JP2022142735A - Agitation mixture estimation device, agitation mixture method, and agitation mixture system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To estimate and display the progress status of agitation work of agitating a material, which is stored in a tank disposed in a barge floating on a water surface, to a user performing the agitation work.

SOLUTION: Measurement means 111 acquires, from a barge 2 and an agitator 3, signals indicating positions, respectively, and, on the basis of these signals, measures a position of the barge 2 relative to the agitator 3. Division means 112 acquires identification information of the barge 2 and divides a tank 20 disposed in the barge 2 identified with the identification information into a number of regions, where the number is greater than one and is set in advance for the barge 2. Specification means 113 specifies the amount of a material M agitated by an agitation member 37 for each of the divided regions on the basis of acquired information on the relative position and information indicating a trajectory of the agitation member 37. Display control means 114 controls a display unit 15 to display, to a user, information indicating the "agitated amount" specified by the specification means 113, in association with each of the regions.

SELECTED DRAWING: Figure 5

COPYRIGHT: (C)2022,JPO&INPIT

Description

TECHNICAL FIELD The present invention relates to an agitation/mixing estimation device, an agitation/mixing method, and an agitation/mixing system.

In the field of civil engineering construction, various machine control systems have been developed for bulldozers, vibration rollers, motor graders, backhoes, etc., in order to enable safe and efficient work.

In Patent Document 1, fluctuations in the height of a floating load object such as a soil carrier are detected by ultrasonic waves, etc., and based on the detection result, a pier, a quay, or other fixed structure that is movably installed A floating sediment treatment facility is described in which a stirrer installed on a movable support machine is lifted and lowered to agitate the sediment loaded on a floating load.

Patent Document 2 describes construction of a backhoe barge that captures water depth information from time to time by a scanning sonar and displays the operation status of the backhoe on the screen in real time, superimposed on the planned seabed topography, the seabed topography before construction, and the completed shape during construction. Management methods are described.

Patent Literature 3 describes a monitor device in which three or more GPS units are installed on the upper surface of a marine structure to accurately grasp the position and inclination of the structure and display it three-dimensionally on a screen.

In Patent Document 4, in a dredger, a first GPS receiver is installed behind the boom, a second GPS receiver is installed at the pivot point, and detection is performed by the first or second GPS receiver It describes a method of calculating the position of the boom tip from the position detected by the first and second GPS receivers, the dimensions of the excavator, and setting this as the dredging start point.

JP-A-10-159130 JP 2003-278158 A JP-A-9-257904 JP 2004-169393 A

For example, in order to effectively utilize soft dredged soil transported by a soil carrier, there is a technique of mixing calcia-improved soil and using it as calcia-improved soil. In addition, in addition to calcia modifiers, various modifiers such as cement, paper ash, lime, etc. are mixed in the technology to effectively use materials transported by earthen vessels, and their properties are improved. There are also technologies that can be improved to meet the respective purposes. When performing such mixing, it is necessary to appropriately manage the mixing position of the bucket, the mixing time, and the number of times of mixing in order to uniformly stir the inside of the tank of the soil transport ship. Therefore, it is conceivable to apply a machine control system similar to land construction when the dredged soil in the tank of the docked soil carrier is demulsified and reformed from the backhoe placed on the quay.

However, the work inside the tank of the earthen barge is affected by the tide level and current. For example, the height of the soil carrier changes due to tidal fluctuations, and the sea position of the soil carrier constantly changes due to currents and stirring operations, so the distance between the backhoe and the dredged soil to be stirred changes in a complicated manner. Also, in desludging and reforming in offshore construction, the stirring time and the number of times of stirring are important. Therefore, even if the agitation required for dissolution and mixing in offshore construction takes several tens of minutes, the agitation position and agitation time should be determined using a land construction system that assumes that the position of the soil to be agitated does not change. , and it is difficult to manage the number of times of stirring.

One of the objects of the invention of the present application is to estimate and display the progress of the stirring work for the user who performs the stirring work of stirring the materials stored in the tank provided on the earthen barge floating on the surface of the water. is.

A stirring and mixing estimating device according to claim 1 of the present invention has a processor, and the processor measures a relative position of a soil transport ship floating on a water surface with respect to a stirrer, and measures a position of the soil transport ship. The material stored in the tank is partitioned into a plurality of arbitrary regions, and the time, distance, or number of times the material is stirred by the stirring member is determined based on the measured position and the trajectory of the stirring member extending from the stirrer. The agitation/mixing estimation apparatus for a stirring operation identifies each of the plurality of areas, and displays information indicating the identified time, distance, or number of times to the user in association with each of the plurality of areas.

