CN112482474A

CN112482474A - Leveling machine control device and underwater leveling machine

Info

Publication number: CN112482474A
Application number: CN202011261101.6A
Authority: CN
Inventors: 马家杰; 孔维达; 李汪讳; 李冠欢; 陈育忠; 干志诚; 钟汉滨; 梁志伟; 赵坤; 池明华; 郭鸿斌; 鲁真
Original assignee: Guangzhou Salvage Bureau
Current assignee: Guangzhou Salvage Bureau
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-03-12
Anticipated expiration: 2040-11-12
Also published as: CN112482474B

Abstract

The invention discloses a leveling machine control device and an underwater leveling machine. The leveler control apparatus includes: the waterproof electric box comprises a waterproof electric box, a main controller, a backup controller, an exchanger and a serial server, wherein the serial server is connected with the exchanger and used for receiving serial signals sent by a serial component and sending the serial signals to the exchanger; the main controller and the backup controller are respectively electrically connected with the switch and are respectively used for receiving sensor information transmitted by at least one sensor configured on the underwater leveling machine; one of the main controller and the backup controller is used for sending the received sensor information to the switch; the switch is connected with the network switch network connected with the control room, and sends the serial port signal and/or the sensor information to the control room. The switch sends the serial port signal and/or the sensor signal to the control room in a network transmission mode, the scheme that the main controller, the backup controller and the serial server are connected with the control room through signal lines respectively is replaced, and the number of the signal lines is reduced.

Description

Leveling machine control device and underwater leveling machine

Technical Field

The embodiment of the invention relates to the technical field of eveners, in particular to a control device of a leveler and an underwater evener.

Background

At present, the domestic underwater leveling is generally performed by underwater manual leveling and manual water pumping by divers for measurement and acceptance. With the requirement of large-scale port construction in China, manual leveling for underwater leveling is greatly limited and is mainly influenced by operating personnel and construction conditions, and the leveling quality cannot meet the engineering requirement. After traditional artifical flattening is accomplished, generally adopt the manual work to beat water and confirm the acceptance, beat water and receive weather sea condition, instrument, human factor influence big, measure the acceptance accuracy low, speed is slow.

The underwater leveling machine can realize automatic underwater leveling through remote control, but the underwater leveling machine needs to be provided with a large number of sensors, the main function is to provide important information input for a control system, each sensor on the underwater leveling machine is directly led into a control room by adopting a signal wire at present, the leveling frame is inconvenient to hang and recover due to excessive wiring harnesses, and the problems of difficulty in fault removal, long time consumption for maintenance and the like exist in the debugging process.

Disclosure of Invention

The invention provides a leveling machine control device and an underwater leveling machine, which aim to reduce signal lines of the underwater leveling machine.

In a first aspect, an embodiment of the present invention provides a control device for a leveling machine, which is applied to an underwater leveling machine, and includes: the system comprises a waterproof electric box, a main controller, a backup controller, a switch, a serial server and at least one sensor, wherein the main controller, the backup controller, the switch, the serial server and the at least one sensor are arranged in the waterproof electric box;

the at least one sensor is respectively and electrically connected with the main controller and the backup controller and is used for acquiring sensor information of the underwater leveling machine and respectively sending the acquired sensor information to the main controller and the backup controller;

the serial server is electrically connected with the switch and used for receiving a serial signal and sending the serial signal to the switch;

the main controller and the backup controller are respectively electrically connected with the switch, and one of the main controller and the backup controller is used for sending the received sensor information to the switch;

the switch is connected with a network switch network connected with a control room, and the serial port signal and/or the sensor information are/is sent to the control room.

In a second aspect, embodiments of the present invention further provide an underwater leveling machine, including the leveling machine control apparatus provided in any of the embodiments of the present invention.

According to the technical scheme provided by the invention, the waterproof electric box is arranged, the main controller, the backup controller, the switch and the serial server are arranged in the waterproof electric box, normal operation under water is ensured, meanwhile, the main controller, the backup controller and the serial server are respectively connected with the switch, so that the switch sends serial signals and/or sensor signals to the control room in a network transmission mode, a scheme that the main controller, the backup controller and the serial server are respectively connected with the control room through signal lines is replaced, the number of signal lines is reduced, further, hardware backup is carried out on data through the arrangement of the main controller and the backup controller, and the reliability of operation of the device is improved.

