CN111305301A - Full-automatic control dredging cutter suction dredger - Google Patents
Full-automatic control dredging cutter suction dredger Download PDFInfo
- Publication number
- CN111305301A CN111305301A CN202010109208.2A CN202010109208A CN111305301A CN 111305301 A CN111305301 A CN 111305301A CN 202010109208 A CN202010109208 A CN 202010109208A CN 111305301 A CN111305301 A CN 111305301A
- Authority
- CN
- China
- Prior art keywords
- automatic control
- reamer
- bridge
- motor
- trolley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9256—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
Abstract
A full-automatic control dredging cutter suction dredger is characterized by comprising a dredger body, an automatic control operation system and a data acquisition system, wherein the dredger body is a carrier of the automatic control operation system and the data acquisition system; the automatic control operation system comprises an automatic control operation algorithm and five machine tool subsystems, and the five machine tool subsystems are coordinately controlled through the automatic control operation algorithm, wherein the five machine tool subsystems comprise a frame winch system, a transverse moving system, a trolley system, a dredge pump system and a reamer system; the data acquisition system performs real-time feedback for the automatic control operation system. Based on the full-automatic control dredging cutter suction dredger, construction can be carried out along a specific working line under different soil conditions, full-automatic operation can be realized, real-time safety guarantee can be realized, and intelligent control of cutter suction construction is realized, so that the labor cost is reduced, and the dredging yield and efficiency are improved.
Description
Technical Field
The invention belongs to the field of dredging of a cutter suction dredger.
Background
The cutter suction dredger is a typical dredging engineering construction ship and is one of the most important production tools of dredging enterprises. The cutter suction dredger control system consists of a plurality of local subsystem controllers, and professional machines such as a large dredge pump, a hydraulic system, an electrical system, a reamer head and a shaft system, a steel pile trolley, a transverse winch system and the like are integrated on the cutter suction dredger control system, and the machines are various. In addition, the existing cutter suction dredger is generally non-motorized, a dredge pump, a bridge frame, main and auxiliary steel piles, a winch and the like are arranged on the dredger, automation and intellectualization of the dredger are difficult to realize on equipment on the dredger, and constructors need to participate in construction operation in the whole process, so that a large amount of waste of manpower, material resources and financial resources is caused.
Disclosure of Invention
The invention is further researched, developed and disclosed according to the Chinese utility model application 'an intelligent cutter suction dredger' (2019218590143).
Technical scheme
A full-automatic control dredging cutter suction dredger is characterized by comprising a dredger body, an automatic control operation system and a data acquisition system, wherein the dredger body is a carrier of the automatic control operation system and the data acquisition system; the automatic control operation system comprises an automatic control operation algorithm and five machine tool subsystems, and the five machine tool subsystems are coordinately controlled through the automatic control operation algorithm, wherein the five machine tool subsystems comprise a frame winch system, a transverse moving system, a trolley system, a dredge pump system and a reamer system; the data acquisition system performs real-time feedback for the automatic control operation system.
Based on the full-automatic control dredging cutter suction dredger, construction can be carried out along a specific working line under different soil conditions, full-automatic operation can be realized, real-time safety guarantee can be realized, and intelligent control of cutter suction construction is realized, so that the labor cost is reduced, and the dredging yield and efficiency are improved.
Drawings
FIG. 1 shows the hardware relationship (processor, PLC, underlying sensors/motors in each actuator) for each system level
FIG. 2 shows a hull and five mechanical parts of the machine tool subsystem (prior art)
FIG. 3 is a schematic view of the mounting position of the motor (embodiment 1 electrical modification of five machine tool subsystems)
FIG. 4 is a schematic view of a sensor arrangement
FIG. 5 is a schematic diagram of an operation algorithm flow of the intelligent control operation system
FIG. 6 is a schematic view of a traverse process by stepping a trolley distance
Numerical labeling: bridge winch motor 1, transverse winch motor 2, steel pile trolley electric push rod motor 3, reamer motor 4 and dredge pump motor 5
Detailed Description
The technical solutions provided in the present application will be further described with reference to the following specific embodiments and accompanying drawings. The advantages and features of the present application will become more apparent in conjunction with the following description.
