JP2552770B2 - Bottom observation equipment for dredging work - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for observing a water bottom during a dredging operation, and more particularly to a water bottom observing apparatus for a dredging operation in which a display on a display is easy to see.

[0002]

2. Description of the Related Art As a dredger for performing dredging work, a crane dredger in which a glove that can be opened and closed is suspended from a crane, a backhoe dredger with an excavator for excavating earth and sand attached to the work arm tip, and a belt conveyor with claws are used to excavate earth and sand. While there is a bucket dredger, etc. that conveys upwards. In order to carry out dredging efficiently with these dredgers, it is necessary to monitor the work situation. Therefore, conventionally, a submersible TV camera is sunk in the work area, and a CRT with an image of the seabed obtained by the TV camera is installed in the machine room. The method of displaying on the display is adopted. However, if the work area becomes polluted as the dredging work progresses, it becomes impossible to monitor.

Therefore, a water bottom observing device for detecting the state of the sea bottom using ultrasonic waves has come to be used.
FIG. 7 shows a conceptual diagram of dredging by a crane dredging ship, for example. Since the range Q that can be dredged by the crane work boat X is the turning range of the crane, the turning point W of the crane is
, And the outer and inner diameters are determined by the horizontal projection length of the crane arm and the size of the grab. FIG. 8 is a seabed topographic cross section in the radial direction of the sonar S (hereinafter referred to as the sonar turning angle) detected by the sonar S provided in a predetermined portion of the crane work boat X.

[0004]

However, it is not possible to know the dredging area Q on the seafloor topographical sectional view of FIG. 8, that is, it is not known at which position the grab is submerged, and therefore the depth at which the dredging should be performed. The crane ship is moved to another place as if the work is finished even though it is not at the (planned depth), or it continues to dig even though it is digging to the limit (excavation depth) where dredging is possible. In some cases, dredging could not be performed efficiently. The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a water bottom observation device for dredging work in which the display of the water bottom observation result is easy to see so that the dredging work can be performed accurately.

[0005]

According to the first aspect of the present invention, a sonar that forms a receiving beam that spreads in a fan shape passing directly below by a raising and lowering operation every time it turns at a constant turning angle by a turning operation is used for a crane dredging work. A bottom observation apparatus for dredging work, which is provided in a predetermined bottom portion of a ship, displays a bottom cross section based on a received beam formed at a desired turning angle by the sonar, and displays the horizontal axis as a horizontal distance from the sonar. A memory (53) for storing the data of the water bottom cross section detected for the preset dredging area Q, a read turning angle specifying means for specifying a desired turning angle, and the data of the water bottom cross section for the specified turning angle are stored in the memory. Water bottom cross section display processing unit read from (53)
(54) and a work range replacement processing unit (55) for obtaining a dredging range (A to B) for the turning direction as a work range based on the dredging region Q and the designated turning angle, and the bottom section cross-section display process Data of the water bottom cross section for the desired turning angle obtained in the section (54) and the work range replacement processing section (55)
On the basis of the work range obtained in step 2, the water bottom cross-section for the turning angle is provided with a composite display processing unit (7) for displaying two points of the work range (A to B) as markers. A second aspect of the present invention is provided with a sonar that forms a receiving beam that spreads in a fan shape passing directly below by a lifting motion every time it turns at a constant turning angle by a turning motion, in a predetermined bottom portion of a crane dredging work ship, and A water bottom observation device for dredging work that displays depth data for each angle, a memory (53) for storing data of the water bottom cross section detected for a preset dredging range Q, and a crane work cross section for each turning angle of the crane. q is obtained, depth data included in each of the crane work sections q is read from the memory (53),
Crane work section replacement processing unit that extracts the shallowest data or the deepest data from the read multiple depth data
(56) and the crane operation display processing unit (57) that creates the crane display data by knowing the current turning angle of the crane.
And, based on the depth data created by the crane work section replacement processing unit (56), the crane turning angle is displayed as the horizontal axis and the depth data is displayed, and the crane operation display processing unit (57)
Composite display processing unit (7) that displays the crane position from
And characterized in that:

[0006]

In the device of the first aspect of the invention, the dredging area Q set in advance is set.
The data of the water bottom cross section detected by the sonar is stored in the memory (53). After that, when a desired turning angle is designated by the turning angle designating means, the water bottom data detected by the sonar at the turning angle is read from the memory (53), and the horizontal axis is read from the sonar in the composite display processing unit (7). The bottom cross section is displayed as the horizontal distance of. Further, the work range replacement processing unit (55) obtains the dredging range (A to B) for the azimuth of the designated turning angle as the work range, and the dredging range (A to B) is the combined display processing unit (7). Markers are displayed on the water bottom cross-section of the display name.

