JP2000045320A - Dredging control method of dredger and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a dredging control method of a dredger and a device thereof capable of automatically controlling the dredger and the equipment thereof to increase efficiency of dredging work and at the same time, carrying out labor saving. SOLUTION: A dredger 10 is propelled while adjusting contact pressure of a drag head 12 on the front end by bearing a drag arm on a swell compensator 15, and sludge, etc., in the ocean floor bed 16 are sucked with the dredge head 12 by means of a dredge pump 17 to carry out dredging. In that case, a scheduled course SC with high efficiency is set on the basis of data of the ocean floor bed obtained from observation ship, etc., 36, speed of the dredger 10 is controlled in accordance with depth variations along the scheduled course SC to make constant depth control and, at the same time, the contact pressure of the drag head 12 is controlled by the number of revolutions of the dredge pump 17 and the swell compensator 15 to make constant sludge content control to carry out dredging.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dredging control method and apparatus for a dredger dredging with a drag head, and more particularly to a dredging control method and apparatus for a dredger capable of efficiently dredging a seabed to a depth equal to or more than a certain depth. It is.

[0002]

2. Description of the Related Art For each area obtained by dividing the sea area near a sea route into a mesh shape, an area which becomes shallower,
Dredgers work within the area so that the whole of the area has sufficient depth for the navigation of the vessel.

In a dredger, a drag arm is provided on the side of the hull so as to be capable of raising and lowering, and the drag arm is held by a swell compensator via a wire to adjust the ground pressure of the drag head and is provided in the hull. The submersible mud is sucked from the drag head at the tip via the drag arm from the drainage pump, and is discharged into the mud tank in the hull.

[0004] The plan of the dredging work by this dredger is shown in FIG.
As shown in Fig. 7, dredging is performed based on the channel C that licks the entire area R, and the dredging may be concentrated on the shallow seabed near the end of the working time.

[0005]

As described above, in the conventional dredging operation, the manner of dredging is not changed according to the state such as the depth at each point.

In the dredging operation, only the shallow part of the sea bottom having many irregularities may be dredged, but at present, the whole is dredged in a licking manner. For this reason, the efficiency is lower than that of dredging only in a place where it is shallow and dredging must be performed.

[0007] The captain or the operator of the system can adjust the ground pressure of the drag head according to the bitmap, rudder and water depth while referring to the current position by looking at the nautical chart based on the planned course, dredging amount, etc. It was necessary to control the rotation speed of the drainage pump.

However, conventionally, how to dredge is
It is almost intuitive, and it is practically difficult for anyone to perform dredging work efficiently.

Accordingly, an object of the present invention is to solve the above-mentioned problems, and to control dredgers and the equipment of the dredgers automatically to increase the efficiency of the dredging work and to save the labor. It is an object of the present invention to provide a method and an apparatus therefor.

[0010]

In order to achieve the above object, according to the first aspect of the present invention, a planned channel with good dredging efficiency is set from depth data on the sea bottom obtained from an observation ship or the like, and the planned channel is set in the planned channel. This is a dredging control method for a dredger that performs dredging with constant depth control according to a change in depth along with constant mud content control according to the situation.

[0011] The invention of claim 2 is to set a planned channel with good dredging efficiency from the depth data of the sea bottom obtained from an observation ship or the like, and to perform constant depth control and situation according to the depth change along the planned channel. This is a dredging control method for a dredger performing dredging with constant mud content control accordingly.

According to a third aspect of the present invention, the drag arm is supported by a swell compensator to adjust the ground pressure of the drag head at the tip, while the dredging vessel is propelled, and the submarine mud and the like are sucked by the drag pump by the drag pump and dredged. When conducting a survey, a planned channel with good dredging efficiency is set from depth data on the sea floor obtained from observation vessels, etc., and the speed of the dredger is controlled according to the depth change along the planned channel to achieve constant depth control. This is a dredging control method for a dredger that performs dredging by controlling the rotation speed of a drainage pump and the ground pressure of a drag head by a swell compensator to perform constant mud content control.

According to a fourth aspect of the present invention, when the route of the dredger is significantly deviated from the planned channel, a dredging-efficient route is re-planned from the deviated position, and dredging is performed based on the reset channel. The dredging control method for a dredger according to claim 1 or 2, wherein the method is performed.

According to a fifth aspect of the present invention, when setting a planned route, a large number of efficient routes are prepared in advance from various positions in the dredging area by assuming in advance that the route is greatly deviated from the planned route. When a route is greatly deviated from the planned route, a route close to that point is selected and the route is
The dredging control method for a dredger according to any one of claims 1 to 3, wherein resetting is performed in a shorter time than re-planning.