It should be noted that the embodiments of the present application have a better implementation and are not intended to limit the present application in any way. The technical features or combinations of technical features described in the embodiments of the present application should not be considered as being isolated, and they may be combined with each other to achieve a better technical effect. The scope of the preferred embodiments of this application may also include additional implementations, and this should be understood by those skilled in the art to which the embodiments of this application pertain.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
The drawings in the present application are in simplified form and are not to scale, but rather are provided for convenience and clarity in describing the embodiments of the present application and are not intended to limit the scope of the application. Any modification of the structure, change of the ratio or adjustment of the size of the structure should fall within the scope of the technical disclosure of the present application without affecting the effect and the purpose of the present application. And the same reference numbers appearing in the various drawings of the present application designate the same features or components, which may be employed in different embodiments.
Example 1
In order to realize the full-automatic intellectualization of the cutter suction dredger, hull hardware (including electrification transformation, sensor arrangement and communication facility arrangement) is constructed, an intelligent dredger system is further built, and automatic control system software and safety guarantee software are developed.
The intelligent cutter-suction ship is used as a carrier and is divided into two layers, wherein one layer is an automatic control operation system (upper control), and the other layer is an acquisition system (bottom layer).
As shown in fig. 1. Various sensors collect construction state signals, transfer the construction state signals through the PLC, and then provide the construction state signals to a processor of a ship operation platform.
The processor and the microcomputer analyze and calculate to obtain a control signal according to the control instruction and the data collected by each sensor, the control signal is transmitted to the PLC through a TCP/IP network, and the PLC executes the control signal to five machine tool subsystems (motor driving equipment of each actuating mechanism) according to the feedback control instruction.
First part boat carrier and mechanical part
As shown in fig. 2 and 3.
The five machine tool subsystems serve as a service execution mechanism and comprise a mechanical part and a driving part, wherein the driving part is driven by electricity (or a traditional cutter suction ship is transformed into the machine tool which is driven by electricity), and the related motors comprise a bridge winch motor 1, a transverse moving winch motor 2, a steel pile trolley push rod motor 3, a reamer head motor 4 and a dredge pump motor 5 which belong to a frame winch system, a transverse moving system, a trolley system, a reamer system and a dredge pump system respectively.
Except that the trolley is connected with the positioning steel pile through the electric push rod and the displacement adjustment of the advancing and retreating of the ship body is realized through the expansion of the electric push rod driven by the electric push rod motor 3 of the steel pile trolley. Except for the design, the mechanical parts of all other service execution mechanisms are not the innovative part of the invention, and the components, the installation positions and the connection relations of the mechanical parts and the mechanical parts are the prior art.
The arrangement and the constitution of each mechanical part in the figure are as follows:
the ship hull provides bearing capacity and provides main body buoyancy on the water surface.
The bridge is fixed at the middle front end of the ship body and used for carrying the reamer head, the mud pipe and the anchor mechanism. The raising or lowering is driven by a bridge motor 1.
The reamer head is positioned at the bow of the ship body and is arranged at the foremost end of the bridge, and the reamer head penetrates into the water and rotates under the driving of the reamer motor 4, so that the function of cutting soil and gravel is realized.
And the mud pipe is positioned at the foremost end of the bridge frame, transports the mud absorbed at the reamer head from the bow part to the stern part along the bridge frame, transmits the mud to the shore and is driven by a mud pump motor 5.
The temporary displacement adjusting mechanism consists of a trolley and a positioning steel pile and is positioned at the stern part of the ship body. The trolley is fixed on the ship body, the positioning steel pile is perpendicular to the ship body and fixed with the bottom of the ship body to play a role in fixing the ship body, and the trolley is connected with the positioning steel pile through the electric push rod and achieves displacement adjustment of advancing and retreating of the ship body through stretching of the electric push rod driven by the electric push rod motor 3 of the steel pile trolley.
