EP4089237A1 - Véhicule à drague aspirante - Google Patents

Véhicule à drague aspirante Download PDF

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Publication number
EP4089237A1
EP4089237A1 EP22169654.5A EP22169654A EP4089237A1 EP 4089237 A1 EP4089237 A1 EP 4089237A1 EP 22169654 A EP22169654 A EP 22169654A EP 4089237 A1 EP4089237 A1 EP 4089237A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
unmanned
boom
suction
suction 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.)
Pending
Application number
EP22169654.5A
Other languages
German (de)
English (en)
Inventor
Hannu Kuvaja
Antti Tasala
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.)
Pure Environment Tech Oy
Original Assignee
Pure Environment Tech Oy
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Pure Environment Tech Oy filed Critical Pure Environment Tech Oy
Publication of EP4089237A1 publication Critical patent/EP4089237A1/fr
Pending legal-status Critical Current

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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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
    • 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
    • E02F3/8858—Submerged units
    • E02F3/8866—Submerged units self propelled
    • 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
    • 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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles

Definitions

  • the present invention relates to a field of suction dredgers, especially suction dredger vehicles.
  • suction dredgers are widely used for dredging waters. There are a lot of suction dredger solutions available in the market, but they have many drawbacks. One drawback is a large size of the suction dredgers. Due to the large size, they are often unsuitable for small waters in a sensitive environment like in natural parks, for example. Hence, more sophisticated solution for the suction dredging is needed.
  • a suction dredging is often performed by vessels in larger waters, but the vessels are not very suitable for small waters like small rivers or creeks. In addition, a remote location of the small waters may cause issues for the vessels.
  • Many known suction dredgers that are operated from a land are manned and have a cabin from which the suction dredger is controlled by an operator.
  • a common machine used in the suction dredging from the land is an excavator having pump and pipes in a boom, for example.
  • a large size of the excavator may cause damages to the environment that may be an issue when operating in a sensitive environment like in natural parks, for example.
  • suction dredgers are not suitable for the small waters and are not meant for operating from the land such that the apparatus itself is on the land and only a suction head is placed under water. Because of the many drawbacks in the known solution, there is a clear need for the more sophisticated suction dredger.
  • an unmanned suction dredger vehicle (also called as a vehicle later in this application), comprising a first and a second body parts coupled together by a mechanism configured to enable an articulated steering of the vehicle, wherein the first and the second body parts with wheels configured to enable moving of the vehicle, a power source coupled with the first body part configured to provide power to the vehicle, a boom coupled with the second body part and a pump with a piping coupled, at least partly, with the boom configured to enable a suction dredging.
  • unmanned refers to a vehicle without a person on board, in other words, vehicle in which an operator is not on the vehicle.
  • the unmanned vehicle is also known as an uncrewed vehicle. This means that the vehicle does not comprise a cabin to the operator for controlling the operations like suction dredging and/or moving the vehicle.
  • the vehicle may comprise a controlling unit which allow remote controlling of the vehicle and/or the controlling unit may be integrated in the vehicle, but the operator uses it such that he/she is out of the vehicle.
  • the unmanned suction dredger vehicle 100 has a two-part body comprising the first and the second body parts 102, 104.
  • the body parts are coupled together by the mechanism 106 that enables the articulated steering of the vehicle (frame steering).
  • the mechanism 106 comprises at least one joint (swivel) enabling movement of the first and the second body part in relation to each other.
  • Figure 3 illustrates the vehicle with the mechanism allowing the articulated steering according to an embodiment.
  • the mechanism may further comprise one or more actuator members configured to change an angle between the body part as presented in Figure 3 .
  • the actuator member may be a hydraulic and/or electro-hydraulic cylinder or a linear motor, for example.
  • An arrow L1 illustrates a longitudinal axis of the first body part 102 and an arrow L2 illustrates a longitudinal axis of the second body part.
  • the mechanism is configured to change the angle between the longitudinal axis of the first and second body parts enabling the articulated steering of the vehicle.
  • the articulated steering enables a small radius of turn of the vehicle which is very important in a challenging terrain.
  • the articulated steering as such is very widely known and it can be seen as obvious to the skilled person, therefore it is not described in detail in this application.
  • the mechanism 106 is configured to enable rotation of the first and second body parts in relation to each other about the longitudinal axis L. In another embodiment, the mechanism 106 is configured to enable movement of the first and second body parts in relation to each other such that there is an angle between the longitudinal axis of the first body part L1 and second body part L2 in a height direction H (an arrow H) of the vehicle. Then the longitudinal axis of the first body part L1 and second body part L2 are not parallel in the height direction H of the vehicle.
  • the mechanism 106 is lockable.
  • the mechanism can be locked such that the mechanism is prevented to enable movement of the first and the second body parts in relation to each other. Then the first and the second body parts are rigidly coupled together.
