EP2322728B1 - Backhoe dredger for dredging soil material under water - Google Patents

Backhoe dredger for dredging soil material under water Download PDF

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Publication number
EP2322728B1
EP2322728B1 EP10190665.9A EP10190665A EP2322728B1 EP 2322728 B1 EP2322728 B1 EP 2322728B1 EP 10190665 A EP10190665 A EP 10190665A EP 2322728 B1 EP2322728 B1 EP 2322728B1
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EP
European Patent Office
Prior art keywords
excavator
pontoon
backhoe
soil material
dredger
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.)
Not-in-force
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EP10190665.9A
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German (de)
English (en)
French (fr)
Other versions
EP2322728A2 (en
EP2322728A3 (en
Inventor
Stefaan Vandycke
Erik Van Wellen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baggerwerken Decloedt and Zoon NV
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Baggerwerken Decloedt and Zoon NV
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/06—Floating substructures as supports
    • E02F9/062—Advancing equipment, e.g. spuds for floating dredgers
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • 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
    • E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
    • 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
    • E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers

Definitions

  • This invention relates to a backhoe dredger, for dredging soil material under water to a prescribed depth.
  • the invention also relates to a method for dredging soil material under water, as well as to a computer program, comprising program instructions adapted to carry out the method.
  • a device such as a backhoe dredger, is generally used to excavate or dredge soil material under water at locations where other dredgers such as trailing suction hopper dredgers and cutter suction dredgers are less suited. Such locations include busy access channels, hard soil types, (very) shallow waters and hard to reach places, for instance harbor entrances.
  • a conventional backhoe dredger typically comprises a (sometimes land based) excavator mounted on a pontoon. The excavator comprises lifting booms, actuated by hydraulic cylinders, and a bucket to dig up soil material from under the water level. The dredged soil material is brought above the water level and dropped in and removed by a barge, located in the vicinity of the pontoon.
  • a typical dredging cycle using a backhoe dredger involves preparing a survey of the state of the underwater bottom, which state at least includes charting the depth of the bottom and/or the properties of the soil material in the area of interest.
  • a work plan is then made up for the operator of the backhoe dredger and the excavator, roughly taking into account the state of the bottom area to be dredged and the desired state of the bottom area (typically the desired depth profile).
  • the work plan involves determining the lines along which the pontoon should be positioned, as well as giving a rough indication of the excavating depth along said lines.
  • the bottom area is then dredged by the operator, which typically involves the steps of positioning the pontoon onto a line to be excavated, excavate soil material along the line, repositioning the pontoon to another line to be dredged, and repeating the above.
  • US 2008/0010869 A1 discloses a system for use in conjunction with an underwater dredging apparatus of backhoe type.
  • the system comprises a pontoon provided with backhoe type manipulator arms and a bucket. Between the arms and bucket are provided angle sensors as well as a depth sensor. Signals from the angle and depth sensors are directed to a computer and displayed on a screen to enable the operator to adjust the depth of the bucket accordingly.
  • the depth sensor measures the underwater pressure to obtain the depth.
  • WO 03/023152 A2 discloses a trenching apparatus for underwater trenching. It comprises a flushing device for removing a flushing layer, and a loosening device in the form of a chain-milling apparatus that is provided with a pivotable sled to maintain close contact with the surface to be trenched. The apparatus further comprises pressure and angle sensing means to be able to keep the right trenching line.
  • US 6,076,030 discloses an optimization routine for improving an excavating cycle on the basis of knowledge of an earlier excavating cycle.
  • JP 1314915 A relates to a system for determining the position of a pontoon, in which system lasers provided on the pontoon are aimed at mirrors provided on a quay of reference.
  • a backhoe dredger in accordance with claim 1 is provided.
  • a backhoe dredger for dredging soil material under water comprising:
