CN1740462A - Automatic dredging depth controller for cutter suction dredger - Google Patents
Automatic dredging depth controller for cutter suction dredger Download PDFInfo
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- CN1740462A CN1740462A CN 200410020379 CN200410020379A CN1740462A CN 1740462 A CN1740462 A CN 1740462A CN 200410020379 CN200410020379 CN 200410020379 CN 200410020379 A CN200410020379 A CN 200410020379A CN 1740462 A CN1740462 A CN 1740462A
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- 238000004891 communication Methods 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 description 10
- 238000010276 construction Methods 0.000 description 7
- 239000003651 drinking water Substances 0.000 description 6
- 235000020188 drinking water Nutrition 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 2
- 238000013024 troubleshooting Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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Abstract
The present invention is one kind of automatic dredging depth controller for cutter suction dredger, and belongs to the field of environment protecting and dredging technology. The automatic dredging depth controller consists of monitoring controller, locator, dredger orientator and dredger draught measurer. The monitoring controller is connected to the locator, the dredger orientator and the dredger draught measurer. The present invention features that the monitoring controller is connected to the bogie stroke sensor, bridge frame, angle sensor of the cutter and the controlling drive mechanism. The present invention can realize visible dredging in controllable dredging depth, high reliability and high quality.
Description
Technical field
The invention belongs to the technology for environmental dredging field, particularly relate to a kind of cutter suntion dredger and dig dark automaton.
Background technology
In the environmental dredging project,, adopted stricter dredging quality control for protecting river and the lake natural, ecological of undisturbed soil under water.Be to guarantee the technical data and the strict environment controlling parameter of environmental dredging quality requirement, accurately measure location in the dredging process, dig important parameter such as dark and effectively control to dig be the key technology that guarantees the dredging quality deeply.
High-precision dredging is one of essential condition of environmental dredging project success enforcement; consequently reduce the pollution that undisturbed soil is dug by failing and the fine sediment diffusion is caused; can more effective removing make to polluting silt that to dredge back mud face smooth simultaneously; protection river and lake natural ecological environment under water are the quality objectives that current environmental dredging field is pursued.
At present, it is generally lower that strand is inhaled the dark precision of dredging, and the instrument of dredging that " Jun Hu " environmental protection cutter suntion dredger is equipped with has: equipment such as environmental protection reamer head, nephelometer, piling bar chassis, yield meter.But do not have the high-precision control instrument of dredging, environmental protection reamer head is manually controlled, and will guarantee during construction that the level of environmental protection reamer excavation surface is difficult.If frequently adjust reamer, increase labor intensity of operating personnel, influence efficiency of construction, construction precision is low and construct after planeness relatively poor.
Summary of the invention
The present invention provides a kind of cutter suntion dredger to dig dark automaton for solving the technical problem that exists in the known technology.
The present invention seeks to control the environmental protection reamer head maintenance level of cutter suntion dredger, real-time is good, the reliability height, and then improve to dig and control and dig dark precision deeply automatically.
The inventive system comprises: the high-precision GPS navigation system promptly: RTK GPS position indicator, measure vessel position in real time; High accuracy 3011 GPS compasses are measured ship course in real time; High-precision angle sensor is promptly: film spot position obliquity sensor, measure crane span structure, reamer brilliance degree and the degree of depth in real time; Intelligence magnetic control drinking water digital sensor, surveying vessel drinking water in real time; High accuracy chassis stroke digital sensor is determined the position of the stroke and the reamer of dredging face; " data acquisition communication controller " (A, B machine): gather each transducing signal data processing, digital communication; " two-node cluster hot backup supervisory controller (C machine) ": the duty of real time monitoring " data acquisition communication controller " (A, B machine), when in running order " data acquisition communication controller " when breaking down, " two-node cluster hot backup supervisory controller " then will be operated in hot " the data acquisition communication controller " that is equipped with state and switch to the work at present state, and send trouble shooting information to system host.
The data signal of collection in worksite, analog signal, switching signal are changed, are nursed one's health; Provide real-time dynamic data by network for host computer, through the calculating of system host, handle with the mode of numeral, figure send show simultaneously to reamer dig deeply, the mining head angle state controls, real-time is good, dig dark precision height; System adopts the two-node cluster hot backup mode to move, and key position crane span structure, cutter head adopt double angle sensor, have improved the reliability of system.System receives plane x, the y coordinate after the GPS framing signal is changed by Coordinate Conversion, gauss projection, simultaneity factor receives the compass angle, calculate by projection with known hull parameter, the plan-position is positioned the dark point of digging of reamer head, dig dark control and dig deeply with design end Height control.
