JP2008274585A - Dredging support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a dredging support system for dredging a subaqueous bottom in a dredging objective zone easily by a constant thickness with a high accuracy by using a closed grab bucket. <P>SOLUTION: In the dredging support system, the closed grab bucket 5 axially supported at a distal end of an arm 4 of a backhoe shovel 1, has a structure that can carry out horizontal excavation. Then, calculation is made based on detection data of a plurality of sensors 19, 20, 21, an RTK-GPS receiver 24, etc., of inclination data of the grab bucket 5 with respect to a vertical shaft, plane directional data indicative of a plane directional location of the grab bucket 5 and a maximum opening region at the plane directional location, and height directional data indicative of a height directional corresponding to a cutting edge location of a pair of shells 7, 7, and the calculated data are displayed on a monitor of an operating chamber 2a in rear time. Further, a plane directional region already dredged and desired depth data indicative of a dredging depth location set beforehand in the dredging objective zone are displayed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a dredging support system, and more particularly to a dredging support system that allows a dredged bottom of a dredging target area to be dredged accurately and easily with a constant thickness using a sealed grab bucket.

  If the target is soil containing hazardous pollutants such as dioxins, it is necessary to use a sealed grab bucket to prevent the harmful pollutants from spreading in the water when dredging. After dredging such soil, the waste (soil and moisture) containing harmful pollutants must be properly treated. Here, for example, if extra harmless soil and moisture are scooped in the bucket, it will be combined with harmful pollutants in the bucket, so it is necessary to treat soil and moisture that originally did not need to be treated. And processing time and processing costs increase. Therefore, it has become necessary to dredge the bottom of the dredge target area with a certain thickness without scooping waste soil and moisture.

2. Description of the Related Art Conventionally, an apparatus and a method have been proposed in which a moving locus of a blade edge position in a side surface direction of a grab bucket suspended from a crane is displayed as an image so that a water bottom can be easily flattened (see Patent Document 1). . According to the proposed apparatus and method, since the movement trajectory of the bucket blade edge is displayed on the monitor, it is easy to move the blade edge horizontally. However, in order to operate the crane so that the blade edge moves horizontally, a certain maneuver skill is required. Was necessary. Further, in the display of the movement locus of the blade edge position in the side surface direction, it is not easy to prevent the sequentially wrinkled regions from leaving a gap in the plane direction or from overlapping.
JP 2006-27830 A

  An object of the present invention is to provide a dredging support system that allows dredging the bottom of a dredging target area accurately and easily with a constant thickness using a sealed grab bucket.

  In order to achieve the above object, the scissor support system of the present invention uses a grab bucket calculated based on sensor detection data when scissoring using a sealed grab bucket pivotally supported at the tip of a backhoe arm. A dredge support system configured to display position information on a monitor installed in a cockpit, wherein the grab bucket is configured to be capable of horizontal digging in which the blade edges of a pair of shells move horizontally during bucket opening and closing operations, A plurality of sensors for detecting position information of the grab bucket, a transmitter for transmitting detection data of the plurality of sensors, a receiver for receiving detection data transmitted by the transmitter, and a grab bucket based on the detection data A controller for calculating the position information of the grab bucket, and a monitor for displaying the position information of the grab bucket calculated by the controller. As the position information of the blade, the inclination data indicating the inclination angle of the grab bucket with respect to the vertical axis, the plane direction data indicating the plane position of the grab bucket and the maximum opening area at the plane direction position, and the cutting edges of the pair of shells The height direction data indicating the height direction position corresponding to the position is displayed on the monitor in real time, and the plane direction area that has already been obscured is displayed together with the plane direction data, and the heel target area is displayed together with the height direction data. The target depth data indicating the preset heel depth position is displayed.