Drawings

Fig. 1 is a schematic structural diagram of a control device of a leveling machine according to an embodiment of the present invention;

figure 2 is a schematic diagram of a screed control device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a control device for a screed according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an underwater leveling machine according to an embodiment of the present invention;

fig. 5 is a schematic view of an interaction between an underwater leveling machine and a control room according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a schematic structural diagram of a control device of a leveling machine according to an embodiment of the present invention, configured in an underwater leveling machine, where the control device of the leveling machine includes a waterproof electrical box 10, a main controller 110, a backup controller 120, a switch 130, and a serial server 140. The main controller 110, the backup controller 120, the switch 130, and the serial server 140 are disposed inside the waterproof electrical box 10, and the waterproof electrical box 10 may be disposed on a trolley frame or a base frame of the underwater leveling machine. The waterproof electrical box 10 can be an electrical box with a waterproof grade of IP68, and an underwater sealed cabin is formed in the waterproof electrical box 10. The input interface and the output interface of the waterproof electric box 10 are respectively provided with watertight joints, so that the waterproof performance of the waterproof electric box is improved.

The main controller 110, the backup controller 120, the switch 130 and the serial server 140 are disposed in the waterproof electrical box 10, so as to prevent the above-mentioned components from working normally when the underwater leveling machine is performing underwater operation.

The main controller 110 has the same structure and the same function as the backup controller 120, is electrically connected with the switch respectively, and is used for receiving sensor information transmitted by at least one sensor configured in the underwater leveling machine respectively, so that the function of backing up the received sensor information in real time in a hardware manner is realized, and the reliability of the control device is improved. Optionally, when the main controller 110 is in the working state, the sensor information transmitted by the at least one sensor is received, and the control program is executed, and the backup controller 120 only receives the sensor information transmitted by the at least one sensor. When the main controller 110 goes down, the backup controller 120 is started and executes a control program to ensure the normal operation of the underwater leveling machine. Accordingly, when the backup controller 120 goes down, the main controller 110 starts up and executes the control program.

The one of the primary controller 110 and the backup controller 120, which is in an operating state, transmits the received sensor information to the switch 130. The switch 130 is connected with a network switch arranged in the control room through a network cable, so that signal transmission among the switch 130, the network switch and a controller in the control room can be realized.

Further, the serial server 140 is electrically connected to the switch 130, and is configured to receive a serial signal sent by the serial component, and send the serial signal to the switch 130, and the switch 130 sends the serial signal to a controller disposed in a control room based on the network switch. Similarly, the signal line connecting the serial server 140 and the control room is reduced by arranging the switch 130.

It should be noted that the serial component may be a sensor with a serial port, in this embodiment, the connection relationship may be determined according to an interface configured by the sensor, the sensor with the serial port is connected to the serial server 140, and the sensor without the serial port is connected to the main controller 110 and the backup controller 120 respectively, so as to implement signal transmission. The serial port component connected to the serial port server 140 may be, but is not limited to, a temperature sensor and a water leakage alarm sensor.

Referring to table 1, table 1 shows the sensors and the number of sensors configured for an underwater screed.

Class of sensor	Number of
		Proximity sensor for cart	4
Stroke sensor for support jack	4
		Oil pressure sensor for jack with supporting legs	4
Oil motor encoder for large vehicle (travelling crane)	4
		Flow sensor for large vehicle oil horse	4
Frame underwater hydraulic valve block control signal	2
		Water pressure sensor	4
Inclinometer signal	2
		Water leakage alarm sensor	1
Temperature sensor	1
		Total of	30

The technical scheme of this embodiment, through setting up waterproof electronic box, with main control unit, backup controller, switch and serial servers set up in waterproof electronic box, guaranteed the normal operation under water, simultaneously main control unit, backup controller and serial servers are connected with the switch respectively, so that the switch passes through network transmission mode with serial signals and/or sensor signal transmission to control room, main control unit has been replaced, the scheme that backup controller and serial servers pass through signal line and control room respectively is connected, the signal line quantity has been reduced, furthermore, through setting up main control unit and backup controller, carry out the hardware backup to data, the reliability of device operation has been improved.

