CN109750713A - A kind of cutter suction dredger piling bar trolley automatic controller - Google Patents
A kind of cutter suction dredger piling bar trolley automatic controller Download PDFInfo
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- CN109750713A CN109750713A CN201910184284.7A CN201910184284A CN109750713A CN 109750713 A CN109750713 A CN 109750713A CN 201910184284 A CN201910184284 A CN 201910184284A CN 109750713 A CN109750713 A CN 109750713A
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- piling bar
- automatically
- bar trolley
- trolley
- sideline
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Abstract
The present invention relates to a kind of cutter suction dredger piling bar trolley automatic controllers, belong to engineering ship technical field of automatic control, which includes that sideline is automatically retracted into pass and sideline to zero-bit automatically；Travelling winch is traversing be rocked to sideline when, press traversing inverted running button, according to the piling bar trolley step distance value of control model and setting, piling bar trolley automatic controller is issued to piling bar trolley and is instructed, and control piling bar trolley into pass or is automatically retracted to zero-bit automatically；Further include a key into closing and a key is shut out, under MANUAL CONTROL mode, presses next key automatically into behind pass, trolley, which is advanced or retreated automatically, sets stroke.The present invention combines the automatic construction of dredging of the movement realization such as travelling winch, gantry winch by automatically controlling piling bar trolley under different Construction Modes, the amount of labour of dredging operation personnel can be reduced to a great extent, reduce the difference operated between different operation personnel, improve construction quality, it ensures equipment safety, reduces oil consumption.
Description
Technical field
The invention belongs to engineering ship technical field of automatic control, more particularly to a kind of cutter suction dredger piling bar trolley
Automatic controller.
Background technique
Piling bar table system is one of important dredging equipment of large-scale cutter suction dredger, cutter suction dredger in construction operation,
The stepping of piling bar and shut out, and control it is reliable whether will directly affect the precision and efficiency that ship is constructed.Last century 90
After age, with the development of computer and network technology, after dredger " full ship integrated monitoring system " is gradually applied, behaviour
Making personnel can be in the operation of dredging console remote manual manipulation piling bar trolley.But the operation level of dredging operation personnel and skilled
There are larger differences for degree, affect the fluency being connected between dredger construction precision and construction process in various degree, to go out
Now construction matter effect and oil consumption it is irregular the problems such as, realize automatically dredge control condition first is that piling bar trolley is needed to control automatically
System.
In order to solve the above problem, invention cutter suction dredger piling bar trolley automatic controller is of great significance.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of cutter suction dredger piling bar trolley automatic controllers.
The invention is realized in this way a kind of cutter suction dredger piling bar trolley automatic controller, the piling bar trolley are controlled automatically
Device processed includes that sideline is automatically retracted into pass and sideline to zero-bit automatically；Travelling winch is traversing be rocked to sideline when, press traversing
Inverted running button, according to the piling bar trolley step distance value of control model and setting, piling bar trolley automatic controller is to piling bar
Trolley issues instruction, and control piling bar trolley into pass or is automatically retracted to zero-bit automatically.
The sideline refers into pass automatically to be automatically controlled when piling bar trolley, travelling winch, gantry are in, piling bar trolley sideline
Automatically into the start or stop used time, when travelling winch is run to left side bearing or right side bearing, travelling winch frequency converter stops, and presses at this time traversing
Inverted running button, starting piling bar trolley automatically steps setting value, into after the completion of pass, travelling winch counter yaw moment, and keep working as
Preceding piling bar trolley stroke.
The sideline automatically retract to zero-bit refer to when in automatically dredge control model when, travelling winch automatically to the left or
It swings to the right close to slowing down when excavating sideline and to behind sideline, piling bar trolley presses setting value drilling depth automatically, and travelling winch returns automatically
Pendulum is reversely dredged again, and the end until the layer is dredged, piling bar trolley is automatically withdrawn into zero-bit.
The piling bar trolley automatic controller further includes that a key is shut out into pass and a key.
One key refers to that piling bar trolley is under MANUAL CONTROL mode into pass, presses next key automatically into behind pass, trolley from
Dynamic setting stroke of advancing.
One key, which is shut out, refers to that piling bar trolley is under MANUAL CONTROL mode, presses next key automatically into behind pass, trolley from
It is dynamic to retreat setting stroke.