  Here, whether or not the tilt data indicating the tilt angle of the grab bucket with respect to the vertical axis is within a preset allowable range may be displayed on the monitor. In addition, as the display of the already defaced plane direction area, it is also possible to display on the monitor whether or not each area deceived by a single bucket opening / closing operation is within a preset permissible range of the eaves depth. it can. Further, the plurality of sensors include a bucket inclination sensor installed in the grab bucket, a bucket opening / closing sensor installed in the shell, a boom displacement sensor for detecting an expansion / contraction amount of a boom cylinder for moving the boom, and the arm. An arm displacement sensor for detecting the amount of expansion / contraction of the arm cylinder to be moved; a bucket displacement sensor for detecting the amount of expansion / contraction of the cylinder for bucket inclination that changes the inclination of the grab bucket with respect to the vertical axis; a body inclination sensor installed on the backhoe; It can also be an angle sensor, RTK-GPS receiver and GPS compass or gyrocompass. The bucket open / close sensor may be installed in each of the pair of shells.

  According to the dredge support system of the present invention, a sealed grab bucket pivotally supported at the tip of the backhoe arm is configured to be able to dig horizontally, a plurality of sensors for detecting position information of the grab bucket, A transmitter that transmits sensor detection data, a receiver that receives the detection data transmitted by the transmitter, a controller that calculates grab bucket position information based on the detection data, and the controller A monitor that displays grab bucket position information.The monitor installed in the cockpit has tilt data indicating the tilt angle of the grab bucket with respect to the vertical axis, and the grab bucket planar position and the maximum in the planar position. Plane direction data indicating the opening area and height direction data indicating the height direction position corresponding to the cutting edge position of the pair of shells are obtained in real time. Display the plane direction area that has already been dredged along with the plane direction data, and display the target depth data indicating the preset dredge depth position in the dredging target area along with the height direction data. While confirming the position information of the grab bucket in the plane direction and the height direction displayed on the monitor, the bottom of the dredged area can be dredged with a certain thickness easily and accurately.

  In addition, by using a grab bucket that can be digged horizontally, there is no need to perform difficult operations to move the blade edge of the shell horizontally, and the inclination angle of the grab bucket with respect to the vertical axis is zero degrees without inclining the grab bucket. Thus, it is possible to wrinkle at a predetermined constant thickness simply by opening and closing the bucket.

  Hereinafter, the wrinkle support system of the present invention will be described based on the embodiments shown in the drawings.

  As illustrated in FIGS. 1 and 2, the scissor support system of the present invention is applied when scissoring is performed using a sealed grab bucket 5 that is pivotally supported at the tip of the arm 4 of the backhoe 1. is there. On the upper swing body 2 of the backhoe 1 loaded on the work boat 31, a boom displacement sensor 19 that detects the expansion / contraction amount of the boom cylinder 3 a that moves the boom 3 and the expansion / contraction amount of the arm cylinder 4 a that moves the arm 4 are detected. An arm displacement sensor 20 and a bucket displacement sensor 21 for detecting the amount of expansion / contraction of the bucket tilting cylinder 6 that changes the tilt angle of the grab bucket 5 with respect to the vertical axis are installed. These sensors 19, 20, 21 and the cylinders 3 a, 4 a, 6 to be detected are connected by a control wire.

  The upper swing body 2 includes a body tilt sensor 22, a swing angle sensor 23 that detects the swing angle of the upper swing body 2, an RTK-GPS receiver 24 that detects the position of the backhoe 1, and the orientation of the backhoe 1 (of the chassis). Two GPS azimuth meters 25, 25 for detecting the orientation) are installed. A gyro compass may be installed in place of the two GPS compass 25, 25.

  The grab bucket 5 is provided with a bucket inclination sensor 17 that detects the inclination angle of the grab bucket 5 with respect to the vertical axis, and each of the pair of shells 7 and 7 has an opening and closing angle of the shell 7 and 7 (grab bucket 5). Bucket open / close sensors 18 and 18 to be detected are installed. Further, a control device 26 to which the detection data of each sensor is input is connected to the upper swing body 2 so as to be connected to the transmitter 27.

  A control device 29 connected to the receiver 28 and the monitor 30 is installed in the cockpit 2a. The receiver 28 receives detection data of various sensors wirelessly transmitted from the transmitter 27, and the position information of the grab bucket 5 is calculated by the control device 29 based on the detection data. The calculated position information of the grab bucket 5 is displayed on the monitor 30 in real time. The transmitter 27 and the receiver 28 may be connected by a communication cable.