  • the backhoe dredger according to the invention allows to promptly and accurately excavate soil material under water to a predetermined depth profile, whereby the depth and /or the position in the plane of excavation are regulated automatically, depending on the actual position of the excavator and the force values obtained from the second monitoring means.
  • the motion of the pontoon includes leveling of the pontoon.
  • the invention also relates to a method for dredging soil material under water, the method comprising the steps of:
  • the method according to the invention is particularly useful in optimizing a dredging operation along one cut line, i.e. in an embodiment when the pontoon is itself in a (temporarily) stationary position.
  • the method of the invention eliminates substantially the variability associated with human action by providing a control loop, in which the excavator motion is controlled in function of its actual position and the actual forces it experiences.
  • the dredger and method of the invention allow to lower downtime, due to overloaded mechanical structures, protect against overload, and maintain a more constant quality of dredging over time. Also, the dredger and method of the invention allow to take into account varying soil sediment properties - the very nature of sedimentation causes such variation - which are not well known, for instance due to the generally rather low grid resolution of taking samples.
  • a typical backhoe dredger is equipped with an excavator comprising a boom, pivotably provided on a substructure present on the deck of the pontoon, a stick, pivotable provided at one extremity of the boom, and a bucket, pivotably provided at one extremity of the stick.
  • the pivoting movement of the boom with respect to the pontoon, of the stick with respect to the boom, and of the bucket, relative to the stick are brought about by hydraulic cylinders, provided on the substructure of the pontoon, on the boom, and on the stick respectively.
  • the backhoe dredger preferably has the following degrees of freedom to perform its tasks:
  • trimming tanks may be used to distribute the weight to achieve horizontal leveling of the pontoon for instance.
  • the specific rotations around a vertical axis locally lead to a typical circular digging pattern around a central point that corresponds to the pivot of the boom. Due to the stepping nature of the pontoon, the global patterns are cut lines next to each other at the same or varying depth along the center line or off the center line.
  • the backhoe dredger and method according to the invention allow to accurately excavate soil under water according to a predermined depth profile.
  • a water bottom such as a sea floor or a navigation route near a quay
  • excavating too deep it becomes necessary to reload such an over-excavated portion, which however requires additional man power and time.
  • the device and method according to the invention help in preventing this disadvantage.
  • the excavator of the backhoe dredger may comprise lifting booms, actuated by hydraulic cylinders, that are part of an hydraulic circuit, and the second monitoring means may comprise hydraulic pressure sensors adapted to measure the pressure in the hydraulic circuit and/or cylinders.
  • the excavator of the dredger may further comprise lifting booms, actuated by hydraulic cylinders, that are part of a hydraulic circuit, and the first monitoring means may comprise displacement sensors adapted to measure the relative displacement of the lifting booms.
  • the backhoe dredger according to the invention comprises third monitoring means adapted to monitor the position of the pontoon.
  • the movement of the excavator can be related to the state of the underwater bottom as charted by a survey, which state at least includes the depth profile of the bottom and/or the properties of the soil material in the area of interest. Indeed a survey carried out before the actual start of the dredging operation yields an initial depth profile. After passage of the backhoe dredger, and with knowledge of the amount of soil material dredged, the new local depth can be calculated. By monitoring the position of the pontoon apart from the position of the excavator, an updated depth profile is obtained.
  • a dredger is provided wherein the third monitoring means comprise a global positioning system.
  • the dredger comprises an input/output device adapted to transfer the signals from the first monitoring means to the computing means.
  • the dredger comprises an input/output device adapted to transfer the signals from the second and/or third monitoring means to the computing means.
  • the dredger comprises display units adapted to display the position of the excavator and/or of the pontoon, as well as the forces experienced by the excavator.
  • the dredger may further comprise a display unit adapted to display the depth of the soil under water.