According to a second aspect of the present invention, there is provided an agitation/mixing estimation device according to the aspect of the first aspect, wherein the processor determines the specified time, It is a stirring and mixing estimating device that displays information indicating the distance or the ratio of the number of times.

According to claim 3 of the present invention, in the agitation mixture estimation device according to claim 2, the processor sets the target value to the total agitation time required for all the materials contained in the tank, A target time obtained by multiplying a predetermined ratio is set for each of the plurality of regions, and a time during which the stirring member stirs the material is specified for each of the plurality of regions based on the position and the trajectory. and displays information indicating the ratio of the specified time to the set target time.

According to a fourth aspect of the present invention, there is provided an agitation/mixture estimating apparatus according to the second aspect, wherein the processor sets, as the target value, the total number of agitation members required for all the materials contained in the tank. A target distance obtained by multiplying the moving distance by a predetermined ratio is set for each of the plurality of regions, and the distance over which the stirring member stirs the material based on the position and the trajectory is determined for the plurality of regions. It is an agitation/mixture estimating device that specifies each region and displays information indicating the ratio of the specified distance to the set target distance.

According to a fifth aspect of the present invention, there is provided a stirring/mixing estimating apparatus according to the second aspect, wherein the processor sets, as the target value, a total A target number of times obtained by multiplying the number of times of stirring by a predetermined ratio is set for each of the plurality of regions, and the number of times the material is stirred by the stirring member based on the position and the trajectory is set to the plurality of times. The agitation/mixing estimating device specifies each area and displays information indicating the ratio of the specified number of times to the set target number of times.

According to claim 6 of the present invention, there is provided an agitation/mixture estimation device according to any one of claims 3 to 5, wherein the ratio is a volume ratio of the plurality of regions to the tank. It is a device.

According to claim 7 of the present invention, there is provided an agitation/mixture estimation device according to any one of claims 3 to 5, wherein the ratio is the reciprocal of the number of the plurality of regions. .

According to claim 8 of the present invention, there is provided an agitation mixture estimating apparatus according to any one of claims 1 to 7, wherein the processor determines the sizes of the plurality of regions according to the size of the stirring member. It is an agitation/mixing estimating device that partitions the vessel so that the

According to a ninth aspect of the present invention, there is provided a stirring and mixing method comprising: a measuring step of measuring a relative position of a soil transport ship floating on a water surface in which materials are stored in a tank with respect to an agitator; A partitioning step of partitioning a material into a plurality of regions, a stirring step of stirring the material in the plurality of regions with a stirring member of the stirrer, a track identifying step of identifying a track of the stirring member during stirring, and measurement. a specifying step of specifying, for each of the plurality of areas, the time, distance, or number of times the material is stirred by the stirring member based on the position and the specified trajectory; and the specified time, distance, or number of times The stirring and mixing method includes a display step of displaying information to the user in association with each of the plurality of regions, and a determination step of determining whether to continue or end the stirring and mixing based on the displayed information.

According to a tenth aspect of the present invention, there is provided a stirring and mixing system comprising: a soil transport vessel in which materials are stored in a tank and floating on the surface of water; a partitioning means for partitioning the materials in the tank of the soil transport vessel into a plurality of areas; an agitator for agitating the materials in the plurality of regions by means of a measuring means for measuring the relative position of the soil transport ship with respect to the agitator; and an orbit specifying means for specifying an orbit of the agitating member during agitation. a specifying means for specifying, for each of the plurality of regions, the time, distance, or number of times the material is stirred by the stirring member based on the measured position and the specified trajectory; and the specified time, distance, or number of times. display means for displaying information indicating to the user in association with each of the plurality of areas; and determination means for determining whether to continue or end the stirring/mixing based on the displayed information.

According to the present invention, it is possible to estimate and display the progress of the stirring work for the user who is performing the stirring work of stirring the materials stored in the tank provided on the earthen boat floating on the water surface.

