density of mixture is calculated according to the dredging data and spoil hopper model；
2.4) the undisturbed sinking speed that soil is calculated using the method minimized the error, when error is unsatisfactory for requiring
When, carry out the calculating of undisturbed sinking speed next time.
Further, the calculation formula of the stowage in step 2.1) are as follows:
The calculation formula of clear water flow in step 2.2) are as follows:
The calculation formula of the overflow density of mixture in step 2.3) are as follows:
Error calculation formula in step 2.4) are as follows:
Wherein, mtFor total weight of the mixture, unit t；QiFor into cabin flow, unit m3/s；ρiIt is close into cabin
Degree, unit t/m3；QoFor mixture excess flow, unit m3/s；ρoFor mixture overflow density, unit t/
m3；QwClear water flow in excess flow, unit m3/s；S is spoil hopper floor space, unit m2；μ washes away for mixture
Coefficient；vsFor undisturbed sinking speed, unit mm/s；VtFor volume of shipping, unit m3；ρwFor dredged region water
Density, unit t/m3；ρqFor the density of natural sand, unit t/m3；J is the variance of stowage,When for k
The stowage of the calculating at quarter, mtIt (k) is the stowage of the actual measurement at k moment, M is the total number of data.
Further, the particle diameter of soil is determined by following formula in step 3):
In formula, d is soil particle diameter, unit mm；vsFor undisturbed sinking speed, unit is mm/s ρwFor dredging
The density of regional water, unit t/m3；ρqFor the density of natural sand, unit t/m3。
The present invention also provides a kind of control methods of dredger dredging, comprising the following steps:
Using the Analysis of Soil Type method of above-mentioned dredger dredging, the soil types of dredger dredging is analyzed；
Include the control including dredge pump revolving speed, the speed of a ship or plane, drag head over the ground angle according to the soil types adjustment analyzed
The setting of parameter；
Dredger dredging is controlled using control parameter adjusted.
Compared with prior art, technical solution of the present invention has the beneficial effect that:
1, the Analysis of Soil Type method of dredger dredging of the invention is a kind of method of on-line analysis soil types,
Soil types reference can be provided to ship dredging construction personnel in real time, avoid exploring soil types bring project amount offline, facilitate
The dredging time is reduced, dredging efficiency is improved, dredging cost is reduced, is applicable to dredger and constructs under different soil types.
2, the control method of dredger dredging of the invention utilizes the Analysis of Soil Type side of dredger dredging of the invention
Method analyzes soil types in real time, and adjusts relevant control parameter in time according to the soil types analyzed, so as to have
Help reduce the dredging time, improves dredging efficiency.
Detailed description of the invention
Fig. 1 is the Analysis of Soil Type method flow diagram of the dredger dredging of the specific embodiment of the invention；
Fig. 2 is the spoil hopper model schematic of the specific embodiment of the invention；
Fig. 3 is the control method flow chart of the dredger dredging of the specific embodiment of the invention.
Specific embodiment
Below in conjunction with attached drawing, the Analysis of Soil Type method and control method of dredger dredging of the invention are made in detail
It describes in detail bright.
As shown in Figure 1, the present invention provides a kind of Analysis of Soil Type method of dredger dredging, dredger can be used
Programmable controller acquires dredging data by sensor, calculates soil parameters, calculates diameter of soil pellet, judges soil class
Type, specifically includes the following steps:
1) the dredging data of dredger are acquired in real time；
2) according to the dredging data and spoil hopper model, the undisturbed sinking speed of the soil of dredging is calculated；
3) particle diameter of the soil is calculated according to the undisturbed sinking speed；
4) in conjunction with the particle diameter of known soil type particle size distribution range and the soil, the soil is determined
Type.