  As illustrated in FIGS. 3 to 6, the grab bucket 5 used in the present invention has a structure in which when the pair of shells 7, 7 is opened and closed by the bucket opening / closing device 8, the cutting edges of the shells 7, 7 can move horizontally to dig horizontally. It has become. The structure will be described below.

  An open / close cylinder 13 is provided between a pair of opposed cover plates 9, 9 that are pivotally supported by the tip of the arm 4, and a slide block 14 is fixed to the cylinder rod of the open / close cylinder 13. Two guides 10 and 10 project from the inner surface of the cover plate 9 and are arranged in parallel to each other. 3, 5, and 6 show the internal structure of the grab bucket 5 on the side surface by omitting the surface side cover plate 9 from the pair of cover plates 9 and 9.

  The cover plate 9 is pivotally supported at the distal end portion of the arm 4 by a support shaft 16f, and is connected to the cylinder rod of the bucket tilting cylinder 6 by a support shaft 16g that is symmetrical to the support shaft 16f. Therefore, the grab bucket 5 rotates and tilts around the support shaft 16f by the forward and backward movement of the cylinder rod of the bucket tilting cylinder 6.

  A slide base 11 that slides in the longitudinal direction of the guide 10 is provided between the opposing guides 10 and 10. Through the opening of the slide base 11, the slide block 14 and the cylinder rod of the open / close cylinder 13 are fixed. Two guides 11a and 11a project from the surface of the slide base 11 and are arranged in parallel to each other. The slide block 14 slides in the longitudinal direction of the guide 11a between the opposing guides 11a and 11a.

  The arm plate 12 is joined from the upper surface to the rear surface of the pair of shells 7, 7, and the tip of the protruding portion of the arm plate 12 and the outer position of the guide 10 of the cover plate 9 are supported at both ends by support shafts 16 b and 16 e. The link members 15b are connected to each other. Further, the base of the projecting portion of the arm plate 12 and the slide block 14 are connected to each other via a link member 15a that is pivotally supported by support shafts 16c and 16d. Furthermore, the corner | angular part of the arm plate 12 and the lower end part of the slide plate 11 are connected by the spindle 16a.

  Thus, the grab bucket 5 has a bilaterally symmetric structure with the position of the abutting surfaces of the pair of shells 7 and 7 facing each other as the central axis. Further, as shown in FIG. 4, the structure is also symmetrical in plan view.

  As illustrated in FIG. 3, when the cylinder rod of the opening / closing cylinder 13 is advanced and extended in a state where the pair of shells 7 and 7 (grab bucket 5) are opened, the slide block 14 is also advanced (moves downward in FIG. 3). ) In conjunction with this, the pair of shells 7 and 7 are rotated about the support shafts 16a and 16a so as to be close to each other via the link members 15a and 15b, and the slide block 14 is retracted via the link member 15a. Then, the slide base 11 connected to the support shafts 16a and 16a is also retracted (upwardly moved in FIG. 3), so that the cutting edge positions of the pair of shells 7 and 7 are sequentially illustrated as shown in FIGS. Moves on the line segment BL indicating a certain heel depth position, and the grab bucket 5 is closed.

  That is, if the grab bucket 5 is not tilted and the tilt angle with respect to the vertical axis is fixed at a fixed position so that the axial direction of the opening / closing cylinder 13 is vertical, the bucket opening / closing operation can be performed only by opening and closing the bucket. It is possible to wrinkle at a certain thickness. The sealed grab bucket 5 used in the present invention is not limited to the above-described structure as long as it can be digged horizontally.

  Since this grab bucket 5 has a pair of left and right shells 7 and 7 and has a symmetrical structure, if one bucket open / close sensor 18 is installed in any one shell 7, the pair of shells 7 , 7 (grab bucket 5) can be detected. However, for example, when one shell 7 is normally opened and closed and the other shell 7 is not normally opened or closed due to a foreign object or the like, if the bucket open / close sensor 18 is installed only on the normally opened and closed shell 7, Even if the grab bucket 5 is not closed, there is a possibility that the grab bucket 5 is mistakenly closed. Therefore, as in this embodiment, by providing the bucket open / close sensors 18 and 18 in the respective shells 7 and 7, it is possible to reliably grasp the open / closed state of the grab bucket 5.