Schematic which shows the example of the whole structure of the stirring mixing system 9. FIG. FIG. 2 is a diagram showing an example of the configuration of the agitation mixture estimation device 1; The figure which shows the example of a structure of the soil transport ship 2. FIG. FIG. 3 is a diagram showing an example of the configuration of a stirrer 3; 2 is a diagram showing an example of the functional configuration of the agitation mixture estimation device 1; FIG. 4 is a flowchart showing an example of the operation flow of the agitation mixture estimation device 1. FIG. The figure which shows the operation screen of the agitation mixture estimation apparatus 1 which sets the conditions of the soil transport ship 2. FIG. FIG. 3 is a diagram showing an operation screen of the agitation/mixing estimation device 1 for setting the conditions of the agitator 3;

<Overall configuration of stirring and mixing system>
FIG. 1 is a schematic diagram showing an example of the overall configuration of a stirring and mixing system 9. As shown in FIG. A stirring and mixing system 9 has a stirring and mixing estimation device 1 , a soil transport ship 2 , and a stirrer 3 . The stirring and mixing system 9 shown in FIG. 1 also has a communication line 4 .

The water surface Lv is the water surface of the sea or lake, and moves vertically or horizontally due to the action of waves. The soil carrier 2 is a vessel that floats on the surface of the water Lv, and transports fluid materials such as dredged soil and cohesive soil. The dirt boat 2 moves along with the movement of the water surface Lv.

The stirrer 3 is a machine for stirring installed at a location different from the water surface Lv. The stirrer 3 is, for example, a backhoe installed on land G such as a wharf as shown in FIG. The agitator 3 agitates the materials transported by the earthen barge 2 . The position of the earthen barge 2 relative to the stirrer 3 changes as the water surface Lv changes. The stirrer 3 may be installed at a place where the materials in the earthen barge 2 can be stably agitated, and may be installed on a barge alongside the earthen barge 2 .

The agitation/mixing estimation device 1 is an information processing device owned by a user, and is, for example, a tablet computer, a slate PC, a notebook computer, a smartphone, or the like. The agitation/mixture estimating device 1 is connected via a communication line 4 to interfaces provided in each of the soil transport ship 2 and the agitator 3, and acquires position information from each of them. Then, the agitation/mixture estimating device 1 estimates the extent to which the material transported by the soil transport ship 2 has been agitated by the agitator 3, and displays the estimation result to the user.

The communication line 4 is a line for wirelessly connecting the agitation/mixture estimation device 1, the soil transport ship 2, and the agitator 3 so as to be able to communicate with each other. The communication line 4 may be, for example, a line using LPWA (Low Power Wide Area).

Note that the stirring mixture estimation device 1 may be, for example, a server device that is not possessed by the user. In this case, the user may have a terminal such as a smartphone capable of communicating with the stirring mixture estimation device 1 via the communication line 4, for example.

<Configuration of agitation mixture estimation device>
FIG. 2 is a diagram showing an example of the configuration of the agitation mixture estimation device 1. As shown in FIG. The agitation mixture estimation device 1 has a processor 11 , a memory 12 , an interface 13 , an operation section 14 and a display section 15 .

The processor 11 controls the agitation mixture estimation device 1 by executing a computer program (hereinafter simply referred to as a program) stored in the memory 12 . The processor 11 is, for example, a CPU (Central Processing Unit).

The interface 13 is an interface for the processor 11 to exchange information with the communication line 4 and other external devices.

The processor 11 is connected to the communication line 4 via the interface 13 and acquires various data generated by the soil transport ship 2 and the stirrer 3 from the communication line 4 .

The memory 12 is storage means such as a RAM (Random Access Memory), a ROM (Read Only Memory), a solid state drive, a hard disk drive, etc., and stores an operating system, various programs, data, etc. to be read by the processor 11 .

The operation unit 14 includes operation buttons, a keyboard, a touch panel, and other operation elements for giving various instructions, receives operations by the user, and sends signals corresponding to the operation contents to the processor 11 .

The display unit 15 has a display screen such as a liquid crystal display, and displays images under the control of the processor 11 . A transparent touch panel of the operation unit 14 may be superimposed on the display screen.

Note that, for example, if the agitation/mixture estimation device 1 is an information processing device such as a server device that is not owned by the user, the agitation/mixture estimation device 1 may not have the operation unit 14 and the display unit 15 .

If the agitation/mixture estimation device 1 is not provided with the operation unit 14 described above, it is connected to a terminal possessed by the user, for example, via the communication line 4 via the interface 13, and various instructions are given from the user via this terminal. may be accepted.