In step 1), the sensing that is mainly mounted on using the PLC controls of dredger on dredger
Device acquires dredging data in real time, while being connected the programmable logic controller (PLC) and a server using Ethernet, completes real
When the transmission of dredging data that acquires.The dredging data acquired in real time include: mixture into cabin flow Qi, mixture excess flow
Qo, mixture is into cabin density pi。
It is undisturbed heavy to calculate soil parameters according to the dredging data and spoil hopper model acquired in real time in step 2)
Reduction of speed degree vs, wherein spoil hopper model is as shown in Fig. 2, the model is used to simulate the spoil hopper of dredger, in the spoil hopper model
In, it is Q into cabin flowi, into cabin density be ρiMixture enter spoil hopper, when beginning, the height h of tote in spoil hoppertLower than excessive
Flow the height h on weir0, as the height h of tote in spoil hoppertReach the height h of overflow weir0When, into the overflow stage, in this stage,
Height of weir plate h0It remains unchanged, the clear water or low-density mixture for being higher by height of weir plate will be with flow QoPass through overflow weir flow
It arrives out of my cabin, mixture overflow density is ρo。
In step 2), it is undisturbed to calculate soil parameters for the dredging data acquired according to the spoil hopper model and in real time
Sinking speed vsDetailed process is as follows:
2.1) the dredging data acquired according to the spoil hopper model and in real time estimate stowage, the estimation of stowage
Formula is as follows:
In formula: mtFor total weight of the mixture, i.e. stowage, unit t；QiFor into cabin flow, unit m3/s；
ρiFor into cabin density, unit t/m3；QoFor mixture excess flow, unit m3/s；ρoFor mixture overflow density,
Unit is t/m3。
2.2) in the overflow stage, the dredging data acquired according to the spoil hopper model and in real time are estimated in excess flow
The estimation formula of clear water flow, clear water flow is as follows:
In formula: QwClear water flow in excess flow, unit m3/s；S is spoil hopper floor space, unit m2；μ is
Mixture coefficient of scouring；vsFor the undisturbed sinking speed of sand grain, unit mm/s；VtFor volume of shipping, unit is
m3；ρwFor the density of dredged region water, unit t/m3；ρqFor the density of natural sand, unit t/m3。
2.3) the dredging data acquired according to the spoil hopper model and in real time, estimate the overflow density ρ of mixtureo, overflow
Density poEstimation formula it is as follows:
In formula: QwClear water flow in excess flow, unit m3/s；ρwFor the density of dredged region water, unit is
t/m3；VtFor volume of shipping, unit m3；QoFor mixture excess flow, unit m3/s；mtFor total weight of the mixture,
That is stowage, unit t.
4) using the method estimation undisturbed sinking speed of soil parameters minimized the error, the error used is stowage matter
The calculation formula of the variance of amount, the variance is as follows:
In formula: J is the variance of stowage,For the stowage of the estimation at k moment, mtIt (k) is the actual measurement at k moment
Stowage, M be data total number.
If error is unsatisfactory for requiring, then first without step 3), direct return step 2) 2.1), do not carry out next time not
By the estimation of disturbance sinking speed.
According to obtained undisturbed sinking speed v in step 3)sDiameter of soil pellet is calculated, diameter of soil pellet is under
Formula determines:
In formula: d is soil particle diameter, unit mm；ρwFor the density of dredged region water, unit t/m3；ρqIt is natural
Husky density, unit t/m3。
In step 4), by step 3) determine diameter of soil pellet and soil type corresponding to particle size range into
Row comparison, to determine the soil types of dredger dredging in real time.
From the above mentioned, the Analysis of Soil Type method of dredger dredging of the invention can dredge according to what is acquired in real time
Ship dredging data and spoil hopper model calculate dredging diameter of soil pellet, to determine soil types in real time, can be used for
The real-time analysis of dredger dredging soil types constructs under different edaphic condition suitable for dredger, avoids exploring offline
Soil types bring project amount helps to reduce the dredging time, improves dredging efficiency, reduces dredging cost.
Referring to FIG. 3, the present invention also provides a kind of control methods of dredger dredging, comprising the following steps:
0) the initial control parameter for pre-setting dredger, under the control of the initial control parameter, dredger is opened
Beginning dredging operation；
1) the dredging data of dredger are acquired in real time；
2) according to the dredging data and spoil hopper model, the undisturbed sinking speed of the soil of dredging is calculated；
3) particle diameter of the soil is calculated according to the undisturbed sinking speed；
4) in conjunction with the particle diameter of known soil type particle size distribution range and the soil, the soil is determined
Type；
5) control including dredge pump revolving speed, the speed of a ship or plane, drag head over the ground angle is included according to the soil types adjustment analyzed
The setting of parameter processed；
6) dredger dredging is controlled using control parameter adjusted.
Circulation step 1 later) to 6), until the dredging operation of dredger stops or is completed.
Above-mentioned step 1) is directed to the Analysis of Soil Type method of 4) dredger dredging i.e. provided by the invention
Spoil hopper model and the specific formula for calculation of each correlative can be with reference to above to dredger dredgings provided by the invention
Analysis of Soil Type method content is discussed in detail, details are not described herein.