According to the second aspect of the present invention, if the current turning angle of the crane is known and the turning angle is supplied as the designation data of the turning angle designating means, following the turning operation of the crane, the bottom of the water in the turning direction is followed. Since the cross section and the dredging area are displayed, the dredging work can be performed efficiently.

In the second aspect of the invention, the crane work section replacement processing unit (56) reads depth data contained in each crane work section q when the crane is turned at a predetermined turning angle from the memory (53). The shallowest data or the deepest data is extracted from the plurality of read depth data. Further, the crane operation display processing unit (57) knows the current turning angle of the crane and creates the crane display data. Then, in the composite display processing unit (7), based on the data created by the crane work cross section replacement processing unit (56), depth data is displayed with the crane turning angle as the horizontal axis, and the operation display processing is performed on the display. The crane position from section (57) is overlaid and displayed.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a control block diagram showing an embodiment of an apparatus according to the present invention. S is a pencil beam sonar that has a mechanism for turning and raising / lowering and emits a fan-shaped beam in an arbitrary direction. As shown in FIG. 2, two pencil beam sonars (S ₁ , S ₂ ) Provided. Two
Is a elevation / turn control circuit for turning and raising the sonar S. Reference numeral 3 is a transmission / reception circuit that supplies a transmission signal to the sonar S and detects the sonar signal received by the sonar S by this transmission. Reference numeral 4 denotes an arithmetic circuit, which is a time difference between when the sonar signal is transmitted and when it is received,
The depth of the seabed in the radial direction of the sonar is calculated from the rotation information of the sonar S.

In the data processing circuit 5, reference numeral 51 denotes a sonar data conversion processing unit, which converts the data indicating the seabed shape calculated by the calculation circuit 4 from polar coordinate format to rectangular coordinate format. Reference numeral 52 denotes a crane information processing unit, which converts the crane operation information data from the external data processing circuit 8 from polar coordinate format to Cartesian coordinate format. Reference numeral 53 is a memory that stores data indicating the seabed shape processed by the sonar data conversion processing unit 51 and crane operation information from the crane information processing unit 52. The memory 53 also stores position information such as the working range of the crane, the positional relationship between the turning center of the crane and the sonar S, which are input in advance by the data processing input circuit 6. Reference numeral 54 denotes a seabed cross-section display processing unit, which creates display data from the seabed shape data for each sonar turning angle stored in the memory 53. Reference numeral 55 denotes a crane work range conversion processing unit, which creates a crane work range (described in detail later) for the sonar turning angle based on the position information of the crane and sonar stored in the memory 53 from the data processing input circuit 6. To do.

Reference numeral 7 denotes a composite display processing unit for combining and displaying the seabed cross section created by the seabed cross section display processing unit 54 and the crane work range data created by the crane work range conversion processing unit 55. The external data processing circuit 8 collects crane operation information on the jib angle and the turning angle, which are the inclinations of the arm J of the crane work boat X.

The operation of the apparatus having the above configuration will be described below. In Fig. 2, the dredging range Q as the center of the crane
The left side and the right side of are detected by sonar S ₁ and S ₂ , respectively. It is assumed that the sonar S ₁ is turned in the direction Y _{1 of} 30 ° to the left as shown in FIG. 2, for example, by the control of the elevation / turning control circuit 2. Then, ultrasonic waves are transmitted in a fan shape in the direction Y ₁ by the sonar S ₁ , echoes (sonar signals) corresponding thereto are received by the sonar S ₁ , and the sonar signals are detected by the transmission / reception circuit 3. The depth in the sonar direction Y ₁ is calculated from the sonar detection signal and the sonar rotation information from the elevation / turning control circuit 2, and is input to the sonar data conversion processing unit 51 of the data processing circuit 5 together with the rotation information as seabed shape data. By being
The seabed shape data is converted from the polar coordinate format to the rectangular coordinate format.

After that, the sonar S ₁ is sequentially turned, and the seabed shape data corresponding to the sonar directions are successively detected and stored in the memory 53 for each sonar direction. For example, when displaying the seabed shape data for a turning angle of 30 °,
The seabed shape data is read from the memory 53, processed by the seabed cross section display processing unit 54 into data for display, and sent to the composite display processing unit 7, so that the sonar turning angle of 30 ° is shown in FIG. The seabed topographic cross section Z is displayed.

As shown in FIG. 2, when the turning direction of the sonar S ₁ is Y ₁ , the intersections of the turning direction Y ₁ and the inner and outer diameters of the dredging region Q are A and B. The range of A to B is the crane working range in the turning direction Y ₁ . The crane work range conversion processing unit 55 obtains the crane work range for each turning angle of the sonar S ₁ (and S ₂ ) based on the position information of the crane and sonar from the data processing input circuit 6, and the sonar position By transmitting the information to the composite display processing unit 7, FIG.
As shown in, the crane working range of A to B is also displayed on the seafloor topographical cross section with two lines La and Lb. Further, in the seabed topographical cross-sectional view of FIG. 3, the sonar turning angle is displayed at the right end of the display section to show that the turning angle of the sonar S ₁ is 30 ° left.