If the agitation/mixture estimation device 1 does not have the display unit 15 described above, it may be connected to, for example, an external display device via the communication line 4 via the interface 13 to display various information to the user.

<Construction of soil transport boat>
FIG. 3 is a diagram showing an example of the construction of the earthen transport boat 2. As shown in FIG. FIG. 3(a) shows a side view of the earthen transport ship 2, and FIG. 3(b) shows a plan view of the earthen transport ship 2. As shown in FIG. The dirt carrier 2 has a tank 20 , a processor 21 , an interface 23 and a dirt carrier positioning sensor 28 .

The tank 20 is a rectangular parallelepiped container with an open top side that stores material M such as dredged soil. That is, the earthenware ship 2 equipped with this tank 20 is an example of an earthenware ship that floats on the surface of the water in which materials are stored in the tank.

The processor 21 controls the interface 23 and earthen-vessel positioning sensor 28 by executing programs stored in a memory (not shown in FIG. 3). The processor 21 is, for example, a CPU.

The interface 23 is an interface for the processor 21 to exchange information with the communication line 4 and other external devices.

The soil transport positioning sensor 28 is a sensor that measures its own position using a global navigation satellite system (GNSS). The dirt boat positioning sensor 28 transmits to the processor 21 a signal indicating the measured position of itself. The processor 21 sends the signal acquired from the soil transport ship positioning sensor 28 to the agitation mixture estimation device 1 via the communication line 4 via the interface 23 .

<Configuration of Stirrer>
FIG. 4 is a diagram showing an example of the configuration of the stirrer 3. As shown in FIG. The agitator 3 has a processor 31 , an interface 33 , a drive section 36 , an agitator member 37 and an agitator positioning sensor 38 .

Processor 31 controls interface 33, drive unit 36, stirring member 37, and stirrer positioning sensor 38 by executing programs stored in a memory (not shown in FIG. 4). The processor 31 is, for example, a CPU.

The interface 33 is an interface for the processor 31 to exchange information with the communication line 4 and other external devices.

The stirring member 37 is a member for stirring the material M (see FIG. 3) such as dredged soil. The stirring member 37 has a boom 371 , an arm 372 and a bucket 373 .

The boom 371 is a rod-shaped member extending from the base of the stirrer 3 . The arm 372 is a rod-shaped member that is pivotably connected to the tip of the boom 371 . A bucket 373 is a part (component) that is swingably connected to the selection of the arm 372 and that accommodates and conveys the material M or agitates the material M.

The drive unit 36 is a mechanism, such as a hydraulic cylinder, that drives the stirring member 37 under the control of the processor 31 . The processor 31 may accept an operation from a user (operator of the stirrer 3) through an operation unit (not shown), and drive the drive unit 36 according to the content of the accepted operation. A stirring member 37 driven by a drive unit 36 stirs the material M stored in the tank 20 of the dirt carrier 2 . This material M is partitioned into a plurality of areas in the tank 20 on the system. In other words, this stirrer 3 is an example of a stirrer that stirs materials in a plurality of regions with a stirring member. And the process performed by the stirrer 3 is an example of the stirring process of stirring the material of several area|regions with the stirring member which a stirrer has.

The driving section 36 has a boom driving section 361 , an arm driving section 362 and a bucket driving section 363 .

The boom driving section 361 is a mechanism for driving the boom 371 by changing the angle of the boom 371 with respect to the base portion of the stirrer 3 . The arm driving section 362 is a mechanism that drives the arm 372 by changing the angle of the arm 372 with respect to the boom 371 . The bucket drive unit 363 is a mechanism that drives the bucket 373 by changing the angle of the bucket 373 with respect to the arm 372 .

The driving unit 36 stores or detects the amount of driving, and notifies the processor 31 of a signal corresponding to the amount. The processor 31 identifies the trajectory of the stirring member 37 extending from the stirrer 3 based on the information notified during stirring. In other words, the processor 31 is an example of a trajectory specifying means for specifying the trajectory of the stirring member during stirring. This process performed by the processor 31 is an example of a trajectory identifying process for identifying the trajectory of the stirring member during stirring. The processor 31 sends information indicating the identified trajectory of the stirring member 37 to the stirring/mixing estimating device 1 via the communication line 4 via the interface 33 .

The stirrer positioning sensor 38 is a sensor that measures its own position using GNSS. The stirrer positioning sensor 38 transmits a signal indicative of its measured position to the processor 31 . The processor 31 sends the signal acquired from the agitator positioning sensor 38 to the agitation mixture estimation device 1 via the communication line 4 via the interface 33 .