The present invention adopts advanced Technique of Satellite Navigation and Positioning, geographic information processing technology, High Accuracy Microcomputer observation and control technology and advanced sensor technology, carries out digitized processing, realizes the cutter suntion dredger hi-Fix and digs dark automaton.It is by the double angle sensor that is installed in crane span structure, the double angle sensor of reamer head, intelligent magnetic control drinking water digital sensor, high accuracy chassis stroke digital sensor, RTK GPS position indicator, 3011 GPS compasses and gauge tap signal are by calculating, and the control of realization high accuracy is dug dark.Mode with numeral and figure shows crane span structure, reamer head attitude in real time, digs dark section, digs dark plan view.Realize visual dredging, improved the dredging quality.Dredge back mud surface evenness height, protection water resource ecological environment.
In this programme, by crane span structure angular transducer, reamer brilliance degree sensor, intelligent magnetic control drinking water digital sensor, high accuracy chassis stroke digital sensor, gauge tap signal are connected with " data acquisition communication controller ", " data acquisition communication controller " adopts the RS485 serial ports of standard to send packet to system host " data acquisition communication controller ".System host is a high-performance industrial control computer, be provided with eight serial port multi-user cards, data message to 3011 GPS compasses, RTKGPS position indicator, the input of " data acquisition communication controller " equipment such as " two-node cluster hot backup supervisory controllers ", and the data message of output carries out communication, and data are calculated, handled, show each figure and the system parameter of dredging by display.The simultaneity factor main frame receives that the plan-position of reamer head and the degree of depth and nominal depth of dredging compare the back and send controlling parameter to " data acquisition communication controller ", after " data acquisition communication controller " receives that system host sends signal, executing agency sends control instruction to equipment, the executing agency of control crane span structure, control the actuating unit of reamer head simultaneously, and send the angle that current reamer digs dark and reamer to system host in real time, system host sends to " data acquisition communication controller " and stops to send control command after controlling parameter " data acquisition communication controller " is received stop signal when arrival is dug dark point and reamer head and is in level, and control crane span structure actuating unit stops crane span structure, control reamer head actuating unit stops reamer.Thereby reach control reamer level and dig dark purpose.
The technical solution of the present invention characteristics:
1. high precision plane is located, and anchor point is at the reamer head.Positioning accuracy: Centimeter Level;
2. high accuracy control is dug deeply, and dark precision is dug by system: ± 5 centimetres;
In real time demonstration, crane span structure, reamer head attitude, dig dark section, plan view;
4. has tidal level automatic/hand input function;
5. have and dig dark automatic/hand control function, manual priority; In real time the control crane span structure, control reamer head horizontal attitude in real time; According to design end Height control reamer transfer dig dark.
6. have and dig deeply, dig wide overload alarm function;
7. show in real time and dig dark section, dredge the back and upgrade color lump;
8. dig dark scope: set as required;
9. have data storage, printing, data readback;
10. have the prompting of the trouble point of demonstration, detect automatically;
11. have two-node cluster hot backup, the reliability height.
The technical solution used in the present invention is:
Cutter suntion dredger digs dark automaton, constitute to measurement mechanism, drauht measurement mechanism by supervisory controller, positioner, boats and ships ship, supervisory controller connects positioner, boats and ships ship to measurement mechanism, drauht measurement mechanism, be characterized in: supervisory controller connects the chassis stroke sensor, and supervisory controller connects the angular transducer and the control transmission mechanism of crane span structure, reamer head.
The present invention can also adopt following technical measures:
Described cutter suntion dredger digs dark automaton, is characterized in: supervisory controller connects crane span structure double angle sensor and reamer head double angle sensor.
Described cutter suntion dredger digs dark automaton, is characterized in: the crane span structure double angle sensor symmetry that supervisory controller connects is installed on the crane span structure both sides, and reamer head double angle sensor symmetry is installed on the both sides of reamer head.
Described cutter suntion dredger digs dark automaton, is characterized in: supervisory controller connects crane span structure and reamer head control transmission mechanism is the hydraulic cylinder transmission mechanism.
Described cutter suntion dredger digs dark automaton, is characterized in: supervisory controller is by 1 component computer and be connected with 1 two-node cluster hot backup supervisory controller and 2 data acquisition communication controllers constitute.
Described cutter suntion dredger digs dark automaton, is characterized in: component computer is connected with display and data Input/Output Device.