  • the mechanism is lockable such that locking prevents movement and/or rotation of the first and second body part in relation to each other in one or more of the mentioned directions. Locking of the mechanism may be used in the transport mode of the vehicle, for example.
  • the first and the second body part of the vehicle comprises at least two wheels. Then the vehicle may comprise totally four wheels. This embodiment is not illustrated in Figures.
  • the first and the second body part of the vehicle comprises at least four wheels. Then the vehicle may comprise totally eight wheels 110A - 110H.
  • the first and second body part 102, 104 comprises the bogie drive (bogie lift) 108A, 108B.
  • the bogie drive may comprise two axes (double bogie axis), in other words, two pairs of the wheels.
  • the first body part 102 having a first bogie drive 108A may comprise two pairs of the wheels 110A - 110C and 110B - 110D.
  • the second body part having a second bogie drive may also comprise two pairs of the wheels 110E - 110G and 110F - 110H.
  • the bogie drive enables movements of the individual wheel coupled with the bogie in the height direction H. Then the vehicle travels more steadily in the uneven terrain. Further, the bogie drive may be configured to dampen an oscillation of the vehicle automatically.
  • the bogie drive is very widely known, and it can be seen as obvious to the skilled person, therefore it is not described in detail in this application.
  • the vehicle comprises crawlers (tracks).
  • the crawler may be an over tyre track (OTT) type, for example.
  • OTT refers to the crawler that is assembled over the wheels (tyres) of the vehicle.
  • the vehicle may have rubber wheels (tyres) and the crawler may be assembled over the wheels.
  • the rubber wheels refer to the wheels of the vehicle that can be used also without the crawlers.
  • the crawlers may be removably assembled over the wheels and used only when needed.
  • wheels of the vehicle refer to the wheels that are configured to be used only with crawler (tracks). This kind of wheels are not configured to be used without the crawlers.
  • the wheel(s) is configured to transmit power (force) from the power source to the crawler, in other words, to rotate the crawler.
  • the wheel may be a geared wheel, for example.
  • This kind of crawler assemblies are widely used in all-terrain vehicles (ATV), for example
  • wheel in this application may refer to or a (rubber) tyre of the vehicle that can be used also without crawlers (tracks).
  • the wheel may also refer to the wheel used with crawlers (part of the crawler assembly) and the wheel cannot be used without crawler.
  • the vehicle 100 further comprises one or more turning wheels.
  • the vehicle may then comprise the articulated steering and further one or more of the turning wheels (pair of wheels) to enhance the steering further (compared to the articulated steering) and enable better steering of the vehicle in the challenging terrain.
  • any of the wheel pairs 110A - 110C, 110B - 110D, 110E - 110G and/or 110F - 110H of the vehicle may be turnable, for example. In an embodiment all of the above mentioned wheel pairs may be turnable.
  • one or more wheel pairs 110A - 110C, 110B - 110D, 110E - 110G and/or 110F - 110H of the vehicle are a drive wheels. In one embodiment all the above mentioned wheels are the drive wheels, then all the 8 wheels of the vehicle are the drive wheels (traction wheels).
  • the vehicle 100 comprises the power source 112 coupled with the first body part 102 configured to provide power to the vehicle 100.
  • the power source may be configured to provide all needed power for operating the vehicle. It may provide a power (force) for moving (driving and steering) the vehicle, for using the boom and for the suction dredging, for example.
  • the vehicle may comprise a plurality of the power sources.
  • both of the first and the second body part may comprise the power source.
  • the power source is placed on the opposite part body of the vehicle than the boom.
  • the power source may be in the first body part and the boom in the second body part as illustrated in Figure 1 . Then the power source is a counterweight for the boom, this is very essential to keep the vehicle in balance when using the boom. This also eliminates or reduces needs for stabilizing legs (outriggers).
  • the power source is a combustion engine. It may be a diesel engine, for example. In another embodiment, the power source is an electric motor coupled with one or more batteries. The power source may also be a combination of the combustion engine and the electric motor.
  • the vehicle 100 further comprises the boom 114 coupled with the second body part 104.
  • the piping of the suction dredging 118 is coupled with the boom 114 such that the boom 114 is used to place a suction head 124 under water in the suction dredging process.
  • the vehicle itself is on the land during the process, for example on a riverbank.
  • the boom is configured to be movable such that it can cover certain area under the water.
  • the operating range depends on dimensions of the boom. For example, a length of the boom may be 4 meters that gives about 8 meter operating range in a sidewise (direction W in Figure 3 ) and about 4 meter in the longitudinal direction (direction L in Figure 3 ). A depth of the water may affect the operating range. For example, 4 meter long boom may be able to operate properly in 2 meter deep water.
  • the boom may be rotatable about the height axis H of the vehicle such that the boom can be turned above (over) the vehicle as illustrated in Figure 4 .
  • the vehicle 100 further comprises the pump 116A - B coupled with the piping 118.
  • the pump is configured to provide a pressure needed in the suction dredging.
  • the pump may be coupled with the power source of the vehicle. In other words, the pump gets its power from the power source of the vehicle and provides the needed suction force for the suction head via the piping.
  • a power of the pump (capacity) may vary according to the needs. For example, a size of the piping (radius) may affect the capacity of the pump. The radius of a discharge pipe may be 2 - 6 inches, for example.