<Functional Configuration of Stirring Mixing Estimating Device>
FIG. 5 is a diagram showing an example of the functional configuration of the agitation mixture estimation device 1. As shown in FIG. The processor 11 of the agitation mixture estimation device 1 functions as a measurement means 111, a division means 112, an identification means 113, a display control means 114, and a determination means 115 by executing the programs described above.

The measuring means 111 acquires signals indicating the positions described above from the earthen barge 2 and the stirrer 3 via the interface 13 and the communication line 4, respectively. Then, the measuring means 111 measures the relative position of the earthen barge 2 with respect to the stirrer 3 based on these acquired signals. That is, this measuring means 111 is an example of measuring means for measuring the relative position of the earthen barge with respect to the stirrer.

The partitioning means 112 acquires the identification information of the earthenware ship 2 from the interface 13, and divides the tanks 20 provided in the earthenware ship 2 by the number preset for the earthenware ship 2 identified by the identification information. are non-physically partitioned into multiple areas on the system. A material M is stored in each of the plurality of partitioned regions. In other words, this partitioning means 112 is an example of partitioning means for partitioning the material of the tank of the earthen barge into a plurality of regions.

The identifying means 113 acquires information on the relative position of the earthenware ship 2 with respect to the stirrer 3 from the measuring means 111 . Further, the identifying means 113 acquires information indicating the trajectory of the stirring member 37 identified in the stirrer 3 from the interface 13 . Then, based on the obtained relative position information and information indicating the trajectory of the stirring member 37, the specifying unit 113 calculates the amount of the material M stirred by the stirring member 37 for each of the plurality of partitioned regions. Identify. This amount includes the time of stirring, the distance traveled by at least part of the stirring member 37 (for example, the tip of the bucket 373) during stirring, and the distance that the stirring member 37 moves in the material M in the tank 20 during stirring. and the number of times that the route has been repeated.

That is, the specifying means 113 is an example of specifying means for specifying the time, distance, or number of times the stirring member stirs the material M based on the measured position and the specified trajectory for each of a plurality of regions.

The display control unit 114 controls the display unit 15 to display to the user the information indicating the "stirred amount" specified by the specifying unit 113 in association with each of the plurality of regions. That is, the display unit 15 controlled by the display control unit 114 is an example of a display unit that displays information indicating the specified time, distance, or number of times to the user in association with each of a plurality of areas.

The determination means 115 uses the information displayed on the display section 15 by the display control means 114 to determine whether to continue stirring and mixing or to end the stirring and mixing.

For example, the memory 12 shown in FIG. 2 stores target values for determining whether or not the amount of stirring is sufficient for each of a plurality of areas in advance. This target value is a value indicating the time, distance, or number of times the material M needs to be stirred.

The determining means 115 compares the aforementioned amount with a stored target value, and determines that stirring and mixing may be terminated when this amount exceeds the target value. In other words, the determination means 115 is an example of determination means for determining whether to continue or end the stirring and mixing based on the information displayed by the display section 15 .

In the example described above, the information indicating the trajectory of the stirring member 37 is specified in the stirrer 3 , but may be specified in the stirring/mixing estimation device 1 . In this case, the stirrer 3 transmits the data indicating the amount by which each component of the driving unit 36 is driven to the stirring mixture estimation device 1 as it is. The processor 11 of the agitation mixture estimation device 1 may combine the above-described data and function as the trajectory identification means 116 that identifies the trajectory of the agitation member 37 during agitation.

<Operation of stirring mixture estimation device>
FIG. 6 is a flowchart showing an example of the operation flow of the agitation mixture estimation device 1. As shown in FIG. The processor 11 of the agitation/mixture estimation device 1 measures the relative position of the soil transport ship 2 floating on the water surface with respect to the stirrer 3 (step S101), and M is partitioned into a plurality of arbitrary regions (step S102). That is, this step S101 is an example of a measuring process for measuring the relative position of the earthen barge floating on the surface of the water in which the material is stored in the tank, with respect to the stirrer. Also, this step S102 is an example of a partitioning step of partitioning the material (the material stored in the tank) of the tank of the earthen transport ship (the tank provided in the earthen transport ship) into a plurality of areas.