The temporary displacement adjusting mechanism is also provided with a transverse moving winch which is driven by a transverse moving winch motor 2, takes the positioning steel pile as the center of a circle, is connected to the anchor through a steel wire rope, releases/tightens the steel wire rope to realize the sector movement of the ship body towards the left or the right, and adjusts the angle of the ship head.
The anchor mechanism comprises an anchor, an anchor throwing rod, an anchor rod winch and an anchor winch: the anchor is located at the front ends of the port and the starboard of the ship body, the anchor is connected with the anchor throwing rods through steel wire ropes, the position of the ship body is determined through the anchor throwing rods, and after the anchor is anchored into water, the anchor is in contact with a mud surface to play a role in fixing the ship body. The anchor rod winches are suitable for two anchor rod throwing machines, are also positioned at the front ends of the port and the starboard of the ship body, and play a role in pulling back/releasing the respective anchor rod throwing machines through steel wire ropes; and two anchor lifting winches are also provided, and the two anchor lifting winches retract/release the steel wire rope and play a role in lifting/releasing the anchors on the left side and the right side.
And a steel wire rope is arranged between the bridge winch and the bridge and used for adjusting the lifting of the bridge to control the lowering or lifting of the reamer head and start preparation work or finish departure.
Second part boat carrier and sensor
As shown in fig. 4.
The sensing system comprises a bridge frame sensing system, a transverse moving sensing system, a trolley sensing system, a reamer sensing system and a dredge pump sensing system, wherein:
the bridge frame sensing system comprises a draught sensor 11, a rotary encoder 12, a tide level remote-report instrument 13 and a frequency converter 15; draft sensor 11 distributes and is used for measuring the draft of hull around the cutter suction dredger, draw together rotary encoder 12 and be located the anterior left side and the right side of hull and be used for the measurement of sideslip anchor state of landing and throwing stock angle, the draft sensor is used for measuring the draft of hull, the measurement of sideslip anchor state and throwing stock angle is located on the left of the anterior portion of hull, the draft sensor is used forThe tide level remote-reporting instrument 13 is used for measuring the tide level; the draft sensor 11, the tide level remote-reporting instrument 13 and the rotary encoder 12 jointly calculate the bridge frame lowering depth HLowering depth＝aDraught of ship body+sin(bBridge frame angle)*cBridge frame length-dTidal level. The frequency converter 15 is used to obtain the bridge winch speed (control quantity).
The transverse moving sensing system comprises a GPS21, a laser radar 22, an acceleration gyroscope 23, a transverse moving tension sensor 24 and a frequency converter 25. The laser radars 22 are installed at the front left, rear left, front right, and rear right of the hull for indoor positioning of the ship. And the acceleration gyroscope 23 is used for acquiring the transverse movement acceleration of the ship body.
The trolley sensing system comprises a frequency converter 31 and a pull rope encoder 32; the frequency converter 31 is used for obtaining the traveling speed of the trolley, and the pull rope encoder 32 is used for acquiring the travel of the trolley.
The reamer sensing system comprises a frequency converter 41 for obtaining the reamer speed and pressure.
The dredge pump sensing system comprises a frequency converter 51 and a pressure sensor 52; the pressure sensors 52 are used for measuring the vacuum degree and the discharge pressure in the mud pipe and are uniformly distributed along the conveying pipeline at the rear part of the mud pump.
Description of the individual sensors:
and annotating: the frequency converter can convert the pressure of the reamer according to the torque, and is equivalent to a pressure sensor in function.