  • a suction effect of the pump may be 2 - 7 m3, for example. Soil (mud, sludge, gravel, rocks) to be removed from the water by the suction dredging affects the selection of the pump and the piping.
  • the pump 116B is in vicinity of one end of the boom 114.
  • the suction head 124 may comprise the pump 116B or the pump 116B may be placed in vicinity of the suction head 124.
  • the one end of the boom may refer to the end which is under water in the suction dredging.
  • the pump may be a submersible pump type (immersion pump), for example.
  • the pump is in the first or the second body parts.
  • the pump may be coupled with the suction head with the piping.
  • the pump 116A may in the second body part 104 and coupled with the suction head 124 by the piping(s) 118 as illustrated in Figure 1 .
  • the discharge pipe may be placed such that the soil removed from the water is piled far from the water and then soil does not flow back to the water.
  • geotubes may be used with the vehicle to which the soil is stored.
  • the vehicle may further comprise a hydraulic pump configures to provide power for operating (driving and steering) the vehicle and the boom.
  • the hydraulic pump may be in the second body part, for example.
  • the power source 112 is configured to provide power for the hydraulic pump which provide power for driving motor(s) of the vehicle.
  • the driving motors may be placed in the first and/or the second body part.
  • the vehicle 100 comprises a remote-control unit 120 configured to control operations of the vehicle 100 remotely.
  • the remote control of the vehicle may be based on a radio control technology wherein control signals are transmitted from the remote-control unit to the vehicle.
  • the control signals may be transmitted wirelessly or along a cable.
  • the control unit may comprise a transmitter and the vehicle receiver for transmitting the control signals between the control unit and the vehicle.
  • the vehicle may comprise a processing unit configured to process the transmitted signals.
  • the radio control technology, wireless or with a cable is very widely known, and it can be seen as obvious to the skilled person, therefore it is not described in detail in this application.
  • the remote control of the suction dredging vehicle also improves safety at work since the operator does not need to be in immediate vicinity of the vehicle during the operation.
  • the vehicle 100 comprises an integrated control unit 122 configured to control the operations of the vehicle from the vehicle.
  • the control unit may be placed in the first and/or the second body parts.
  • the vehicle is unmanned but the integrated control unit may be placed such that the operator can operate the vehicle, for example, by standing next to the vehicle.
  • the integrated control unit may be in vicinity of a first end of the first body part. The first end may refer to the end that is on the opposite side of the mechanism coupling the first and second bodies together.
  • the vehicle 100 comprises both the remote-control unit 120 and the integrated control unit 122.
  • driving of the vehicle may be controlled by the remote control unit and the suction dredging may be controlled by the integrated control unit.
  • the vehicle may comprise some control buttons, like an emergency shutdown button, in the vehicle in addition to the remote-control unit.
  • the boom is placed in a first end of the second body part.
  • the first end in this case may refer to the end of the second body part which is on the opposite side of the mechanism coupling the first and the second body parts together as illustrated in Figure 1 .
  • the boom When the boom is placed at the end of the body part as described above, it enables the wide operating range for the suction dredging.
  • the boom is placed in the first end of the second body part such that there is a gap G in a longitudinal direction of the vehicle between the boom and wheels that are closest to the boom.
  • the wheels pair 110F - 110H is the closest to the boom 114, and the boom 114 is placed such that there is the gap between the mentioned wheels and the boom in the longitudinal direction L of the vehicle.
  • the first end in this case may refer to the end of the second body part which is on the opposite side of the mechanism coupling the first and the second body parts together.
  • the gap enables placing of the boom such that it is far from the nearest wheels.
  • the technical effect of the gap is that when the boom is in a waterline, the wheels are still in the solid land properly.
  • the vehicle may comprise a mechanism configured to adjust the gap G in a longitudinal direction of the vehicle L between the boom and the wheels that are closest to the boom.
  • the base of the boom may be moved by the mechanism in the longitudinal direction. Then the whole boom may be moved. This makes possible to decrease or increase the above mentioned gap according to the needs.
  • the mechanism may be used to move the boom in the height direction H of the vehicle.
  • the boom is removably coupled with the second body part. This enables changing of the boom. For example, the boom may be changed to another one which may give the different operating range.
  • the boom is foldable.
  • the foldable means that the boom can be folded up for transportation as illustrated in Figure 4 , for example.
  • the vehicle 100 further comprises a support element 126 for the boom 114 configured to receive and support the boom 114 when the boom 114 is not in use.
  • the support element may in the second body part on the opposite end (a second end) than the boom. In other words, in the same end in which the mechanism for coupling the body parts together is, as illustrated in Figure 4 .
  • the boom When the boom is not in use refers to a situation wherein the suction dredging is not in progress and vehicle is moving, for example. In this kind of situation, the boom may be folded and turned such that it is above the vehicle as illustrated in Figure 4 . Above the vehicle refers to a position wherein the (folded) boom is substantially parallel with the longitudinal axis of the vehicle and further it is turned such that it is pointing towards the first end of the first body part.