The processor 11 calculates the time, distance, or number of times the material M is stirred by the stirring member 37 based on the measured relative position of the soil carrier 2 to the stirrer 3 and the trajectory of the stirring member 37 extending from the stirrer 3. A plurality of areas are identified (step S103). In other words, this step S103 is an example of a specifying step for specifying the time, distance, or number of times the material is stirred by the stirring member based on the measured position and the trajectory of the stirring member extending from the stirrer. be.

The processor 11 controls the display unit 15 to display the specified contents (information indicating time, distance, or number of times) in association with each of the plurality of areas to the user (step S104). In other words, this step S104 is an example of a display step of displaying information indicating the specified time, distance, or number of times to the user in association with each of the plurality of areas.

Then, the processor 11 determines whether or not the termination condition of the process executed by the agitation mixture estimation device 1 is satisfied (step S105). This end condition is, for example, a condition that an instruction to end the process is received from the user, or a condition that the content displayed on the display unit 15 in step S104 exceeds a predetermined target value. etc. When determining that the termination condition is satisfied (step S105; YES), the processor 11 terminates the process. On the other hand, when determining that the termination condition is not satisfied (step S105; NO), the processor 11 returns the process to step S101.

In other words, this step S105 is an example of a determination process for determining whether to continue stirring and mixing based on the displayed information. The reason why the process returns to step S101 is that the measured position and area of the soil transport ship 2 relative to the stirrer 3 change as needed and need to be updated in real time. This is because if step S102 is skipped and the process returns to step S103, the relative position and the area of the material M in the tank 20 will be different from those at the time of the previous determination, and it is expected that the appropriate determination result will not be obtained.

With the above operation, the stirring and mixing estimating device 1 estimates the progress of the stirring work for the user who performs the stirring work of stirring the material M stored in the tank 20 provided on the earthen boat 2 floating on the water surface. to display. At this time, the progress is displayed for each of the plurality of divided regions, so that the user can grasp the region where the stirring is insufficient among the materials M stored in the tank 20, and the region Each time, it is possible to grasp how much the stirring is achieved with respect to the target value.

<Modification>
The above is the description of the embodiment, but the content of this embodiment can be modified as follows. Also, the following modifications may be combined.

<1>
In the above-described embodiment, the processor 11 determines whether to continue stirring and mixing depending on whether or not the amount of stirring exceeds the target value, but the decision may be left to the user. For example, the processor 11 identifies the amount stirred by the stirring member 37 and calculates the ratio of this amount to the target value. Then, the processor 11 may cause the display unit 15 to display information indicating the calculated ratio for each region. That is, the processor 11 in this case is an example of a processor that displays information indicating the ratio of the specified time, distance or number of times to the target value indicating the time, distance or number of times of stirring required for the material.

The target value set for each of the plurality of regions may be calculated by multiplying a value determined for the entire tank 20 by a ratio determined for each region.

For example, the processor 11 sets the target time obtained by multiplying the total stirring time required for all the materials M contained in the tank 20 by a predetermined ratio as the target value for each of the plurality of areas.

In addition, the processor 11 identifies the time during which the stirring member 37 stirred the material M for each of the plurality of areas based on the relative position of the soil transport ship 2 with respect to the stirrer 3 and the trajectory of the stirring member 37 during stirring. do.

The processor 11 may then display information indicating the ratio of the specified time to the set target time.

Also, the target value described above may be an element other than time. For example, when defining a target value for the distance, the processor 11 multiplies the total travel distance of the stirring member 37 required for all the materials M contained in the tank 20 by a determined ratio as the target value. A target moving distance (also referred to as a target distance) is set for each of a plurality of regions, and the stirring member 37 is moved based on the relative position of the soil transport ship 2 with respect to the stirrer 3 and the trajectory of the stirring member 37 during stirring. The distance (also referred to as moving distance) over which the material M is stirred is specified for each of a plurality of regions, and information indicating the ratio of the specified moving distance to the set target moving distance is displayed.

Further, for example, when determining a target value for the number of times, the processor 11 multiplies the total number of times of stirring by the stirring member 37 required for all the materials M contained in the tank 20 by a determined ratio as the target value. The obtained target number of times of stirring (also referred to as the target number of times) is set for each of a plurality of regions, and the stirring member is set based on the relative position of the soil transport ship 2 with respect to the stirrer 3 and the trajectory of the stirring member 37 during stirring. 37 identifies the number of times the material M is stirred (also referred to as the number of times of stirring) for each of a plurality of regions, and displays information indicating the ratio of the specified number of times of stirring to the set target number of times of stirring.