Above-mentioned cutter suction dredger piling bar trolley automatic controller is dredged first in cutter suction dredger in certain operating condition
Under conditions of setting state of a control and construction parameter in control system workstation software, control system is dredged by cutter suction dredger
System and piling bar trolley automatic controller automatic control one key of piling bar table system are shut out into pass, a key, sideline is automatically into pass or side
Line is automatically retracted to zero-bit, realizes that dredger presses the operation of construction technology automatic mining, to realize efficient automatic dredging.
The cutter suction dredger dredging control system specifically includes that measuring system, logic controller, data conversion/transmission
Equipment, server and computer workstation；The real-time data signal of executing agency's acquisition operation is transmitted to by measuring system
Logic controller will execute after the control program processing of cutter suction dredger Dredging Process and the driving for being sent to executing agency ordered to fill
It sets and carries out next step movement, while process data is sent to server by data conversion/transmission device and carries out Premium Features
Processing and history data store, and control process data are shown in computer workstation, logic controller is controlled
System instruction is sent.
The real-time data signal of operation mainly includes trolley stroke signal and reamer away from sideline distance signal.Each signal is logical
Cross the sensor acquisition of corresponding installation site.
The advantages and positive effects of the present invention are:
The present invention by control one key of piling bar trolley into close, a key shut out, sideline automatically into close or sideline automatically retract to
Zero-bit function, and the technologies such as computer, network, sensor and automatic control are fully utilized, it solves tradition and dredges work of dredging
The amount of labour of dredging operation personnel can be reduced to a great extent in the problem that industry excessively relies on dredging operation personnel artificial, reduce
Difference in operation between different operation personnel can be realized dredging tool automated construction operation, improve construction quality and dredging
Efficiency, while can effectively ensure that the safety of equipment, oil consumption is reduced, is increased economic efficiency；The automatic running of piling bar table system
Piling bar trolley can not only be made accurately, timely to run, moreover it is possible to by different processes series connection linkings of dredging automatically, become complete set
Automatic mode of dredging, improves the automatization level of dredger construction significantly, to reduce dredging operation personnel because operating water
Matter caused by gentle qualification imitates not high and relatively high oil consumption influence.
Detailed description of the invention
Fig. 1 is the structural block diagram that cutter suction dredger provided in an embodiment of the present invention dredges control system；
Fig. 2 is cutter suction dredger piling bar trolley automatic control flow chart figure provided in an embodiment of the present invention.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
Embodiment
Cutter suction dredger piling bar trolley automatic controller of the invention, is in certain operating condition, first in cutter suction dredger
Under conditions of setting state of a control and construction parameter in dredging control system workstation software, is dredged and controlled by cutter suction dredger
System processed and piling bar trolley automatic controller automatically control one key of piling bar table system into close, a key is shut out, sideline is automatically into pass
Or sideline is automatically retracted to zero-bit, is realized that dredger presses the operation of construction technology automatic mining, is efficiently dredged automatically to realize
Dredging.
As shown in Figure 1, the cutter suction dredger dredging that cutter suction dredger piling bar trolley automatic controller of the invention is based on
Control system specifically includes that measuring system, logic controller, data conversion/transmission device, server and computer workstation；
The real-time data signal of executing agency's acquisition operation is transmitted to logic controller by measuring system, is dredged through cutter suction dredger
The driving device for executing order and being sent to executing agency is subjected to next step movement after process control block (PCB) processing, while by process
Data are sent to server by data conversion/transmission device and carry out Premium Features processing and history data store, and are calculating
Machine work station shows control process data, carries out control instruction transmission to logic controller.
The real-time data signal of operation mainly includes piling bar trolley stroke signal and reamer away from sideline distance signal.Each letter
Number pass through the sensor acquisition of corresponding installation site.
One, Controlling model
As shown in Fig. 2, piling bar trolley automatic controller of the present invention, model are as follows: be rocked to travelling winch is traversing
When sideline, according to the trolley step distance value of control model and setting, piling bar trolley automatic controller refers to the sending of piling bar trolley
It enables, control trolley is automatically into closing or be retracted to zero-bit.
Piling bar trolley automatic control model calculates reamer line, right side bearing and middle line From Left by computer in real time
Distance, and calculated distance value is written in PLC, PLC judges the position that reamer is currently located according to reamer position.Work as strand
Travelling winch stops when cutter position reaches left side bearing, right side bearing；When reamer is closely located to left side bearing, right side bearing, control system is sent out
Pre-alarm signal out.