On the basis of the embodiment, at least one sensor respectively receives the main controller and the backup controller based on double signal lines; the switch is connected with the network switch based on a dual-network-line mode; the main controller, the backup controller, the switch and the serial server are respectively connected with a power supply through double power lines. Referring to fig. 2, fig. 2 is a schematic view of a control device of a leveling machine according to an embodiment of the present invention. In fig. 2, the master controller 110 is configured as a subsea master PLC2 and the backup controller 120 is configured as a subsea master PLC 3. It should be noted that the control room is located on the ship, and the network switch in the control room is the ship switch.

The components are connected or signal transmitted in a double-network-line double-signal-line and double-power-line mode to ensure the normal operation of the underwater leveling machine, and when any network line, signal line or power line is abnormal, another network line, signal line or power line can be started.

Example two

Fig. 3 is a schematic structural diagram of a leveling machine control device according to an embodiment of the present invention, and on the basis of the above embodiment, the device further includes at least one encoder 150. At least one encoder 150 is connected to the primary controller 110 and the backup controller 120, respectively. The encoders may include a traveling encoder, a trolley positioning encoder, and the like, wherein the number of the traveling encoders may be 4. The trolley positioning encoder acquires first position information of the underwater hopper, and respectively sends the first position information of the underwater hopper to the main controller 110 and the backup controller 120;

the main controller 110 or the backup controller 120 sends the first position information of the subsea hopper to the control room through the switch 130, so that the control room determines the positioning deviation strategy based on the first position information of the subsea hopper and the second position information sent by the feeding mechanism. It should be noted that the feeding mechanism is provided with an encoder for acquiring second position information of the feeding mechanism, wherein the encoder provided in the feeding mechanism is the same as the encoder provided in the leveling machine control device in model number, so as to avoid the acquisition error of the position information caused by the error of the model number of the encoder. The controller displays the first position information of the underwater hopper and the second position information sent by the feeding mechanism on the display device through measurement software, and marks the first position information and the second position information, so that an operator in the control room can clearly and intuitively determine the positions of the underwater hopper and the feeding mechanism. The measurement software can divide a grid into a safe operation area, the first position information and the second position information are displayed in the grid area, and specific positions of the underwater hopper and the feeding structure in the safe operation area can be conveniently determined. The controller of the control room determines a positioning deviation strategy based on the relative position deviation of the first position information and the second position information, the positioning deviation strategy can be used for controlling the feeding mechanism to move to reduce the relative position deviation of the first position information and the second position information, and can comprise the adjusting displacement of the feeding structure. A controller in the control room sends the positioning deviation strategy to the switch of the feeding mechanism based on the network switch so as to enable the feeding mechanism to adjust the position information.

And when the underwater leveling machine and the feeding mechanism meet the position corresponding relation, controlling the feeding mechanism to feed the underwater leveling machine. It should be noted that, when the feeding structure and the underwater leveling machine are in a soft connection state, the feeding structure and the underwater leveling machine can be synchronously controlled, and when the feeding structure and the underwater leveling machine are separated from the soft connection state, the feeding structure and the underwater leveling machine can be independently controlled.

The control room controls the feeding structure and the underwater leveling machine and comprises a manual control mode and a software control mode, wherein the manual control mode and the software control mode are based on an interlocking mechanism, and the two control modes are prevented from interfering with each other.

The encoder 150 (e.g., a traveling encoder) is also used to obtain travel information of the underwater trowel and send formation information to the main controller 110 and the backup controller 120; the main controller 110 or the backup controller 120 generates an auto-stop instruction when it is determined that the trip information of the underwater trowel exceeds the safe trip, and executes the auto-stop instruction to control the trowel to stop. Wherein the safe trip may be determined based on a communication distance of the underwater screed to the control room, which is less than or equal to the communication distance of the underwater screed to the control room. The communication distance may be a net-wire distance determination between switch 130 in the subsea planer and a network switch in the control room. When the stroke information of the underwater leveling machine exceeds the safe stroke, the leveling machine is controlled to stop based on the automatic stop instruction, and communication faults caused by untimely manual control are avoided. Optionally, the automatic stop instruction may include an emergency stop instruction and a pause instruction, and the automatic stop instruction may be implemented by software and/or hardware. For example, the power of the underwater planing machine can be cut off in a software mode. For example, the underwater leveling machine is provided with a baffle plate in front of the leveling machine, the baffle plate is in a lifting state when the underwater leveling machine is in an operating state, and when an automatic stop command is generated, the baffle plate can be controlled to be lowered so as to control the underwater leveling machine to stop advancing. Meanwhile, the main controller 110 or the backup controller 120 generates an alarm command and transmits the alarm command to the control room based on the switch 130.