<2>
In the variations described above, the determined ratio may be the volume ratio of the regions to the bath 20 . Alternatively, the determined ratio may be the reciprocal of the number of regions.

<3>
In the above-described embodiment, the agitation/mixture estimation device 1, the soil transport ship 2, and the agitator 3 are connected to each other via the communication line 4 to exchange information. You can exchange information. For example, the interface 13 of the agitation/mixture estimation device 1, the interface 23 of the soil transport ship 2, and the interface 33 of the stirrer 3 all have a short-range wireless communication function. You can exchange information.

<4>
The agitation/mixture estimation device 1 may have a function of allowing the user to set various conditions regarding the soil transport ship 2 and the agitator 3 in advance.

FIG. 7 is a diagram showing an operation screen of the agitation/mixing estimation device 1 for setting the conditions of the dirt transport ship 2. As shown in FIG. As shown in FIG. 7, the user can select the name (also referred to as the ship name) of any one earthen transport ship 2 from among one or more earthen transport ships 2 registered in the earthen transport ship list before starting work. It has become. When the user selects one of the ship names and presses the OK button, the agitation/mixing estimation device 1 displays setting items for the soil transport ship 2 with the selected ship name. The user can set by entering the displayed setting items. The processor 11 of the agitation mixture estimation device 1 stores each set value in the memory 12 .

For example, the number of vertical divisions is the number by which the tank 20 is divided in the vertical direction (the longitudinal direction of the tank 20), and the number of horizontal divisions is the number by which the tank 20 is divided in the horizontal direction (the widthwise direction of the tank 20). . The lower layer thickness is the thickness of each section from the bottom of the tank 20 when a plurality of sections are provided in the depth direction, and the sectioning is performed from the lower layer based on the thickness of the lower layer thickness. For example, when the thickness of the material M in the tank 20 is 1.8 m, it is divided into two compartments with a lower layer thickness of 1 m and an upper layer thickness of 0.8 m. The tank 20 is partitioned into a plurality of areas on the system based on the number of vertical partitions, the number of horizontal partitions, and the thickness of the lower layer. When calcia-improved soil is used in the sea area, multiple soil-transporting ships will go through the cycle of loading dredged soil → dissolving sludge and mixing calcia-improving material → inputting calcia-improved soil. Since it is expected that the dimensions of each ship will be different, it is desirable to register setting items together with the names of earthen transport vessels used for work in advance in the list of earthen transport vessels.

FIG. 8 is a diagram showing an operation screen of the stirring/mixing estimation device 1 for setting the conditions of the stirrer 3. As shown in FIG. As shown in FIG. 8(a), the user can select the name of the stirrer 3 described in the backhoe list (also called backhoe name). When the user selects one of the backhoe names and presses the OK button, the stirring/mixing estimating device 1 displays setting items for the stirrer 3 of the selected backhoe name, as shown in FIG. 8(b). The user can set by entering the displayed setting items. The processor 11 of the agitation mixture estimation device 1 stores each set value in the memory 12 .

The setting of the stirrer 3 is performed for each one, but the actual stirring work can be performed using a plurality of set stirrers 3 . When the processor 11 acquires the identification information of the soil transport ship 2 or the stirrer 3 from the interface 13, the processor 11 performs various operations set by the user on the above-described operation screen for the soil transport ship 2 or the stirrer 3 identified by the identification information. The conditions may be read out from the memory 12 and used.

<5>
In the modified example described above, the processor 11 acquires the identification information of the earthenware ship 2 from the interface 13, and prepares for the earthenware ship 2 with the number set by the user for the earthenware ship 2 identified by this identification information. Although the tank 20 is partitioned into a plurality of areas, the number of partitions may be changed according to other conditions.

For example, the processor 11 may partition the vessel 20 such that the size of the agitating member 37 determines the size of the plurality of regions. In this processor 11, the tank is partitioned so that the sizes of the plurality of regions are determined according to the size of the stirring member. According to this configuration, the size of the partitioned region is determined according to the stroke determined by the size of the stirring member 37 , so that the partitioning is performed according to the stirring capacity of the stirrer 3 .