Third part ship carrier and automatic control operation system
According to a drawing provided by a dredging project owner, a construction drawing specifies a horizontal plane for intelligently controlling the operation of the cutter suction dredger, namely an excavation width W, through a left working line, a middle working line and a right working line; through a water depth map, the intelligent control ship operation is specifiedThe depth of the field, i.e., excavation depth D; the width, the depth and the working line form an excavation three-dimensional area, namely a working area, for intelligently controlling the operation of the cutter suction dredger. The intelligent control cutter suction ship moves to an operation area under the dragging of a tugboat (if the ship has a navigation function, the intelligent control cutter suction ship can also move automatically), a lifting auxiliary pile leaves a mud surface, a main positioning pile is placed in a middle working line, a mud discharging pipe opening of a stern is connected with a water pipe, a left transverse moving anchor and a right transverse moving anchor enter the soil and are fixed under the assistance of a tugboat or an anchor boat, a bow is close to a working line on one side (left or right) under the assistance of the tugboat, five machine tool subsystem devices are inspected, and the completion of the inspection is completedPreparatory work before work。
Starting an intelligent control operation system, sequentially completing operation algorithms (as shown in fig. 5 and 6), taking a trolley period as an example, and comprising the steps of ' automatically lowering to a specified depth ', ' automatically starting and adjusting a dredge pump ', ' automatically starting and adjusting a reamer ', ' automatically laterally moving and ' automatically stepping ', and specifically:
starting a bridge winch motor 1, and lowering the bridge to the depth determined by an intelligent control program, namely the depth of the reamer head capable of entering the soil;
in the process of lowering the bridge, once the depth of the bridge calculated by integrating the draft sensor 11, the rotary encoder 12 and the tide level remote-reporting instrument 13 senses that a mud conveying pipeline suction port on the inner side of a reamer head at the front end of the bridge is submerged into water, the mud pump motor 5 is started immediately, the mud pump sucks in clean water, and the mud conveying pipeline is filled with the clean water; in the process of lowering the bridge, once the rotary encoder 12 senses that the reamer head positioned at the front end of the bridge is submerged in water, the reamer motor 4 is started, the reamer head rotates to cut and break soil, the mud pump sucks mud, and the mud pump is filled with a mud conveying pipeline; the bridge frame lowering depth is calculated by a draft sensor, a tide level remote-report instrument and a rotary encoder together; hLowering depth＝aDraught of ship body+sin(bBridge frame angle)*cBridge frame length-dTidal level；
Then, starting the traverse winch motor 3, moving to one side of the traverse direction by tightening the traverse cables on one side connected with the anchor in the same advancing direction until the GPS21 or the laser radar 22 detects a traverse side line, and passively releasing the traverse cables on the other side connected with the anchor in the opposite advancing direction in the moving process;
after the trolley is moved transversely and stopped at the same time, the electric push rod motor 3 of the steel pile trolley is started to push the ship body to move forwards to the advancing distance determined by the intelligent control program, namely the stepping distance L, then the transverse movement winch motor 2 is started to move continuously on one side, and the process is repeated in a circulating mode until the stay cord encoder 32 detects that the trolley reaches the maximum displacement, so that the production process period of the trolley is finished.
The transverse movement is always kept at the excavation depth D to adapt to the change of the bridge depth along with the influence of the tide level, so that the transverse movement can be completed at a certain depth in one trolley periodTransverse (dredging) work。
Repeating the trolley stepping, advancing the process and repeating the cycle.
If the single excavation depth does not meet the depth requirement of the owner, returning the trolley to the initial position of the trolley after the trolley reaches the end position of the trolley, lowering the bridge frame, and repeating the dredging operation described above until the end position of the trolley; therefore, the bridge is lowered and the mud is dug, and the bridge is continuously close to the depth required by the owner.
The fourth part automatic control operation system also comprises a safety guarantee module
The cutter suction ship is interfered by field uncertain factors, and the cutter suction ship is easy to run in an overload state.
In order to ensure the service life of the five machine tool subsystem devices, the automatic control layer is used for controlling the automatic operation of the machine tools on one hand, and controlling the operation of the motor of the machine tools below a rated standard when the machine tools run in an overload mode on the other hand.