  • the vehicle further comprises one or more stabilizing legs.
  • the vehicle 100 may comprise a pair of the retractable stabilizing legs 130 substantially under the base of the boom as illustrated in Figure 1 .
  • a location of the stabilizing legs is adjustable in the longitudinal direction L of the vehicle. This enables to adjust the stabilizing legs to a position which is the most suitable for the suction process and/or location of the vehicle.
  • the vehicle comprises a camera configured to monitor the suction dredging under water.
  • the camera 128 may be placed in the boom 114 in vicinity of the suction head 124 such that the camera 128 is capable of monitoring the suction process and an area under water in which the suction is performed.
  • the vehicle comprises a user interface configured to present materials (images and/or video image) captured by the camera.
  • the user interface may comprise a screen.
  • the user interface may be in the control unit.
  • the camera coupled with the user interface enables monitoring of the suction dredging in real time.
  • the camera helps to identify object under water that may damage the suction head or any other part of the vehicle.
  • the camera may also help to identify protected objects like endangered species under water and damaging of the species may be avoided.
  • the vehicle further comprises a processing unit configured, together with the camera, to identify objects under water.
  • the processing unit may identify object under water that may damage some part of the vehicle or to identify protected objects like endangered species under water.
  • the processing unit may provide alarm signal for the operator of the vehicle.
  • some endangered species like a river pearl mussel, may live in a bottom of a creek in which the suction dredging will be performed.
  • the processing unit coupled with the camera in the boom, may identify the river pearl mussels in the creek and provide an alarm for the operator of the vehicle.
  • the processing unit is configured to stop the suction dredging process based on the results of the identification.
  • any other sensor type may be used to provide information about the suction dredging and/or are around the suction head.
  • the vehicle comprises the suction head configured to perform the suction dredging under water wherein an inlet of an inlet pipe of the suction head is a cone.
  • the inlet pipe may be a part of the piping 118.
  • the inlet pipe is coupled with the suction head and the soil from the bottom of the water is sucked via inlet pipe.
  • the inlet pipe comprises the inlet which may be a separate part from the inlet pipe or integrated in the inlet pipe.
  • the inlet is configured to have a shape of the cone such that diameter of the inlet reduces towards the inlet pipe (piping). This means that the diameter of the inlet is larger at the beginning of the inlet and reduces towards the inlet pipe, in other words, the diameter gets smaller.
  • the conical shape improves the suction force.
  • the vehicle can be coupled with another vehicle for transportation.
  • the unmanned suction dredging vehicle can be towed by another vehicle in a long-distance transportation.
  • a power transmission of the unmanned suction dredging vehicle may be put into neutral (turned off) enabling the towing.
  • the unmanned suction dredging vehicle 100 further comprises a towing element 132 configured to enable towing of the vehicle.
  • the towing element enables coupling of the towing vehicle to the unmanned suction dredging vehicle.
  • the towing element may be a feature to which a towing hook (drawhook) of the towing vehicle may be coupled.
  • the suction head further comprises a sieve configured to determine which size of the soil can pass the piping.
  • a size of holes in the sieve may be selected according to the material (soil) desired to remove from the bottom of the water.
  • the sieve may be removably coupled with the inlet.
  • the suction head may comprise a cutter and/or a drag for removing material from the bottom of the water.
  • the suction head may comprise a water jet for removing material from the bottom of the water.
  • the first and/or the second body part comprises a fuel tank for the power source and/or a tank for a hydraulic fluid (hydraulic oil).
  • a hydraulic fluid hydroaulic oil
  • at least one of the tanks may be integrated in the first and/or second body part.
  • both tanks may be integrated into the first and/or the second body parts.
  • the tank(s) is/are the separate tanks removably coupled with the vehicle.
  • the unmanned suction dredger vehicle having above mentioned structure is very suitable for operating in the smaller waters of the sensitive environment. Its structure is light, and steering is very efficient in the dense vegetation and/or the uneven terrain. Because of the light structure, the vehicle does not leave remarkable marks in the environment. Still the suction dredging capacity is high.
  • the unmanned suction dredging vehicle is also configured to be operated and controlled by one person.
  • the vehicle since the vehicle is self-propelled, there are no needs for a separate vehicle for moving the suction dredging device to the environment in which the suction dredging take place.
  • Roads or any kind of roadways are not needed which is usually mandatory with the bigger suction dredgers. Often some kind of the roadway must be done beforehand for the bigger suction dredger to get it to the desired destination in the remote locations.
  • the unmanned suction dredging vehicle according to the invention removes this issue since it is configured to be driven in the challenging uneven terrain and/or dense forests without damaging the sensitive environment. Hence, it can be used, for example, in the conservation areas such that it would not cause harm to the environment.
  • the unmanned suction dredging vehicle can be coupled to the towing vehicle if transported on road.
  • the vehicle can also be used for pumping water, for example, in case of a forest fire or a flood protection.
EP22169654.5A 2021-04-28 2022-04-25 Véhicule à drague aspirante Pending EP4089237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20210023 2021-04-28
FI20216004 2021-09-28