The main controller 110 or the backup controller 120 receives a manual shutdown command sent by the control room based on the switch 130, and executes the manual shutdown command to control the leveling machine to be shut down; the automatic shutdown instruction has higher priority than the manual shutdown instruction so as to rapidly shut down the underwater leveling machine at an emergency, avoid the problem of untimely control caused by reaction time of manual operation and the like, and improve the operation safety of the underwater leveling machine.

In some embodiments, the encoder is also used for monitoring the left-right movement distance of the cart and the front-back movement distance of the trolley, and particularly, the encoder arranged on the oil motor respectively determines the strokes of the left oil motor, the right oil motor and the front oil motor and the rear oil motor by recording the number of turns of the motor and displays errors. When any one of the above exceeds the warning value and the communication fault risk exists, the main controller 110 or the backup controller 120 generates an alarm instruction and sends the alarm instruction to the control room based on the switch 130, and/or generates an automatic stop instruction to control the underwater leveling machine to stop, and meanwhile, the travel error can be corrected through manual correction, so that the operation safety and the leveling precision of the underwater leveling machine are improved.

According to the technical scheme provided by the invention, the position information and the stroke information of the underwater leveling machine are monitored by at least one encoder, so that the leveling machine control device or the control room can quickly and accurately determine the running state of the underwater leveling machine, and alarm and control are timely carried out when safety risks exist, so that the running safety of the underwater leveling machine is improved.

EXAMPLE III

Fig. 4 is a schematic structural diagram of an underwater leveling machine 20 according to an embodiment of the present invention, which includes a leveling machine control device 21 according to the above embodiment. Through configuring the leveling machine control device, on the basis of guaranteeing the functions and stability of the underwater leveling machine, signal lines and power lines are reduced, the interference caused by hanging and recovering a leveling frame by a large number of signal lines and power lines is reduced, and meanwhile, the difficulty in troubleshooting in the debugging process of the leveling machine and the time consumed for overhauling are reduced.

On the basis of the above embodiment, the apparatus further includes: a leveler hoist/recovery control device 22, a feed control device 23, and a dredging device 24.

Wherein the screed hoist/recovery control 22 is used to hoist and recover underwater screeds. The winch comprises a first encoder and a height stroke limiting device which are arranged on a winch drum; the hydraulic pipeline winch is provided with a second encoder and a height stroke limiting device. The controller of control room acquires the pulling force size and the positional information of the hoisting winch, and the automatic adjustment winch receive and releases the steel cable speed, and the pulling force size is in real time displayed at the touch screen, ensures that the leveling frame steadily rises and transfers, and the automatic control leveling frame lifts by crane, transfers the operation. When the leveling frame is lifted to a position limited on a ship, the oil cylinder on the ship body extends out of the rest frame, and the oil cylinder is retracted to the rest frame when the underwater leveling frame works. And the controller PLC1 in the control room controls the proportional valve to execute corresponding actions according to the information of the encoder and the force sensor.

The feeding control device 23 comprises a belt feeding module and a walking feeding module, and the belt feeding module is provided with 2 sets of movable belt feeding devices driven by a motor. The movable belt consists of a fixed belt conveyor and a movable discharging trolley. The movable discharging trolley is not provided with power, and the feeding travelling crane of the mother ship drives the movable discharging trolley to realize the X-axis and Y-axis movement. The belt conveying device is provided with a weight sensor, and can monitor the conveying working condition of the belt conveyor in real time. The walking feeding module can realize synchronous movement with the trolley of the underwater leveling machine through program control, and a driving mechanism of the walking feeding module is provided with a coder and is used for controlling the synchronization of walking of the two sides of the trolley of the cart.

Through the control command of master control room, control belt feeder rotational speed, start, stop, come control belt feeder rubble conveying speed according to rubble material level information sensor information input in the flattening funnel, rubble is few in the flattening funnel promptly, and belt feeder rubble conveying speed is fast, otherwise then slowly.