According to a sixth aspect of the present invention, a planned route is displayed, the vehicle is manually steered based on the display, the speed of the dredger is controlled along the route based on the manual steering, and the constant depth control is performed. The dredging control method for a dredger according to any one of claims 1 to 3, wherein the dredging is performed by controlling the rotation speed of the pump and the ground pressure of the drag head by the swell compensator to perform constant control of the mud content.

According to a seventh aspect of the present invention, a drag arm is supported by a swell compensator to adjust the ground pressure of a drag head at the tip, while a dredging vessel is propelled, and a submersible mud or the like is sucked by a drag pump by a drag head and dredged. The dredging control device of the dredger receives the sea floor depth data from the observation vessel etc., and sets a planned route with good dredging efficiency from the depth data, and navigates the dredger along the planned route. Route tracking mechanism to
Constant depth control according to depth changes along the planned channel and / or
A dredging control device for a dredger, comprising: a dredging operation control mechanism for performing dredging with constant mud content control.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

First, an outline of the dredger 10 will be described with reference to FIG.

At the side of the hull 11, a drag arm 13 having a drag head 12 at the lower end is provided so as to be able to move up and down. The drag arm 13 is moved up and down by a drag arm winch 14W via a wire 14, and the wire 1
4 is held by the swell compensator 15, and the drag arm winch 14 is
The ground pressure of the drag head 12 can be adjusted by adjusting the tension of W.

A hull 11 is provided with a drainage pump 17 for sucking mud and sand on the seabed 16 from a drag head 12 via a drag arm 13 and a mud for storing mud and the like discharged by the drainage pump 17. Tank (not shown)
Is provided.

In addition, a main thruster 18 and a rudder 19 are provided behind the hull 11, and a bow thruster 20 for generating a lateral propulsion force in front and behind the hull 11 to turn the ship at high speed is provided.

The dredging operation of the dredger 10 is performed by navigating with a main thruster 18 and using a swell compensator 15 so that the drag head 12 has a wire 14 so that the drag head 12 has a predetermined ground pressure.
Of the seabed 1 by adjusting the tension of the
6 is sucked, the sucked mud is stored in a mud tank in the hull 11, and the seabed 16 is dredged.

The dredging vessel 10 is equipped with a dredging control device 22 which will be described later. The dredging control device 22 has an operation amount and pressure of the swell compensator 15, a ground pressure of the drag head 12, start / stop of the jet pump, and a drainage pump 17. Rotation speed and pump suction negative pressure, pump flow rate, mud content of mud unloaded by the drainage pump 17, operation amount of main thruster 18, rudder 19, bow thruster 20, position of dredger from GPS 21 (x, y) And disturbance such as wind.

FIG. 1 shows a system configuration of the dredging control device 22. A route planning mechanism 23 for generating a feasible route capable of performing highly efficient work, and an efficient dredging on a given target channel. It comprises a navigation / work control mechanism 24 for performing work.

The channel planning mechanism 23 includes measurement data 25 of the depth obtained by measuring the area in which the dredging work is performed and the dredging work area,
Nautical chart data 26 describing dredging start / end points, dumping locations, tidal current information, etc. are input, and based on this, the route planning mechanism 23 can realize that the efficiency is high based on certain evaluation criteria. It has a function of planning a sea route and a chart 27 of the sea route. Examples of criteria include a channel that can pass through places that require more dredging for a certain period of time, and a channel that can be completed in a short period of time in all operations that require dredging.

The navigation / work control mechanism 24 comprises two mechanisms, a route tracking mechanism 28 and a dredging work control mechanism 29. The route tracking mechanism 28 controls the amount of operation of the main thruster 18 operated by the dredging depth control mechanism 32. The course is controlled by manipulating the rudder or bow thruster 30 along the route indicated in consideration of the route. The route tracking mechanism 28 is configured to be able to switch to manual operation by a steering operator in addition to automatically controlling the course by operating 30 a rudder and a bow thruster. in this case,
The SC shown in FIGS. 4, 5, and 6, which is the planned route, is displayed on a display and the like, and the own ship position can be displayed on the display.