According to the lowering depth of the reamer and the bridge tension of a bridge tension sensor 14, which are fed back by a draft sensor 11, a rotary encoder 12 and a tide level remote-report instrument 13, the output of a processor automatically adjusts a bridge winch motor 1 through a frequency converter 15 by a PLC (programmable logic controller);
according to the traversing speed fed back by the GPS21, the laser radar 22 or the acceleration gyroscope 23 and the traversing tension fed back by the traversing tension sensor 24, the processor outputs a signal to automatically adjust the traversing winch motor 2 through the PLC by the frequency converter 25;
according to the step speed fed back by the frequency converter 31 and the step distance fed back by the pull rope encoder 32, the processor outputs and automatically adjusts the electric push rod motor 3 through the frequency converter 32 through a PLC;
according to the reamer rotating speed and the reamer pressure fed back by the frequency converter 41, the output of the processor automatically adjusts the reamer motor 4 through the frequency converter 41 through a PLC;
the processor output automatically adjusts the dredge pump motor 5 via the PLC through the frequency converter 51 according to the vacuum level measured by the pressure sensor 52.
In conclusion, when the bridge frame tension, the transverse movement tension, the reamer pressure and the vacuum degree exceed the allowable range, the rotation speeds of the winch motor 1, the transverse movement winch motor 2, the reamer motor 4 and the dredge pump motor 5 are automatically adjusted to the rated rotation speed by the PLC, so that the safety of the system is ensured.
The above description is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the present application in any way. Any changes or modifications made by those skilled in the art based on the above disclosure should be considered as equivalent effective embodiments, and all the changes or modifications should fall within the protection scope of the technical solution of the present application.
Claims (6)
1. A full-automatic control dredging cutter suction dredger is characterized by comprising a dredger body, an automatic control operation system and a data acquisition system, wherein the dredger body is a carrier of the automatic control operation system and the data acquisition system; the automatic control operation system comprises an automatic control operation algorithm and five machine tool subsystems, and the five machine tool subsystems are coordinately controlled through the automatic control operation algorithm, wherein the five machine tool subsystems comprise a frame winch system, a transverse moving system, a trolley system, a dredge pump system and a reamer system; the data acquisition system performs real-time feedback for the automatic control operation system.
2. The fully automatic control dredge cutter suction dredger of claim 1, wherein the automatic control operation algorithm, for example, a trolley cycle, comprises the steps of "automatically lowering to a specified depth", "automatically starting and adjusting a dredge pump", "automatically starting and adjusting a reamer", "automatically traversing left and right", "automatically stepping", and specifically:
starting a bridge winch motor 1, and lowering the bridge to the depth determined by an intelligent control program, namely the depth of the reamer head capable of entering the soil;
in the process of lowering the bridge, once the depth of the bridge calculated by integrating the draft sensor 11, the rotary encoder 12 and the tide level remote-reporting instrument 13 senses that a mud conveying pipeline suction port on the inner side of a reamer head at the front end of the bridge is submerged into water, the mud pump motor 5 is started immediately, the mud pump sucks in clean water, and the mud conveying pipeline is filled with the clean water; in the process of lowering the bridge, once the rotary encoder 12 senses that the reamer head positioned at the front end of the bridge is submerged in water, the reamer motor 4 is started, the reamer head rotates to cut and break soil, the mud pump sucks mud, and the mud pump is filled with a mud conveying pipeline; the bridge frame lowering depth is calculated by a draft sensor, a tide level remote-report instrument and a rotary encoder together; hLowering depth＝aDraught of ship body+sin(bBridge frame angle)*cBridge frame length-dTidal level；
Then, starting the traverse winch motor 3, moving to one side of the traverse direction by tightening the traverse cables on one side connected with the anchor in the same advancing direction until the GPS21 or the laser radar 22 detects a traverse side line, and passively releasing the traverse cables on the other side connected with the anchor in the opposite advancing direction in the moving process;
after the trolley is moved transversely and stopped at the same time, the electric push rod motor 3 of the steel pile trolley is started to push the ship body to move forwards to the advancing distance determined by the intelligent control program, namely the stepping distance L, then the transverse movement winch motor 2 is started to move continuously on one side, and the process is repeated in a circulating mode until the stay cord encoder 32 detects that the trolley reaches the maximum displacement, so that the production process period of the trolley is finished.