The dredging device 24 comprises a hydraulic jet and suction pump end head, and dredging operation is realized under the condition of not disturbing a gravel layer by controlling the distance between the composite dredging device end head and a furrow gravel surface, the end head suction force and the hydraulic jet pressure. The distance between the end and the ridge top is controlled by a hydraulic lifting cylinder through sonar feedback elevation data, the suction force of the end is realized by controlling the flow of a hydraulic drive motor of a dredge pump through a hydraulic proportional valve, and the hydraulic jet pressure is realized by controlling the rotating speed of a high-pressure water pump.

When the dredging system works, the same furrow is arranged between the next pipe joint and the previous pipe joint. If the working mode of the dredging system is not changed, dredging operation is performed twice on all furrows except the head and the tail furrows. In order to reduce unnecessary loss, an independent control switch and a button are arranged in an upper computer system and a control panel, and a high-pressure nozzle and a mud pumping cover of the ridge top and the furrow can be independently controlled. That is, only when the dredging system starts the operation of the first pipe joint in a certain area, the dredging systems on both sides are opened, and only one side of the other pipe joints is opened during the operation.

Referring to fig. 5, fig. 5 is an interactive schematic diagram of an underwater leveling machine and a control room provided by the embodiment of the invention. Wherein, the controller in the control room is the PLC1 on the ship. The underwater leveling machine can comprise two or more waterproof electric boxes which are respectively arranged at different parts of the underwater leveling machine, for example, an underwater No. 1 sealed cabin is a leveling machine control device provided by the application, wherein the included slave station 1PLC can be a main controller 110 or a backup controller 120, correspondingly, the underwater No. 2 sealed cabin can be another leveling machine control device arranged on an underwater moving funnel, and the structure of the underwater No. 1 sealed cabin is the same as that of the underwater No. 1 sealed cabin, is used for receiving sensor signals collected by different sensors and sending the sensor signals to a control room based on an Ethernet line or a power line.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control device for a trowel, for use with an underwater trowel, comprising: the system comprises a waterproof electric box, a main controller, a backup controller, a switch and a serial server, wherein the main controller, the backup controller, the switch and the serial server are arranged in the waterproof electric box;

the serial server is electrically connected with the switch and used for receiving serial signals sent by the serial component and sending the serial signals to the switch;

the main controller and the backup controller are respectively and electrically connected with the switch and are respectively used for receiving sensor information transmitted by at least one sensor configured on the underwater leveling machine; one of the master controller and the backup controller is used for sending the received sensor information to the switch;

the switch is connected with a control room network switch through a network, and the serial port signal and/or the sensor information are/is sent to the control room.

2. The apparatus of claim 1, wherein the at least one sensor receives the primary controller and the backup controller based on dual signal lines, respectively; the switch is connected with the network switch based on a dual-network-line mode; the main controller, the backup controller, the switch and the serial server are respectively connected with a power supply through double power lines.

3. The device of claim 1, wherein the input interface and the output interface of the waterproof electrical box are watertight joints.

4. The apparatus of claim 1, wherein the primary controller is electrically connected to the backup controller, and wherein one of the primary controller and the backup controller is activated upon detection of another outage.

5. The apparatus of claim 1, further comprising: at least one encoder, wherein the at least one encoder is respectively connected with the main controller and the backup controller;

the encoder is used for acquiring first position information of the underwater hopper and respectively sending the first position information of the underwater hopper to the main controller and the backup controller;

the main controller or the backup controller sends the first position information of the underwater hopper to the control room through the exchanger, so that the control room displays the first position information of the underwater hopper and the second position information sent by the feeding mechanism, and a positioning deviation strategy is determined based on the first position information of the underwater hopper and the second position information sent by the feeding mechanism.

6. The apparatus of claim 5, wherein the encoder is further configured to obtain trip information for the screed and to send the formation information to the primary controller and the backup controller;

and when the main controller or the backup controller determines that the travel information of the leveling machine exceeds a safe travel, generating an automatic stop instruction, and executing the automatic stop instruction to control the leveling machine to stop.

7. The apparatus of claim 6, wherein the auto-stop command is further for controlling a baffle disposed in front of the screed to be lowered.

8. The apparatus of claim 6, wherein the master controller or the backup controller executes a manual shutdown command to control the leveling machine to shutdown based on the switch receiving the manual shutdown command sent by a control room; wherein the automatic shutdown instruction has a higher priority than the manual shutdown instruction.

9. An underwater screed comprising screed control means according to any one of claims 1 to 8.

10. The apparatus of claim 9, further comprising: a leveling machine hoisting/recovering control device, a feeding control device and a dredging device.