Advantage and good effect that the present invention has are:
Cutter suntion dredger digs dark automaton, adopts many CPU technology, distributed data collection, digital communication, focus on, monitoring, two-node cluster hot backup in real time, have characteristics such as reliability height, simple to operate, highly versatile.By gather the different sensors signal carry out computing, processing, according to design end Height control reamer transfer dig dark.Show that in real time reamer digs dark attitude, dredge plan view and cross-sectional drawing.Dark control is automatically dug in realization high precision plane location, high accuracy.System shows digs dark precision ± 5cm; The System planes positioning accuracy≤± 20cm; According to the concrete operating mode of job site,, adopt reasonable construction technology to make and dredge back dredging precision control≤10cm by automatic control.
Description of drawings
Fig. 1 is a block diagram of system structural representation of the present invention;
Fig. 2 is a mounting structure schematic diagram of the present invention;
Fig. 3 is Fig. 2 plan structure schematic diagram;
Fig. 4 is an Automatic Control Theory schematic diagram of the present invention;
Fig. 5 is reamer brilliance degree sensor and transmission mechanism structural representation;
Fig. 6 is a crane span structure installation position of angular position sensor schematic diagram.
Among the figure: the 1-system host, 2-data acquisition communication controller (A), 3-data acquisition communication controller (B), 4-two-node cluster hot backup supervisory controller (C), the 5-display, 6-RTK GPS position indicator, 7-3011 GPS compass, 8-RTKGPS position indicator antenna, 9-3011 GPS compass antenna, 10-chassis stroke sensor, 11-absorbs water sensor, and 12,13-crane span structure angular transducer.14,15-reamer brilliance degree sensor, 16-A or B machine automatically perform the signal gating logic, 17-automatically performs the signal feedback logic, 18-manually carries out the signal feedback logic, 19-automatically, the manual ringing gate logic, the 20-console automatic switch of dredging, the 21-console hand switch of dredging, 22-actuating unit electromagnetic valve, the 23-reamer head of dredging, the 24-crane span structure, 25-reamer head pushes away/draws hydraulic cylinder device, and 26-reamer head supports movable axis.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6.
Cutter suntion dredger digs dark automaton and is made up of equipment such as system host 1, " data acquisition communication controller " (A machine, B machine) 2,3, " two-node cluster hot backup supervisory controller " 4, display 5, RTK GPS position indicator 6,3011 GPS compasses 7, chassis stroke sensor 10, drinking water sensor 11, crane span structure disymmetry angular transducer 12,13, reamer head disymmetry angular transducers 14,15." data acquisition communication controller " 2,3 connects chassis stroke sensors 10, and supervisory controller connects crane span structure double angle sensor 12,13, the double angle sensor 14,15 of reamer head and push away/draw hydraulic cylinder control transmission mechanism 25.System host is connected with display and data input and printer.Dig dark control automatically for obtaining, high-precision sensor and control system are critical components of the present invention.
Cutter suntion dredger digs the dark control of reamer head automatically control device process: system host 1 receives the signal that signal that RTK GPS position indicator 6 obtains from antenna 8 and 3011 GPS compasses 7 obtain from antenna 9, after calculating current location, according to the electronics working drawing construction parameter of setting is sent to " data acquisition communication controller " 2,3.The signal parameter of " data acquisition communication controller " (A machine, B machine) 2,3 picking platform garage journey sensors 10, drinking water sensor 11, crane span structure angular transducer 12,13, reamer brilliance degree sensor 14,15 is handled." data acquisition communication controller ", one is operated in heat state fully, and another then is in the work at present state.The duty of " data acquisition communication controller " is by " two-node cluster hot backup supervisory controller " 4 decisions.When in running order " data acquisition communication controller " when breaking down, " two-node cluster hot backup supervisory controller " then will be operated in hot " the data acquisition communication controller " that is equipped with state and switch to the work at present state, and send trouble shooting information to system host.
The bridge guidance panel automatic/hand control changeover switch 20,21 of dredging, the command switch that decides the construction state to select by the constructor that dredges.When the construction state was chosen as automatic control state, system enters dug deeply automatically.The builder that dredges simultaneously can carry out manual operation at any time, and system withdraws from automatic control state automatically.
Manually carry out feedback signal 18, signal is sent into next logic, simultaneously signal feedback is arrived " data acquisition communication controller " (A machine or B machine), its effect is to make the current mud diging working state of " data acquisition communication controller " real-time tracking, avoid when switching to auto state, producing the divergence of duty, thus level and smooth finishing by the transfer process of manual state to auto state.