The dredging operation control mechanism 29 is composed of a mud suction rate / quantity control mechanism 31 and a dredging depth control mechanism 32. According to the speed determined by the dredging depth control mechanism 32 based on the depth and soil quality, the mud suction rate / quantity control mechanism 31 operates the rotation speed of the drainage pump, the start / stop of the jet pump, and the contact pressure by the swell compensator.
3 and control the dredging depth control mechanism 3 so that the mud content in that situation is determined so that the amount of excavated soil is maximized.
2 controls the ship speed by operating the main thruster 18 in consideration of the resistance and the like of the drag head 12 determined by the mud absorption rate / quantity control mechanism 31, so as to control the boat speed so that the depth becomes constant. ing.

FIG. 3 shows a system example of the dredging control device 22.
This will be described below.

Observation results are input to the route planning mechanism 23 from the observation ship 36 etc. online, and at the same time, the motion characteristics of the dredger, the dredging work map, the tidal current map and the like are input.

The route planning mechanism 23 maps the dredging area R as shown in FIG. 6 based on the sea floor depth data sent as the observation result.

This depth data consists of data obtained by quantifying the depth from the average sea level to the sea bottom measured by a sonar or the like by an observation ship, and the area R on the sea bottom to be dredged is appropriately divided into several m ² units. The numerical data of the sea floor is represented by plane coordinates (x,
y) is transmitted to the route planning mechanism 23, and the route planning mechanism 23 displays depth data on the basis of the coordinates (x, y) as shown in FIG.

The target depth of the sea area to be dredged, the start / end points of the dredging, and the dumping location are input to the channel planning mechanism 23, and the locations P1, P2,.
When selecting Pn and dredging the raised points P1, P2,..., Pn in dredging from the dredger position Ps, using a linear programming method or the like, an efficient channel for dredging is searched for, as shown in FIG. The planned route SC is determined.

FIG. 5 is a perspective view showing a planned route SC of the dredger 10 determined by the route planning mechanism 23, and FIG.
Route SC for uplift points P1, P2, P3
It is shown.

After determining the planned route SC, the route planning mechanism 23 generates a route 39 indicating the relationship between the navigation distance and the depth along the planned route SC (FIG. 3).

The route tracking mechanism 28 includes a GPS 21
An instruction 40 is issued to the rudder 19 and the bow thruster 20 so as to correct the positional deviation between the given ship and the current ship by using information of a ship, an anemometer and other measuring instruments mounted on the ship.

The dredging operation control mechanism 29 uses a feedback from each sensor in accordance with the depth and soil quality on the planned route and uses a dredging device (drag head contact pressure, drainage pump rotation speed, jet pump start / stop, etc.) and And / or the main thruster 18 is controlled 41 to perform the constant depth control 42 and / or the constant mud content control 43.

In the constant depth control 42, when considering equalizing the depth of the seabed, the ship speed is reduced in shallow places to increase the depth of excavation by dredging, and in deep places, the ship speed is increased. The thrust of the main thruster 18 is controlled 41 so as to increase the speed.

In the constant mud content control 43, the dredging pump 17 cannot maximize the dredging amount only by turning it more times due to cavitation and the like. The output of the drainage pump 17 is calculated based on each sensor information of the dredging device such as the current ship speed and soil quality so that the output can be efficiently exhibited, the rotation speed of the drainage pump 17, the start / stop of the jet pump, and the swell compensator. The control 15 controls the ground pressure of the drag head 12.

The dredging operation control 29 comprises a constant depth control 42 and a constant mud content control 43. In the constant depth control 42,
Determine the dredging thickness according to the depth to be dredged, and adjust the thrust so as to produce a speed corresponding to it, taking into account the soil quality and the like. In the mud-containing mud rate constant control 43, the control of the output of the drainage pump 17, the ground pressure of the drag head, etc. is performed 44 when navigating at the speed planned by the constant depth control 42, so that mud can be removed most efficiently without causing cavitation. The soil is sucked at a mud content that can be sucked.

When the position of the dredger 10 is significantly shifted from the planned route SC due to disturbances such as tidal currents, the route planning mechanism 23 re-plans a route with good dredging efficiency from the shifted position and re-establishes the route. After the planning, the navigation and dredging operation control mechanism 24 performs the dredging navigation operation based on the new planned channel. In this case, when setting the first planned route SC, in consideration of the case where the route is largely shifted, a route with good dredging efficiency is planned in advance from various positions in the area R, and the route is largely shifted. At that point, re-select a route close to that point.
Thereafter, the navigation and dredging operation control mechanism 24 performs dredging navigation and dredging operation based on the newly selected channel.