Repeating the trolley stepping, advancing the process and repeating the cycle.
3. The fully automated controlled dredge cutter suction dredger of claim 1, wherein the automated control operation system further comprises safety assurance software, and the algorithm comprises:
according to the lowering depth of the reamer and the bridge tension of a bridge tension sensor 14, which are fed back by a draft sensor 11, a rotary encoder 12 and a tide level remote-report instrument 13, the output of a processor automatically adjusts a bridge winch motor 1 through a frequency converter 15 by a PLC (programmable logic controller);
according to the traversing speed fed back by the GPS21, the laser radar 22 or the acceleration gyroscope 23 and the traversing tension fed back by the traversing tension sensor 24, the processor outputs a signal to automatically adjust the traversing winch motor 2 through the PLC by the frequency converter 25;
according to the step speed fed back by the frequency converter 31 and the step distance fed back by the pull rope encoder 32, the processor outputs and automatically adjusts the electric push rod motor 3 through the frequency converter 32 through a PLC;
according to the reamer rotating speed and the reamer pressure fed back by the frequency converter 41, the output of the processor automatically adjusts the reamer motor 4 through the frequency converter 41 through a PLC;
the processor output automatically adjusts the dredge pump motor 5 via the PLC through the frequency converter 51 according to the vacuum level measured by the pressure sensor 52.
When the bridge frame tension, the transverse movement tension, the reamer pressure and the vacuum degree exceed the allowable range, the rotation speeds of the winch motor 1, the transverse movement winch motor 2, the reamer motor 4 and the dredge pump motor 5 are automatically adjusted to the rated rotation speed by the PLC, so that the safety of the system is ensured.
4. The fully automatic control dredging cutter suction dredger of claim 1, wherein the acquisition system acquires a construction state signal, transfers the construction state signal through the PLC controller, and then provides the construction state signal to the processor of the ship operation platform;
the microcomputer of the processor transmits the control instruction to the PLC controller through the TCP/IP network according to the automatic control operation algorithm, and the PLC controller executes the control instruction to the five machine tool subsystems (the motor driving devices of the executing mechanisms) according to the feedback control instruction.
5. The fully automatic control dredging cutter suction dredger according to claim 1, characterized in that five implement subsystems, as service execution mechanisms, comprise a mechanical part and a driving part, the driving part is all electrically driven (or the traditional cutter suction dredger is modified to be all electrically driven), and the related motors comprise a bridge winch motor 1, a traverse winch motor 2, a steel pile trolley push rod motor 3, a reamer head motor 4 and a dredge pump motor 5, which belong to a frame winch system, a traverse system, a trolley system, a reamer system and a dredge pump system respectively.
6. The fully automated controlled dredge cutter suction dredge of claim 1 wherein the sensing system comprises a bridge sensing system, a lateral motion sensing system, a trolley sensing system, a reamer sensing system and a dredge pump sensing system, wherein:
the bridge frame sensing system comprises a draught sensor 11, a rotary encoder 12, a tide level remote-report instrument 13 and a frequency converter 15; the draft sensors 11 are distributed around the cutter suction dredger and used for measuring the draft of the dredger body, the rotary encoders 12 are located on the left side and the right side of the front portion of the dredger body and used for measuring the landing state of the transverse moving anchor and the angle of the anchor throwing rod, and the tide level remote-reporting instrument 13 is used for measuring the tide level; the draft sensor 11, the tide level remote-reporting instrument 13 and the rotary encoder 12 jointly calculate the bridge frame lowering depth HLowering depth＝aDraught of ship body+sin(bBridge frame angle)×cBridge frame length-dTidal level. The frequency converter 15 is used to obtain the bridge winch speed (control quantity).
The transverse moving sensing system comprises a GPS21, a laser radar 22, an acceleration gyroscope 23, a transverse moving tension sensor 24 and a frequency converter 25. The laser radars 22 are installed at the front left, rear left, front right, and rear right of the hull for indoor positioning of the ship. And the acceleration gyroscope 23 is used for acquiring the transverse movement acceleration of the ship body.