" data acquisition communication controller " (A machine or B machine) automatically performs the gate logic 16 of signal, under the control of " two-node cluster hot backup supervisory controller " (C machine) 4, after the respective channel of gating " data acquisition communication controller " (A machine or B machine), " automatically performing the signal feedback logic " 17.
" automatically perform the signal feedback logic " 17, signal is sent into next logic, simultaneously signal feedback is arrived gating " data acquisition communication controller " (A machine or B machine), its effect is to make to be operated in " data acquisition communication controller " real-time tracking duty that heat is equipped with state, produce the vibration of duty when avoiding switching, thereby the level and smooth heat of finishing is equipped with the switching of state to duty.
Manual passage is closed during the input of " automatic, manual ringing gate logic " 19 automatic signals, and automatic passage is closed during the manual ringing input.The output signal control actuating unit electromagnetic valve 22 of " automatically, manual ringing gate logic ", and then drive crane span structure and reamer pushes away/draw the hydraulic cylinder actuating unit, thus realize that cutter suntion dredger digs dark control automatically.
Claims (6)
1, a kind of cutter suntion dredger digs dark automaton, constitute to measurement mechanism, drauht measurement mechanism by supervisory controller, positioner, boats and ships ship, supervisory controller connects positioner, boats and ships ship to measurement mechanism, drauht measurement mechanism, it is characterized in that: supervisory controller connects the chassis stroke sensor, and supervisory controller connects the angular transducer and the control transmission mechanism of crane span structure, reamer head.
2, cutter suntion dredger according to claim 1 digs dark automaton, it is characterized in that: supervisory controller connects crane span structure double angle sensor and reamer head double angle sensor.
3, cutter suntion dredger according to claim 2 digs dark automaton, it is characterized in that: the crane span structure double angle sensor symmetry that supervisory controller connects is installed on the crane span structure both sides, and reamer head double angle sensor symmetry is installed on the both sides of reamer head.
4, cutter suntion dredger according to claim 1 digs dark automaton, it is characterized in that: supervisory controller connects crane span structure and reamer head control transmission mechanism is the hydraulic cylinder transmission mechanism.
5, cutter suntion dredger according to claim 1 digs dark automaton, it is characterized in that: supervisory controller is by 1 component computer and be connected with 1 two-node cluster hot backup supervisory controller and 2 data acquisition communication controllers constitute.
6, cutter suntion dredger according to claim 5 digs dark automaton, it is characterized in that: component computer is connected with the data Input/Output Device.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100203799A CN100378275C (en) | 2004-08-27 | 2004-08-27 | Automatic dredging depth controller for cutter suction dredger |
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| CNB2004100203799A CN100378275C (en) | 2004-08-27 | 2004-08-27 | Automatic dredging depth controller for cutter suction dredger |
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| CN1740462A true CN1740462A (en) | 2006-03-01 |
| CN100378275C CN100378275C (en) | 2008-04-02 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101899849A (en) * | 2010-08-12 | 2010-12-01 | 中交天津航道局有限公司 | Soil property and soil layer distribution-based precise dredging method for dredger |
| CN101726430B (en) * | 2009-12-15 | 2011-09-14 | 中交天津航道局有限公司 | Mud density detection device for cutter suction dredger and detection method thereof |
| CN102226333A (en) * | 2011-03-09 | 2011-10-26 | 杨明福 | Submarine leveling platform for sanding for land reclamation |
| CN102455693A (en) * | 2010-10-27 | 2012-05-16 | 镇江市亿华系统集成有限公司 | Control network connecting mode of drag-suction dredger power positioning control system |
| CN102486642A (en) * | 2010-12-02 | 2012-06-06 | 镇江市海达科技有限公司 | Integrated track positioning system of working ship |
| CN104246085A (en) * | 2013-04-10 | 2014-12-24 | 株式会社小松制作所 | Construction management device for excavating equipment, construction management device for hydraulic shovel, excavating equipment, and construction management system |
| CN104818740A (en) * | 2015-03-16 | 2015-08-05 | 天津港航工程有限公司 | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger |
| CN106199664A (en) * | 2016-08-24 | 2016-12-07 | 广西新港湾工程有限公司 | A kind of GPS RTK and the engineering ship localization method of radio compass composition |