Wherein: reach left and right sideline and refer to: reamer is less than 0.5m apart from left and right sideline；
Refer to close to left and right sideline: reamer is less than 1m apart from left and right sideline；
Middle position refers to: reamer is less than 0.5m apart from middle line.
Piling bar trolley automatic control model is each according to the piling bar trolley of setting oil cylinder stroke distance controlling trolley of walking
It measures, calculates into the position for closing rear chassis, calculation formula is as follows into pass:
POS=POS1+POS2
POS: piling bar trolley position after stepping；
POS1: piling bar trolley position before stepping；
POS2: piling bar trolley step distance (computer installation).
If calculating stepping backstage truck position reaches front limit or rear limit, using restraining position as trolley stepping after position
It sets.
Initial position before trolley stepping is POS1, controls one stage of every completion by logic controller and dredges after process,
Distance POS2 is automatically stepped according to setting trolley, the final position POS after eventually arriving at trolley stepping, subsequent setting according to mode
It is fixed to be shut out automatically to original position.
In one example using the more drilling depths of single layer dredge automatically control model operation data it is as shown in table 1 below:
The more drilling depths of 1 single layer of table are dredged Controlling model running example automatically
Remarks: under this control model, setting control piling bar trolley walking oil cylinder stroke is up to 9 meters, and piling bar trolley is every
Secondary step distance is 1.5 meters, if actual value exceeds range, actual value is maintained at maximum travel position.
Two, control function
4 automatic control functions that piling bar trolley automatic controller of the invention is realized are as follows:
1. a key is into pass: piling bar trolley is under MANUAL CONTROL mode, presses next key automatically into behind pass, piling bar trolley is automatic
It advances and sets stroke.If reaching front limit and being not above setting stroke, terminate automatically into pass control.
2. a key is shut out: piling bar trolley is under MANUAL CONTROL mode, presses next key automatically into behind pass, piling bar trolley is automatic
Retreat setting stroke.If limiting after reaching and being not above setting stroke, control of shutting out automatically terminates.
3. sideline is automatically into pass: being automatically controlled when piling bar trolley, traversing car, gantry are in, piling bar trolley sideline is automatic
Into the start or stop used time, when travelling winch is run to left side bearing or right side bearing, travelling winch frequency converter stops, and presses at this time traversing reversed
Button is run, starting piling bar trolley automatically steps set distance value, into after the completion of pass, travelling winch counter yaw moment, and keep working as
Preceding piling bar trolley stroke.
4. sideline is automatically retracted to zero-bit: when in dredge automatically control model when, travelling winch is automatically to the left (or right)
It swings close to slowing down when excavating sideline and to behind sideline, piling bar trolley presses set distance value drilling depth automatically, and traversing automatic backswing is again
It is reversely dredged, the end until layer is dredged, piling bar trolley is automatically withdrawn into zero-bit.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement, and these are modified or replaceed, the model for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (8)
1. a kind of cutter suction dredger piling bar trolley automatic controller, which is characterized in that the piling bar trolley automatic controller includes side
Line is automatically retracted into pass and sideline to zero-bit automatically；Control system and piling bar trolley automatic controller are dredged by cutter suction dredger
Automatically control piling bar table system, travelling winch is traversing be rocked to sideline when, traversing inverted running button is pressed, according to control
The piling bar trolley step distance value of mode and setting, piling bar trolley automatic controller are issued to piling bar trolley and are instructed, and control piling bar
Trolley into pass or is automatically retracted to zero-bit automatically.
2. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 1, which is characterized in that the sideline
Automatically refer into pass and automatically controlled when piling bar trolley, travelling winch, gantry are in, piling bar trolley sideline automatically into the start or stop used time,
When travelling winch is run to left side bearing or right side bearing, travelling winch frequency converter stops, and presses traversing inverted running button at this time, opens
Dynamic piling bar trolley automatically steps setting value, into after the completion of pass, travelling winch counter yaw moment, and keep current piling bar trolley row
Journey.
3. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 1, which is characterized in that the sideline
Automatically retract to zero-bit refer to when in automatically dredge control model when, travelling winch automatically to the left or to the right swing close to excavate
Slowing down when sideline and to behind sideline, piling bar trolley presses setting value drilling depth automatically, and the automatic backswing of travelling winch is reversely dredged again,
The end until layer is dredged, piling bar trolley are automatically withdrawn into zero-bit.
4. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 1, which is characterized in that the piling bar platform
Vehicle automatic controller further includes that a key is shut out into pass and a key.
5. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 1, which is characterized in that a key
Refer to that piling bar trolley is under MANUAL CONTROL mode into pass, press next key automatically into behind pass, trolley is advanced setting stroke automatically.
6. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 1, which is characterized in that a key
It shuts out and refers to that piling bar trolley is under MANUAL CONTROL mode, press next key automatically into behind pass, trolley automatic backing sets stroke.
7. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 1, which is characterized in that the strand is inhaled
Dredger dredging control system specifically includes that measuring system, logic controller, data conversion/transmission device, server and calculating
Machine work station；The real-time data signal of executing agency's acquisition operation is transmitted to logic controller by measuring system, is inhaled through twisting
To execute after the processing of dredger dredging process control block (PCB) orders the driving device for being sent to executing agency to carry out next step movement,
Process data is sent to server progress Premium Features processing by data conversion/transmission device simultaneously and historical data is deposited
Storage, and control process data are shown, in computer workstation to logic controller progress control instruction transmission.
8. a kind of cutter suction dredger piling bar trolley automatic controller according to claim 7, which is characterized in that the reality of operation
When data-signal mainly include trolley stroke signal and reamer away from sideline distance signal；Each signal passes through corresponding installation site
Sensor acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184284.7A CN109750713B (en) | 2019-03-12 | 2019-03-12 | Automatic controller for steel pile trolley of cutter suction dredger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184284.7A CN109750713B (en) | 2019-03-12 | 2019-03-12 | Automatic controller for steel pile trolley of cutter suction dredger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109750713A true CN109750713A (en) | 2019-05-14 |
| CN109750713B CN109750713B (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910184284.7A Active CN109750713B (en) | 2019-03-12 | 2019-03-12 | Automatic controller for steel pile trolley of cutter suction dredger |
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| CN (1) | CN109750713B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111335388A (en) * | 2020-02-21 | 2020-06-26 | 中交疏浚技术装备国家工程研究中心有限公司 | Full-intelligent cutter suction dredger |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL7701257A (en) * | 1977-02-07 | 1978-08-09 | Hollandsche Aanneming Bv | Dredger operation control system - selects highest level from process regulator signals to control side winch drive |
| JPS5869941A (en) * | 1981-10-22 | 1983-04-26 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic dredge device for pump type dredger |
| US20090056426A1 (en) * | 2003-09-03 | 2009-03-05 | Kudlack James G | Apparatus, System and Method for Remediation of Contamination |
| CN106836341A (en) * | 2017-02-23 | 2017-06-13 | 中交烟台环保疏浚有限公司 | The control system and control method of intelligent cutter suction dredger |
| CN106869078A (en) * | 2017-03-23 | 2017-06-20 | 中交天航滨海环保浚航工程有限公司 | A kind of method that cutter suction dredger excavates coral reef |
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2019
- 2019-03-12 CN CN201910184284.7A patent/CN109750713B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL7701257A (en) * | 1977-02-07 | 1978-08-09 | Hollandsche Aanneming Bv | Dredger operation control system - selects highest level from process regulator signals to control side winch drive |
| JPS5869941A (en) * | 1981-10-22 | 1983-04-26 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic dredge device for pump type dredger |
| US20090056426A1 (en) * | 2003-09-03 | 2009-03-05 | Kudlack James G | Apparatus, System and Method for Remediation of Contamination |
| CN106836341A (en) * | 2017-02-23 | 2017-06-13 | 中交烟台环保疏浚有限公司 | The control system and control method of intelligent cutter suction dredger |
| CN106869078A (en) * | 2017-03-23 | 2017-06-20 | 中交天航滨海环保浚航工程有限公司 | A kind of method that cutter suction dredger excavates coral reef |
Non-Patent Citations (1)
| Title |
|---|
| 王谷谦等: "《疏浚工程手册》", 30 September 1994, 交通部上海航道局 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111335388A (en) * | 2020-02-21 | 2020-06-26 | 中交疏浚技术装备国家工程研究中心有限公司 | Full-intelligent cutter suction dredger |
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| CN109750713B (en) | 2021-06-08 |
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