  • a hydraulic backhoe ship 1 is schematically shown.
  • the backhoe ship 1 comprises a pontoon 6 that is positioned in water 2 above a water bottom 3 to be dredged.
  • Pontoon 6 is provided with a number of spuds 4 than can take support onto the water bottom 3.
  • the pontoon 6 is held on the spuds 4 by a number of swivels 7 in such a way that the pontoon 6 is slidable up and down in the vertical direction 5 along the spuds 4, but is substantially restrained from moving horizontally across the water 2.
  • the pontoon 6 ascends along the spuds 4 as the tidal level rises, and descends along the spuds 4 as the tidal level lowers.
  • the depth h 1 of the water bottom 3 (and also the distance between the water bottom 3 and the pontoon 5) may therefore change in accordance with the tidal level.
  • the backhoe ship 1 is further equipped with a bridge 8 that comprises at least the actuating means adapted to control the motion of the pontoon 6, and a backhoe excavator 10.
  • Backhoe excavator 10 comprises a boom 11 hingedly supported on the deck of pontoon 6, a stick 12 supported swingably on the boom 11 around hinge 13, an a bucket 14 supported turnably on the stick 12 around hinge 15.
  • the lifting booms (11, 12) and bucket 14 of excavator 10 are actuated by hydraulic cylinders (16, 17 and 18), that are part of a hydraulic circuit (not shown).
  • the degrees of freedom of the backhoe dredger 10 to perform its tasks comprise 3 rotations of the excavator around a horizontal axis, corresponding to the 3 pivoting points of the boom 11, the stick 12, and the bucket 14, and actuated by hydraulic cylinders (16, 17 and 18).
  • Another degree of freedom comprises the rotation of the boom 11 around a turntable 19. This degree of freedom enables the rotational positioning of the bucket 14, as well as the transport of the dredged soil material 20 to a barge 21, lying aside the pontoon 6, as shown in figure 2 .
  • Another degree of freedom comprises the horizontal translation of the pontoon 6 (a 'step'). When the digging of soil material 20 within the reach 22 of the excavator 10 has been finished, the pontoon 6 needs to be moved to a next position, a process referred to as ⁇ stepping'.
  • the backhoe dredger 1 comprises actuating means (7, 16, 17, 18, 19) adapted to control the motion of the pontoon 6 and of the excavator 10.
  • the actuating means among others comprise the swivels 7 for the spuds 4 and driving means (not shown) for positioning the pontoon 6, as well as turntable 19 and hydraulic cylinders (16, 17, 18) that form part of a hydraulic circuit controlling the motion of the excavator 10.
  • the actuating means (7, 16, 17, 18, 19) are controlled by computing means as will be described in more detail further below.
  • the backhoe dredger 1 is equipped with first monitoring means (30, 35) adapted to monitor the position of the excavator 10, and in particular the position of the bucket 14 thereof, second monitoring means 31, adapted to monitor the forces experienced by the excavator 10, third monitoring means 32 adapted to monitor the position of the pontoon 6, and computing means 33 adapted to compute, on the basis of data obtained from the first and the second monitoring means (30, 31), control signals for the actuating means (7, 16, 17, 18, 19). To transfer the excavator position signals from the first monitoring means to the computing means.
  • the first monitoring means (30, 35) comprise a number of position and/or angular sensors (not shown), mounted at several positions on the excavator 10.
  • Figure 4 schematically shows a typical configuration, showing the fulcrum A of the boom 11 supported on the deck of the pontoon 6, the fulcrum B of the stick 12 supported on the boom 11, the fulcrum C of the bucket 14 supported on the stick 12 and the leading edge D of the bucket 14. Also shown are the length L 1 of line A-B, the length L 2 of line B-C, the length L 3 of line C-D, the angle ⁇ between a vertical line and the line A-B, the angle ⁇ between the line A-B and the line B-C and the angle ⁇ between the line B-C and the line C-D.
  • h 1 defines the present depth of the bottom 3 and h 2 the height of fulcrum A relative to the water level.
  • the excavated depth h l from the water level can easily be expressed in function of the angles ⁇ , ⁇ and ⁇ , and the lengths L 1 , L 2 , L 3 as well as height h 2 . Since the lengths L 1 , L 2 , L 3 and height h 2 are known, the excavated depth h 1 relative to the water level can be determined when one detects the relative angles ⁇ , ⁇ and ⁇ by suitable angle detectors.
  • the angular signals 34 generated by the angular sensors are transmitted through a suitable input/output device 35 to a first monitoring means processing unit 30, at least comprising a memory for storing the angular signal data. If desired, the position of the excavator 10 can be visualized for the operator of the backhoe dredger 1 on a display 40.