The trolley sensing system comprises a frequency converter 31 and a pull rope encoder 32; the frequency converter 31 is used for obtaining the traveling speed of the trolley, and the pull rope encoder 32 is used for acquiring the travel of the trolley.
The reamer sensing system comprises a frequency converter 41 for obtaining the reamer speed and pressure.
The dredge pump sensing system comprises a frequency converter 51 and a pressure sensor 52; the pressure sensors 52 are used for measuring the vacuum degree and the discharge pressure in the mud pipe and are uniformly distributed along the conveying pipeline at the rear part of the mud pump.
Description of the individual sensors:
the frequency converter can convert the pressure of the reamer according to the torque, and is equivalent to a pressure sensor in function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010109208.2A CN111305301A (en) | 2020-02-21 | 2020-02-21 | Full-automatic control dredging cutter suction dredger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010109208.2A CN111305301A (en) | 2020-02-21 | 2020-02-21 | Full-automatic control dredging cutter suction dredger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111305301A true CN111305301A (en) | 2020-06-19 |
Family
ID=71149068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010109208.2A Pending CN111305301A (en) | 2020-02-21 | 2020-02-21 | Full-automatic control dredging cutter suction dredger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111305301A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111691489A (en) * | 2020-07-17 | 2020-09-22 | 海南河道综合整治工程有限公司 | Hinge suction type dredging device convenient to rotate |
| CN112015131A (en) * | 2020-07-14 | 2020-12-01 | 唐山不锈钢有限责任公司 | Automatic positioning control system and control method for steel-making scrap steel platform car |
| CN112681432A (en) * | 2020-12-25 | 2021-04-20 | 中交一航局第三工程有限公司 | Control system and method for improving dredging depth precision of dredging rope grab dredger |
| CN113374004A (en) * | 2021-05-28 | 2021-09-10 | 上海交通大学 | Underwater unmanned self-walking twisting and sucking device |
| CN114164883A (en) * | 2021-12-09 | 2022-03-11 | 河南黄科工程技术检测有限公司 | Water dredging construction method based on automatic fixed-point operation |
| CN114232565A (en) * | 2022-01-20 | 2022-03-25 | 连云港金海岸开发建设有限公司 | Clay hydraulic fill damming technology and stirring suction dredger |
| CN115126031A (en) * | 2022-07-19 | 2022-09-30 | 滨州学院 | Self-propelled cutter suction type lake and sea multipurpose dredger |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201932865U (en) * | 2011-03-16 | 2011-08-17 | 徐州苏煤矿山设备制造有限公司 | System for supervising haulage winch tension |
| CN201952829U (en) * | 2011-01-28 | 2011-08-31 | 中国交通建设股份有限公司 | Positioning and traveling device with double steel piles and double trolleys for suction dredger |
| 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 |
| CN108442436A (en) * | 2018-03-05 | 2018-08-24 | 中交疏浚技术装备国家工程研究中心有限公司 | Trailing suction hopper dredger automatically with manual dredging system and method for handover control |
| CN109750704A (en) * | 2019-03-12 | 2019-05-14 | 中交天津航道局有限公司 | A kind of cutter suction dredger reamer speed automation device |
| CN110593332A (en) * | 2019-08-16 | 2019-12-20 | 中交疏浚技术装备国家工程研究中心有限公司 | Full-automatic control system and method for dredging of cutter suction dredger |
-
2020
- 2020-02-21 CN CN202010109208.2A patent/CN111305301A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201952829U (en) * | 2011-01-28 | 2011-08-31 | 中国交通建设股份有限公司 | Positioning and traveling device with double steel piles and double trolleys for suction dredger |
| CN201932865U (en) * | 2011-03-16 | 2011-08-17 | 徐州苏煤矿山设备制造有限公司 | System for supervising haulage winch tension |
| 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 |