| CN106193169A (en) * | 2016-08-22 | 2016-12-07 | 中交天航港湾建设工程有限公司 | A kind of cutter suction dredger near limit digs deep construction method |
| 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 |
| CN107227762A (en) * | 2017-07-05 | 2017-10-03 | 中交天航环保工程有限公司 | It is a kind of to be applied to strand suction ship and its construction method that mark is passed through under the larger shale of radix |
| CN109208686A (en) * | 2017-07-05 | 2019-01-15 | 武汉德尔达科技有限公司 | It is a kind of to survey integrating advanced water measuring system for dredging for free floating suction dredge(r) |
| 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 |
| CN114635461A (en) * | 2022-05-19 | 2022-06-17 | 中交天津航道局有限公司 | Method and system for automatically checking excavation depth of reamer of cutter suction dredger |
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| JPS576029A (en) * | 1980-06-16 | 1982-01-12 | Mitsubishi Heavy Ind Ltd | Protection device for suction ladder in sludge dredger |
| CN2139598Y (en) * | 1992-08-05 | 1993-08-04 | 山东省淮河流域工程局勘测设计室 | Small size hydraulic dredge with horizontal rotary knife |
| US5940997A (en) * | 1997-09-05 | 1999-08-24 | Hitachi Construction Machinery Co., Ltd. | Hydraulic circuit system for hydraulic working machine |
| CN2748514Y (en) * | 2004-08-27 | 2005-12-28 | 天津航道勘察设计研究院 | Automatic control device for dredging depth for cutter suction dredger |
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- 2004-08-27 CN CNB2004100203799A patent/CN100378275C/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101726430B (en) * | 2009-12-15 | 2011-09-14 | 中交天津航道局有限公司 | Mud density detection device for cutter suction dredger and detection method thereof |
| CN101899849A (en) * | 2010-08-12 | 2010-12-01 | 中交天津航道局有限公司 | Soil property and soil layer distribution-based precise dredging method for dredger |
| CN102455693A (en) * | 2010-10-27 | 2012-05-16 | 镇江市亿华系统集成有限公司 | Control network connecting mode of drag-suction dredger power positioning control system |
| CN102486642A (en) * | 2010-12-02 | 2012-06-06 | 镇江市海达科技有限公司 | Integrated track positioning system of working ship |
| CN102226333A (en) * | 2011-03-09 | 2011-10-26 | 杨明福 | Submarine leveling platform for sanding for land reclamation |
| CN104246085B (en) * | 2013-04-10 | 2017-03-01 | 株式会社小松制作所 | The construction management device of excavation machinery, the construction management device of hydraulic crawler excavator, excavation machinery and construction management system |
| CN104246085A (en) * | 2013-04-10 | 2014-12-24 | 株式会社小松制作所 | Construction management device for excavating equipment, construction management device for hydraulic shovel, excavating equipment, and construction management system |
| US10017919B2 (en) | 2013-04-10 | 2018-07-10 | Komatsu Ltd. | Construction management device for excavation machinery, construction management device for excavator, excavation machinery, and construction management system |
| CN104818740B (en) * | 2015-03-16 | 2017-04-19 | 天津港航工程有限公司 | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger |
| CN104818740A (en) * | 2015-03-16 | 2015-08-05 | 天津港航工程有限公司 | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger |
| CN106193169A (en) * | 2016-08-22 | 2016-12-07 | 中交天航港湾建设工程有限公司 | A kind of cutter suction dredger near limit digs deep construction method |
| CN106199664A (en) * | 2016-08-24 | 2016-12-07 | 广西新港湾工程有限公司 | A kind of GPS RTK and the engineering ship localization method of radio compass composition |
| CN106199664B (en) * | 2016-08-24 | 2018-08-28 | 广西新港湾工程有限公司 | A kind of engineering ship localization method of GPS-RTK and radio compass composition |
| 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 |
| CN107227762A (en) * | 2017-07-05 | 2017-10-03 | 中交天航环保工程有限公司 | It is a kind of to be applied to strand suction ship and its construction method that mark is passed through under the larger shale of radix |
| CN109208686A (en) * | 2017-07-05 | 2019-01-15 | 武汉德尔达科技有限公司 | It is a kind of to survey integrating advanced water measuring system for dredging for free floating suction dredge(r) |
| CN109208686B (en) * | 2017-07-05 | 2020-12-29 | 武汉德尔达科技有限公司 | Dredging and measuring integrated water depth measuring system for self-propelled trailing suction dredger |
| 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 |
| CN110593332B (en) * | 2019-08-16 | 2021-09-28 | 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 |
| CN114635461A (en) * | 2022-05-19 | 2022-06-17 | 中交天津航道局有限公司 | Method and system for automatically checking excavation depth of reamer of cutter suction dredger |
| CN114635461B (en) * | 2022-05-19 | 2022-07-26 | 中交天津航道局有限公司 | Method and system for automatically checking excavation depth of reamer of cutter suction dredger |
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| CN100378275C (en) | 2008-04-02 |
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