  • the third monitoring means (32, 36) adapted to monitor the position of the pontoon 6 comprise a dynamic positioning/dynamic tracking (DP/DT) system 32, an input/output device 36 adapted to transfer position and/or force signals from the second and/or the third monitoring means to the computing means, and a number of pontoon position sensors (not shown).
  • the DP/DT system 32 allows the backhoe dredge operator to view on-line through a display device 38 a chart of the bottom depth profile. Such a profile is obtained by inputting bathymetric data obtained beforehand in the DP/DT system 32. The depth profile of the bottom 3 is updated in real time as a result of the dredging operation.
  • the DP/DT system 32 also comprises a global positioning system, enabling to locate the global position of the pontoon 6.
  • a backhoe dredger When a backhoe dredger is manually operated, it generally relies on the above described set of monitoring equipment. As the operator is working underneath the water level, visibility of the bucket 14 is zero. The operator therefore needs to rely on a real-time visualization of the pontoon 6 and in particular excavator 10.
  • the first monitoring means (30, 35) based on sensors for monitoring the boom/stick/bucket and slew/swing angles provide part of the input. This information is combined with the system dimensions to reconstruct the bucket position. When combining this information with a global positioning system signal from the DP/DT system 32, a real-time visualization of the position of the bucket 14 with respect to the bottom 3 is obtained.
  • the second monitoring means 31 are adapted to monitor the forces experienced by the excavator 10, and comprise a number of pressure or force transducers (not shown), typically incorporated in the hydraulic cylinders (16, 17, 18).
  • the force signals 39 originating from the transducers are transmitted via the input/output device 36 to the computing means (31, 33) for further processing.
  • a display unit 41 adapted to display the force signals 39 as experienced by the excavator 10 can be provided.
  • Control signals (42, 43), generated by the computing means (33) may also be displayed on display unit 41.
  • the computing means (33) are adapted to compute, on the basis of the position signal data (34, 37), obtained from the first and the third monitoring means (30, 32), as well as on the basis of the force signal data (39), obtained from the second monitoring means 31 control signals (42, 43) for the actuating means (7, 16, 17, 18, 19).
  • the parameters involved in dredging a bottom 3 are many. Typically, a survey of the depth profile of the water bottom 3 is carried out first by taking bathymetric data and store these in the DP/DT system 32. A desired dredge profile depends on many properties such as underwater stability of the bottom 3 and the rheological properties of the soil material. Other factors that may be important include structural aspects of the dredging equipment (maximum load levels and the like), vessel stability, position control, tidal and water current behavior, and more.
  • the device according to the invention allows to take into account a major part of these parameters by providing a closed loop control system wherein position and force data are combined to compute optimum actuator signals.
  • the force data are the result of the action of a considerable number of relevant parameters related to the bottom and soil properties, which makes considering these force data particularly useful for the present purpose.
  • the invention is not limited to the choice of a particular optimum criterion and may actually use any criterion that appears to be useful.
  • the optimum criterion comprises the average power of the excavator used per unit volume excavated soil material, or the maximum likely expected excavating time per unit volume excavated soil material.
  • Typical limitations include dynamic limitations, such as power and force restrictions.
  • Such an algorithm is based on trajectories, as suggested by best practice training manuals and/or constructor's power tables for a given excavator set up (i.e. a boom/stick/bucket combination).
  • the input for the algorithm is provided by the results of a bottom survey and a first best guess of a trajectory for the excavator, including the depth and reach of the bucket. With reach is meant the distance from the pivot point of the excavator to the position where the bucket touches the soil.
  • the output of the algorithm provides the excavator kinematics that produces the needed boom/stick/bucket-joint angles at each stage of the excavation.