| CN108442436A (en) * | 2018-03-05 | 2018-08-24 | 中交疏浚技术装备国家工程研究中心有限公司 | Trailing suction hopper dredger automatically with manual dredging system and method for handover control |
| CN109750704A (en) * | 2019-03-12 | 2019-05-14 | 中交天津航道局有限公司 | A kind of cutter suction dredger reamer speed automation device |
| CN110593332A (en) * | 2019-08-16 | 2019-12-20 | 中交疏浚技术装备国家工程研究中心有限公司 | Full-automatic control system and method for dredging of cutter suction dredger |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112015131A (en) * | 2020-07-14 | 2020-12-01 | 唐山不锈钢有限责任公司 | Automatic positioning control system and control method for steel-making scrap steel platform car |
| CN112015131B (en) * | 2020-07-14 | 2021-12-03 | 唐山不锈钢有限责任公司 | Automatic positioning control system and control method for steel-making scrap steel platform car |
| CN111691489A (en) * | 2020-07-17 | 2020-09-22 | 海南河道综合整治工程有限公司 | Hinge suction type dredging device convenient to rotate |
| CN112681432A (en) * | 2020-12-25 | 2021-04-20 | 中交一航局第三工程有限公司 | Control system and method for improving dredging depth precision of dredging rope grab dredger |
| CN113374004A (en) * | 2021-05-28 | 2021-09-10 | 上海交通大学 | Underwater unmanned self-walking twisting and sucking device |
| CN114164883A (en) * | 2021-12-09 | 2022-03-11 | 河南黄科工程技术检测有限公司 | Water dredging construction method based on automatic fixed-point operation |
| CN114232565A (en) * | 2022-01-20 | 2022-03-25 | 连云港金海岸开发建设有限公司 | Clay hydraulic fill damming technology and stirring suction dredger |
| CN115126031A (en) * | 2022-07-19 | 2022-09-30 | 滨州学院 | Self-propelled cutter suction type lake and sea multipurpose dredger |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111305301A (en) | Full-automatic control dredging cutter suction dredger | |
| CN111206636B (en) | River channel dredging robot and unmanned ship | |
| CN109687353B (en) | High-quality and high-efficiency submarine cable laying system and laying method thereof | |
| CN103015479A (en) | Biological dredging platform and method | |
| CN113152558A (en) | River channel dredging ship capable of adjusting dredging depth | |
| CN106968250A (en) | A kind of piling equipment and pile-driving method based on unmanned boat | |
| US20190032433A1 (en) | Method for Collecting Geological Samples and Attitude-Controllable Work Apparatus | |
| CN109518752A (en) | A kind of autonomous shifting anchor device and shifting anchor method of cutter suction dredger | |
| US2933837A (en) | Elevator discharge hydraulic dredge | |
| CN111335388A (en) | Full-intelligent cutter suction dredger | |
| CN109750701A (en) | A kind of cutter suction dredger maximum production is dredged control method automatically | |
| CN109750707A (en) | A kind of cutter suction dredger target output is dredged control method automatically | |
| AU2014321147B2 (en) | Method for manoeuvring a vessel | |
| CN210127439U (en) | Dredging process water tank system for experiment | |
| CN206157803U (en) | Formula grab dredger is dug to automatic side of bridge type | |
| CN109750703A (en) | A kind of more drilling depths of cutter suction dredger multilayer are dredged control method automatically | |
| CN112982532B (en) | Intelligent self-balancing floating platform for hydropower station dredging and operation method | |
| CN214363726U (en) | Embedded plough | |
| JPS5869941A (en) | Automatic dredge device for pump type dredger | |
| CN211547858U (en) | Intelligent cutter suction dredger | |
| CN209686492U (en) | A kind of visual mating Accrete clearing device of deep water | |
| CN112874693A (en) | Ship moving and anchoring method of self-propelled cutter suction dredger | |
| JPH0119011B2 (en) | ||
| CN109750697A (en) | A kind of automatically dredge control method of the cutter suction dredger based on yield | |
| CN109750702A (en) | A kind of cutter suction dredger economic flow rate is dredged control method automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200619 |