Publications (1)

Publication Number Publication Date
EP4089237A1 true EP4089237A1 (fr) 2022-11-16

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EP22169654.5A Pending EP4089237A1 (fr) 2021-04-28 2022-04-25 Véhicule à drague aspirante

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EP (1) EP4089237A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2087460A5 (fr) * 1970-05-20 1971-12-31 Entr Dragages Travaux Pu
FR2701278A1 (fr) * 1993-02-05 1994-08-12 Roche Jean Procédé de curage et dispositif de curage et d'inspection de collecteurs d'égouts.
WO2001021900A1 (fr) * 1999-09-21 2001-03-29 The Engineering Business Ltd Charrues
CN105840197A (zh) * 2016-03-25 2016-08-10 中国地质科学院勘探技术研究所 一种深海多金属结核的开采系统及开采工艺
EP3575499A1 (fr) * 2018-06-01 2019-12-04 Guangxi LiuGong Machinery Co., Ltd. Agencement de verrouillage d'un ensemble flèche articulé pour une machine de construction
US20200291770A1 (en) * 2019-02-15 2020-09-17 Tracto-Technik Gmbh & Co. Kg System having a ground drilling device and an input device, method for controlling the operation of a ground drilling device and use of a ground drilling device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2087460A5 (fr) * 1970-05-20 1971-12-31 Entr Dragages Travaux Pu
FR2701278A1 (fr) * 1993-02-05 1994-08-12 Roche Jean Procédé de curage et dispositif de curage et d'inspection de collecteurs d'égouts.
WO2001021900A1 (fr) * 1999-09-21 2001-03-29 The Engineering Business Ltd Charrues
CN105840197A (zh) * 2016-03-25 2016-08-10 中国地质科学院勘探技术研究所 一种深海多金属结核的开采系统及开采工艺
EP3575499A1 (fr) * 2018-06-01 2019-12-04 Guangxi LiuGong Machinery Co., Ltd. Agencement de verrouillage d'un ensemble flèche articulé pour une machine de construction
US20200291770A1 (en) * 2019-02-15 2020-09-17 Tracto-Technik Gmbh & Co. Kg System having a ground drilling device and an input device, method for controlling the operation of a ground drilling device and use of a ground drilling device

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Effective date: 20230511