The control method of dredger dredging of the invention, since the soil types point of dredger dredging of the invention is utilized
Analysis method, and soil types can be analyzed in real time, and therefore can be adjusted in time according to the soil types analyzed in real time
Relevant control parameter improves dredging efficiency so as to help to be further reduced the dredging time.Moreover, using dividing in real time
The soil types of precipitation adjusts relevant control parameter, can reduce the complexity of dredging technique control manipulation, make to dredge
Automation technolo degree is higher.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (2)
1. a kind of Analysis of Soil Type method of dredger dredging, which comprises the following steps:
1) the dredging data of dredger are acquired in real time；
2) according to the dredging data and spoil hopper model, the undisturbed sinking speed of the soil of dredging is calculated；
3) particle diameter of the soil is calculated according to the undisturbed sinking speed；
4) in conjunction with the particle diameter of known soil type particle size distribution range and the soil, the class of the soil is determined
Type；
Wherein, in step 1), the dredging data include: mixture into cabin flow, mixture excess flow, and mixture is into cabin
Density；The dredging data are acquired in conjunction with the sensor being mounted on dredger using the programmable logic controller (PLC) of dredger,
The programmable logic controller (PLC) and ethernet server are connected using Ethernet simultaneously, completes the real-time biography of the dredging data
It is defeated；
Step 2) includes following procedure:
2.1) stowage is calculated according to the dredging data and spoil hopper model；
2.2) in the overflow stage, the clear water flow in excess flow is calculated according to the dredging data and spoil hopper model；
2.3) overflow density of mixture is calculated according to the dredging data and spoil hopper model；
2.4) the undisturbed sinking speed that soil is calculated using the method minimized the error, when error is unsatisfactory for requiring, into
The calculating of the next time undisturbed sinking speed of row；
Wherein, the calculation formula of the stowage in step 2.1) are as follows:
The calculation formula of clear water flow in step 2.2) are as follows:
The calculation formula of the overflow density of mixture in step 2.3) are as follows:
Error calculation formula in step 2.4) are as follows:
Wherein, mtFor total weight of the mixture, unit t；QiFor into cabin flow, unit m3/s；ρiFor into cabin density, list
Position is t/m3；QoFor mixture excess flow, unit m3/s；ρoFor mixture overflow density, unit t/m3；QwOverflow
Clear water flow in flow, unit m3/s；S is spoil hopper floor space, unit m2；μ is mixture coefficient of scouring；vsFor
Undisturbed sinking speed, unit mm/s；VtFor volume of shipping, unit m3；ρwFor the density of dredged region water,
Unit is t/m3；ρqFor the density of natural sand, unit t/m3；J is the variance of stowage,For the calculating at k moment
Stowage, mtIt (k) is the stowage of the actual measurement at k moment, M is the total number of data；
The particle diameter of soil is determined by following formula in step 3):
In formula, d is soil particle diameter, unit mm；vsFor undisturbed sinking speed, unit is mm/s ρwFor dredged region
The density of water, unit t/m3；ρqFor the density of natural sand, unit t/m3。
2. a kind of control method of dredger dredging, which comprises the following steps:
Using the Analysis of Soil Type method of dredger dredging described in claim 1, the soil class of dredger dredging is analyzed
Type；
Include the control parameter including dredge pump revolving speed, the speed of a ship or plane, drag head over the ground angle according to the soil types adjustment analyzed
Setting；
Dredger dredging is controlled using control parameter adjusted.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001080596A (en) * | 1999-09-13 | 2001-03-27 | Sumitomo Heavy Ind Ltd | Automated guided probing vehicle |
| CN1986980A (en) * | 2005-12-21 | 2007-06-27 | 中国交通建设集团有限公司 | Automatic optimizing method for raking, sucking mud digging ship dredging construction |
| CN104169629A (en) * | 2013-02-18 | 2014-11-26 | 哈尼施费格尔技术公司 | Systems and methods for monitoring a fluid system of a mining machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8285458B2 (en) * | 2008-04-18 | 2012-10-09 | Caterpillar Inc. | Machine with automatic operating mode determination |
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- 2017-04-19 CN CN201710255771.9A patent/CN107012904B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001080596A (en) * | 1999-09-13 | 2001-03-27 | Sumitomo Heavy Ind Ltd | Automated guided probing vehicle |
| CN1986980A (en) * | 2005-12-21 | 2007-06-27 | 中国交通建设集团有限公司 | Automatic optimizing method for raking, sucking mud digging ship dredging construction |
| CN104169629A (en) * | 2013-02-18 | 2014-11-26 | 哈尼施费格尔技术公司 | Systems and methods for monitoring a fluid system of a mining machine |
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