  Next, the contents displayed on the monitor 30 installed in the cockpit 2a will be described. The position information of the grab bucket 5 calculated by the control device 29 includes inclination data indicating the inclination angle of the grab bucket 5 with respect to the vertical axis, the plane position of the grab bucket 5 and the plane direction indicating the maximum opening area at the plane direction position. This is data in the height direction indicating the position in the height direction corresponding to the cutting edge position of the pair of shells 7 and 7.

  The control device 29 stores target depth data indicating a preset wrinkle depth position, and data indicating an already wrinkled plane direction region. The control device 29 further includes an allowable range data that is a criterion for determining whether or not the inclination angle of the grab bucket 5 is appropriate, and an allowable range that is a criterion for determining whether or not the depth of a plane region that has already been corrected is appropriate. Data may be stored.

  Of the position information of the grab bucket 5 calculated by the control device 29, the plane direction data is displayed on the monitor 30 in a plan view together with the already set plane direction area as illustrated in FIG. For example, the current position in the plane direction of the grab bucket 5 and the maximum opening area at the position in the plane direction are indicated by a square frame Fn, and the already-depressed plane direction area is identified from the square frame Fn indicating the current position. As can be done, it is displayed as a square frame Fp in which the color and the thickness of the frame are changed (in FIG. 7, the thickness of the frame is changed). You may make it display the front-end | tip coordinate P1 which shows the planar direction center position of the grab bucket 5. FIG.

  By performing the scissoring work while confirming the display contents, it is possible to easily prevent the regions that are sequentially scissed from leaving a gap in the plane direction or from overlapping.

  As illustrated in FIG. 8, the height direction data is displayed on the monitor 30 in a side view together with target depth data indicating a preset depth position in the target area. At this time, tilt data indicating the tilt angle of the grab bucket 5 with respect to the vertical axis is also displayed as a numerical value or the like.

  For example, the side view of the grab bucket 5 is graphically displayed so that the height position corresponding to the cutting edge position of the current grab bucket 5 is displayed, and the line segment BL is displayed as the target depth data. You may make it display the front-end | tip coordinate P2 which is a blade edge | tip position when the grab bucket 5 is closed as a height position equivalent to the blade edge | tip position of the grab bucket 5. FIG.

  While confirming this display content, the inclination angle of the grab bucket 5 with respect to the vertical axis is zero degrees (0 °) without tilting the grab bucket 5, and the height corresponding to the cutting edge position of the grab bucket 5 The position is matched with the line segment BL. Since the grab bucket 5 can be digged horizontally, it can be easily dredged with a constant thickness as intended by simply opening and closing the bucket in this state.

  As described above, according to the present invention, the operator can easily and accurately check the bottom of the dredged area with a certain thickness while confirming the position information in the plane direction and the height direction of the grab bucket 5 displayed on the monitor 30. You can be tricked. Further, it is not necessary to perform a difficult operation for horizontally moving the blade edge of the shell 7. Therefore, in the case where the object of dredging is soil containing harmful pollutants such as dioxins, dredging can be efficiently carried out without scooping off extra harmless water and soil.

  As the display of the area in the plane direction that has already been deviated, it may be displayed for each area that has been deceived by a single bucket opening / closing operation, whether or not it is within the permissible range of the predetermined reed depth. For example, as illustrated in FIG. 7, the inner side of the square frame Fp is displayed in a different color depending on whether the plane direction area that has already been set is within the allowable range of the set depth and outside the range (in FIG. 7, the square is displayed). The direction of the oblique line inside the frame Fp is changed to show different colors). As a result, it is possible to grasp at first glance the area that has been wrinkled at an appropriate depth, and it is possible to more easily wrinkle with high accuracy.

  Further, it may be displayed whether or not the inclination data indicating the inclination angle of the grab bucket 5 with respect to the vertical axis is within a preset allowable range. For example, in the display illustrated in FIG. 8, a part of the graphic displayed when the inclination data is within the set allowable range and outside the set range is displayed in different colors. Thereby, it can be grasped at a glance whether or not the grab bucket 5 is inclined with respect to the vertical axis, and it becomes possible to more easily perform high-precision scissors.