<6>
The stirring and mixing method performed by the stirring and mixing system 9 described above includes a measuring step of measuring the relative position of the soil transport ship floating on the water surface in which the material is stored in the tank with respect to the stirrer, and A partitioning step of partitioning the material into a plurality of regions, a stirring step of stirring the material in the plurality of regions with a stirring member of the stirrer, and a track identifying step of identifying a track during stirring of the stirring member; a specifying step of specifying, for each of the plurality of regions, the time, distance, or number of times the material is stirred by the stirring member based on the measured position and the specified trajectory; and determining the specified time, distance, or number of times. A display step of displaying information to the user in association with each of the plurality of regions, and a determination step of determining whether to continue or end the stirring and mixing based on the displayed information. obtain.

<7>
The programs executed by the processor 11 described above are stored in computer-readable recording media such as magnetic recording media such as magnetic tapes and magnetic disks, optical recording media such as optical discs, magneto-optical recording media, and semiconductor memories. can be provided as is. Also, this program may be downloaded via a communication line such as the Internet. In other words, this program instructs a computer having a processor to measure the relative position of a soil carrier floating on the water surface with respect to a stirrer, and to arbitrarily store materials stored in a tank provided on the soil carrier. Based on the step of dividing into a plurality of regions, the measured position, and the trajectory of the stirring member extending from the stirrer, the time, distance, or number of times the material is stirred by the stirring member is specified for each of the plurality of regions. and displaying the information indicating the specified time, distance, or number of times in association with each of the plurality of areas to the user. Various devices other than the CPU may be applied as the control means exemplified by the agitation mixture estimation device 1 described above, and for example, a dedicated processor or the like may be used.

DESCRIPTION OF SYMBOLS 1... Stirring mixture estimation apparatus, 11... Processor, 111... Measuring means, 112... Section means, 113... Identification means, 114... Display control means, 115... Judgment means, 116... Trajectory identification means, 12... Memory, 13... Interface , 14... operation unit, 15... display unit, 2... soil transport vessel, 20... tank, 21... processor, 23... interface, 28... earth transport vessel positioning sensor, 3... stirrer, 31... processor, 33... interface, 36 drive unit 361 boom drive unit 362 arm drive unit 363 bucket drive unit 37 stirring member 371 boom 372 arm 373 bucket 38 stirrer positioning sensor 4 communication Line, 9... Agitation mixing system.

Claims (4)

a processor, the processor comprising:
Measure the relative position of the earthen barge floating on the water surface with respect to a plurality of agitators,
partitioning the material stored in the tank provided in the earthen boat into a plurality of arbitrary regions;
Based on the measured position and the trajectory of the stirring member extending from each of the plurality of stirrers, specifying the time, distance or number of times that the stirring member stirs the material for each of the plurality of regions,
A churning/mixing estimating device for a churning work that displays information indicating the specified time, distance, or number of times in association with each of the plurality of regions to a user. The processor
The stirring/mixing estimating device according to claim 1, wherein the tank is partitioned so that the sizes of the plurality of regions are determined according to the size of the stirring member. a measuring step of measuring the relative positions of the soil transport boat floating on the surface of the water in which the material is stored in the tank, with respect to the plurality of agitators;
a partitioning step of partitioning the material of the tank of the earthen barge into a plurality of regions;
A stirring step of respectively stirring the materials in the plurality of regions with stirring members of the plurality of stirrers;
a trajectory specifying step of specifying each trajectory of the stirring member during stirring;
an identifying step of identifying, for each of the plurality of areas, the time, distance, or number of times that the stirring member has stirred the material based on the measured position and the identified trajectory;
a display step of displaying the information indicating the identified time, distance or number of times associated with each of the plurality of areas to the user;
a determination step of determining whether to continue or end stirring and mixing according to the displayed information;
Stir mixing method with. An earthen boat that floats on the surface of the water in which materials are stored in a tank,
a partitioning means for partitioning the material of the tank of the soil carrier into a plurality of areas;
a plurality of agitators for agitating the materials in the plurality of regions with agitating members;
measuring means for measuring relative positions of the earthen transport boat with respect to the plurality of agitators;
trajectory specifying means for specifying trajectories of the stirring member during stirring;
specifying means for specifying, for each of the plurality of regions, the time, distance, or number of times that the stirring member stirs the material based on the measured position and the specified trajectory;
display means for displaying information indicating the identified time, distance or number of times in association with each of the plurality of areas to the user;
determination means for determining whether to continue or end stirring and mixing according to the displayed information;
A stirring mixing system comprising a

Images