  • a second algorithm uses soil cutting theory to compute the forces experienced by the excavator components as a result of the interaction between the bucket and the soil (when the bucket is actually moving through the soil), and drag theory to compute the forces exerted by water currents on submerged parts of the excavator.
  • This model yields the total expected forces, encountered by the excavator whilst digging. The output gives the overall model a starting point from which to proceed.
  • the starting point is preferably selected base don a most suitable combination cutting depth, cutting speed and reach or scraping length.
  • the scraping length is chosen around 65% of the maximum reach at a particular depth, with a generally accepted minimum of 6m.
  • the measurements of forces and kinematical parameters allow to recalculate operational parameters, preferably the depth of excavation, the velocity of excavation, and the reach of the bucket.
  • operational parameters preferably the depth of excavation, the velocity of excavation, and the reach of the bucket.
  • the maximum tolerable power settings for the hydraulic components are known from the manufacturer of these components and for a hydraulic cylinder for instance are given in terms of the product of maximum pressure p and flow Q. Given the speed at which forces vary in the hydraulic system, such a rather static system (controlled by an operator) would always try to intervene too late. In addition the combination of actuators, hydraulic system and excavator system/real world interaction will result in a highly non-linear system.
  • the invention is not limited to any optimization algorithm and many may be used. Such algorithms are generally known to the skilled person and generally minimize some function f(x) subject to a condition such as h(x) ⁇ 0.
  • the function f(x) may comprise the average power of the excavator used per unit volume excavated soil material for instance.
  • the condition h(x) ⁇ 0 may for instance comprise the condition that the depth h(x) of the bucket 14 has to be larger than a certain depth h 1 .
  • the condition then becomes h 1 - h(x) ⁇ 0 (when depths are given in negative numbers).
  • An optimization scheme is initiated by choosing initial values for x, and compute search directions ⁇ x, using numerical algorithms such as the well known Newton's method.
  • a step to a new point is then taken and the calculations repeated until the minimum is found.
  • the output of the optimization scheme yields a next movement of the bucket 14 of the excavator 10, including horizontal and vertical movement, tilt angles, defining the angle of attack, and speed of movement. It thus becomes possible to maximize throughput and obtain a more even quality.
  • An additional advantage is that by obtaining the force data, data are also obtained on the soil properties during dredging. The method and device according to the invention therefore also allows to continuously update the soil properties, previously obtained by the bathymetric data.
  • the computing means 33 substantially control the movement of the excavator 10, and in particular the bucket 14 thereof, as well as the movement of the pontoon 6, by generating control signals (42, 43) for the excavator 10 and pontoon 6 respectively.
  • a zone is dredged within reach of the excavator booms (11, 12) by automatically lowering the bucket 14 to a calculated depth, by positioning the bucket 14 and scrape soil material 20 to fill the bucket 14 to a desired level, and then lifting the bucket 14, and swing it to empty its content in barge 21.
  • a new position is calculated through the optimization routine and the bucket 14 swung back to this optimal next position.
  • the pontoon 6 is 'stepped' to a next position, that is also calculated by the optimization algorithm, and the cycle repeated.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)
  • Earth Drilling (AREA)
EP10190665.9A 2009-11-13 2010-11-10 Backhoe dredger for dredging soil material under water Not-in-force EP2322728B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL2003800A NL2003800C2 (en) 2009-11-13 2009-11-13 Device for dredging soil material under water.

Publications (3)

Publication Number Publication Date
EP2322728A2 EP2322728A2 (en) 2011-05-18
EP2322728A3 EP2322728A3 (en) 2011-06-01
EP2322728B1 true EP2322728B1 (en) 2013-08-21

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EP10190665.9A Not-in-force EP2322728B1 (en) 2009-11-13 2010-11-10 Backhoe dredger for dredging soil material under water

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EP (1) EP2322728B1 (ru)
BE (1) BE1020103A3 (ru)
DK (1) DK2322728T3 (ru)
NL (1) NL2003800C2 (ru)
RU (1) RU2553814C2 (ru)

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EP2322728A2 (en) 2011-05-18
EP2322728A3 (en) 2011-06-01
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NL2003800C2 (en) 2011-05-16
RU2553814C2 (ru) 2015-06-20
DK2322728T3 (da) 2013-11-18

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