Also, the example in which the navigation / dredge operation control mechanism 24 automatically steers the rudder angle and bow thruster by the channel tracking mechanism 28 has been described. In an actual dredging operation, other vessels navigating at sea are avoided. It is also necessary in this case, and in this case also, the route is greatly shifted. Therefore, the route tracking mechanism 28 switches to a manual operation without automatically steering the rudder angle and the bow thruster, displays only the target course on a display or the like, gives a direction to the steer, and determines the direction of the ship such as turning work. May be left to the steering operator to automatically control only the dredging operation based on the depth data of the channel operated by the steering operator.

[0042]

In summary, according to the present invention, a planned channel for performing efficient dredging is set from the depth data of the dredging area, and constant depth control and constant mud content control are performed based on a change in depth along the planned channel. Efficient dredging can be performed by going and dredging.

[Brief description of the drawings]

FIG. 1 is a diagram showing a system configuration of a dredging control device according to the present invention.

FIG. 2 is a view schematically showing a dredger used in the present invention.

FIG. 3 is a block diagram showing an example of the dredging control device of FIG.

FIG. 4 is a diagram showing a planned channel in a dredging area in the present invention.

FIG. 5 is a schematic perspective view showing a dredging situation in a planned route in FIG. 4;

FIG. 6 is a diagram showing a depth map received from an observation ship or the like in the present invention.

FIG. 7 is a diagram showing a dredging route for a conventional dredging area.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Dredge 12 Drag head 13 Drag arm 15 Swell compensator 16 Seabed 17 Drain pump 36 Observation ship 42 Depth constant control 43 Constant mud content control SC Planned route

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yukihiro Kono 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries Co., Ltd. Tojin Technical Center (72) Inventor Hideki Kidori Toyosu, Koto-ku, Tokyo No. 1-115, Ishikawajima Harima Heavy Industries Co., Ltd. Tojin Technical Center (72) Inventor Yoshiaki Takahashi 2-1-1 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Tokyo No. 1 Factory (72) Inventor Degawa Sadao Ishikawajima Harima Heavy Industries Co., Ltd.

Claims (7)

[Claims] 1. A planned channel with good dredging efficiency is set from depth data on the seabed obtained from an observation ship or the like, and constant depth control or mud content according to the situation is performed according to a change in depth along the planned channel. A dredging control method for a dredger, comprising: performing dredging with constant control. 2. A planned channel with good dredging efficiency is set from the depth data of the seabed obtained from an observation ship or the like, and a constant depth control according to a change in depth along the planned channel and a mud content according to the situation. A dredging control method for a dredger, comprising: performing dredging with constant control. 3. While monitoring the drag arm while supporting the drag arm with a swell compensator and adjusting the ground pressure of the drag head at the tip, propelling the dredger and sucking seabed mud and the like with a drag pump with a drag pump and performing dredging. A planned channel with good dredging efficiency is set based on the seabed depth data obtained from ships, etc., and the depth of the dredger is controlled according to the change in depth along the planned channel to perform constant depth control and a drainage pump. A dredging control method for a dredger, characterized in that dredging is performed by controlling the rotation speed of the drag head and the contact pressure of the drag head by a swell compensator to perform constant control of the mud content. 4. A dredger with a dredging efficiency that is re-planned from the deviated position when a dredger's channel significantly deviates from the planned channel, and dredging is performed based on the re-established channel. The dredging control method for a dredger according to any one of claims 1 to 3. 5. When a planned route is set, a large number of efficient routes are planned in advance from various positions in the dredging area, assuming in advance that the route is greatly deviated from the planned route, 2. The method according to claim 1, wherein when the route is significantly deviated from the planned route, a route close to the point is selected and the route is reset.
The dredging control method for a dredger according to any one of claims 1 to 3. 6. A plan route is displayed, the vehicle is manually steered based on the display, the speed of the dredger is controlled along the route based on the manual steering to perform a constant depth control, and the rotational speed of the drainage pump is controlled. The dredging control method for a dredger according to any one of claims 1 to 3, wherein dredging is performed by controlling the ground pressure of the drag head by the swell compensator to perform constant control of the mud content. 7. A dredge boat is propelled while supporting a drag arm with a swell compensator to adjust the ground pressure of a drag head at a tip, and a dredge pump sucks seabed mud or the like with a drag head to perform dredging. In the dredging control device, a route planning mechanism that receives depth data of the sea bottom from an observation vessel or the like and sets a planned route with good dredging efficiency from the depth data, and a route tracking mechanism that makes the dredging ship navigate along the planned route. A dredging operation control mechanism for performing dredging with constant depth control and / or constant mud content control according to a change in depth along a planned route.