  Each data can be displayed as a numerical value on the monitor 30 together with the graphic display. The tip positions P1 and P2 of the grab bucket 5 may be displayed in three-dimensional public coordinates. The plane direction data and the height direction data can be displayed on the monitor 30 at the same time, and either one of the data can be selectively displayed.

  In the embodiment, the dredging work is performed by the backhoe 1 mounted on the work boat 31, but the present invention can also be applied to the case where the dredging work is performed directly from the land such as the shore without using the work boat 31. Can be applied.

It is explanatory drawing which shows the whole outline | summary of the wrinkle assistance system of this invention. FIG. 2 is a side view illustrating a backhoe to which the kite support system of FIG. 1 is applied. It is a side view which illustrates the state where the grab bucket of FIG. 2 opened. FIG. 4 is a front view of FIG. 3. It is a side view which illustrates the process in which the grab bucket of FIG. 3 closes. FIG. 4 is a side view illustrating a state where the grab bucket of FIG. 3 is closed. It is explanatory drawing which illustrates the display screen of the monitor of FIG. It is explanatory drawing which illustrates the display screen of the monitor of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Backhoe 2 Upper turning body 2a Cockpit 3 Boom 3a Boom cylinder 4 Arm 4a Arm cylinder 5 Sealed grab bucket 6 Bucket tilt cylinder 7 Shell 8 Bucket opening / closing device 9 Cover plate 10 Guide 11 Slide base 11a Guide 12 Arm plate 13 Opening / closing Cylinder 14 Slide block 15a, 15b Link member 16a, 16b, 16c, 16d, 16e, 16f, 16g Support shaft 17 Bucket tilt sensor 18 Bucket open / close sensor 19 Boom displacement sensor 20 Arm displacement sensor 21 Bucket displacement sensor 22 Machine body tilt sensor 23 Turn angle sensor 24 RTK-GPS receiver 25 GPS compass 26 Control device 27 Transmitter 28 Receiver 29 Control device 30 Monitor 31 Work ship

Claims (5)

  When using a sealed grab bucket pivotally supported at the tip of the backhoe arm, the position information of the grab bucket calculated based on the sensor detection data is displayed on the monitor installed in the cockpit. And a plurality of sensors for detecting position information of the grab bucket, wherein the grab bucket is configured to be capable of horizontal digging in which the blade edges of a pair of shells move horizontally during the bucket opening and closing operation. A transmitter that transmits detection data of a plurality of sensors, a receiver that receives detection data transmitted by the transmitter, a control device that calculates position information of a grab bucket based on the detection data, and the control device And a monitor for displaying the calculated grab bucket position information. As the grab bucket position information, a grab bucket for the vertical axis is provided. Inclination data indicating the inclination angle of the grab bucket, planar direction data indicating the planar position of the grab bucket and the maximum opening area at the planar direction position, and height indicating the height direction position corresponding to the cutting edge position of the pair of shells The direction data is displayed on the monitor in real time, the already-planned plane direction area is displayed together with the plane direction data, and the target depth indicating the preset depth position in the target area along with the height direction data is displayed.浚 渫 Support system that displays data.   The wrinkle support system according to claim 1, wherein whether or not the tilt data indicating the tilt angle of the grab bucket with respect to the vertical axis is within a preset allowable range is displayed on the monitor.   Whether or not the display of the already-indicated plane direction area is within the permissible range of a predetermined depth for each area that has been deceived by a single bucket opening / closing operation is displayed on the monitor. Item 3. The wrinkle support system according to item 1 or 2.   The plurality of sensors move a bucket inclination sensor installed in the grab bucket, a bucket open / close sensor installed in the shell, a boom displacement sensor that detects an expansion / contraction amount of a boom cylinder that moves the boom, and the arm. Arm displacement sensor for detecting the amount of expansion / contraction of the arm cylinder, bucket displacement sensor for detecting the amount of expansion / contraction of the cylinder for bucket inclination that changes the inclination of the grab bucket with respect to the vertical axis, airframe inclination sensor, turning angle sensor installed on the backhoe The kite support system according to any one of claims 1 to 3, which is an RTK-GPS receiver and a GPS compass or a gyrocompass.   The wrinkle support system according to claim 4, wherein the bucket open / close sensor is installed in each of the pair of shells.

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