By the way, as shown in FIG. 2, the sonar S
₁ , S ₂ are provided at the front end of the crane work boat X, while
The turning center W of the crane is located rearward of the front end in order to maintain balance. Therefore, when the turning direction of the crane is, for example, Y ₂ , the seabed topographic cross-section required at this time is a line connecting A to B ′ which is the intersection of the Y ₂ direction line and the dredging region Q. On the other hand, the actual seafloor topographic cross section obtained by Sonar S ₁ is A or B
It is a line connecting the two, and it can be seen that the two lines do not exactly match. Further, the distance on the horizontal axis in FIG. 3 is a distance from the sonar S and is not a distance from the crane turning center W where the crane operator is present, and therefore the distance relationship may be confused.

Therefore, FIG. 4 shows an embodiment of the device according to the second invention of the present invention in order to enable observation of the seabed topographic sectional view as seen from the crane turning center W. In FIG. 4, the same parts as those in FIG. 1 are designated by the same reference numerals.

The functions of the crane work section replacement processing unit 56 and the crane operation display processing unit 57 in the data processing circuit 5 will be described in detail in the following description of the operation.

FIG. 5 shows the case where the turning angle of the crane is 0 °. Since the crane has an effective (minimum) turning angle, the cross section of the crane operation in the dredging area Q at this time is shaded. It has a spread in the turning direction as shown by the region q shown. The data of the effective turning angle is supplied from the data processing input circuit 6. On the other hand, in the memory 53, the sonar S
_The depth information for the dredging area Q is stored by ₁ (and S ₂ ). Of the depth information, the depth information for the crane work section q is read from the information obtained on the lines of the sonar S _{1 in} the turning directions Y ₃ and Y ₄ , respectively. Among the plurality of pieces of information thus obtained, the shallowest (or the deepest or flat portion) information is extracted as data for the crane turning angle of 0 °. Depth data is similarly extracted for each of the above effective turning angles. In this way, the crane work section replacement processing unit extracts the depth data included in each crane work section q for each effective turning angle.

FIG. 6 shows a display example of the composite display processing section 7. The upper display 61 in this display example is for displaying the depth data in a scope shape based on the crane work cross section replacement processing unit 56 with the turning angle of the crane as the horizontal axis. Also, in this scope display 61, 6
1a is a marker indicating the current turning angle of the crane, and the crane operation display processing unit 57 creates data for displaying the marker. Further, as shown in the lower part of FIG. 6, the crane operation display processing unit 57
The grab dredging position of the crane is also displayed.

It should be noted that the apparatus of FIG. 1 examined the radial direction of the sonar, that is, the seabed cross section in the direction of the crane (FIG. 3), and the apparatus of FIG. 4 detected the depth in the dredging region Q (FIG. 6). 4 can have the function of FIG. 1, and in that case, after that, dredging is performed while looking at the seabed cross section of FIG.
When the dredging on the dredging area Q is completed, it is possible to confirm whether the dredging work is properly performed by checking the depth of the dredging area Q in FIG.

[0021]

As described above, according to the first aspect of the present invention, the dredging range for the turning angle of the dredging work boat is also displayed on the bottom cross-sectional image displayed for the turning angle of the sonar. , The dredging area can be accurately grasped, and efficient dredging work becomes possible. Further, in the second aspect of the invention, the depth in the area actually dredged by the crane is displayed in a scope shape with the crane turning angle as the horizontal axis, so it is possible to accurately grasp the seabed condition in the dredging area.

[Brief description of drawings]

FIG. 1 is a control block diagram showing an embodiment of a water bottom observation device for dredging work of the present invention.

FIG. 2 is a view used for explaining a crane work range displayed by the device of FIG.

FIG. 3 is a diagram showing a display example of a seabed cross section displayed by the device of FIG. 1.

FIG. 4 is a control block diagram showing a second embodiment of the present invention.

5 is a diagram used to explain the function of a sonar data conversion processing unit in the apparatus of FIG.

6 is a diagram showing a display example of a seabed cross section displayed by the device of FIG.

FIG. 7 is a view used for explaining a seabed cross section displayed by a conventional device.

FIG. 8 is a diagram used for explaining a method of detecting a seabed cross section in a conventional apparatus.

[Explanation of symbols]

 S Sonar 2 Elevation / turning control circuit 3 Transmitter / receiver circuit 4 Arithmetic circuit 5 Data processing circuit 6 Data processing input circuit 7 Composite display processing unit 8 External data processing circuit 51 Sonar data conversion processing unit 52 Crane information processing unit 53 Memory 54 Seabed cross section display Processing unit 55 Crane work range conversion processing unit 56 Crane work cross-section replacement processing unit 57 Crane operation display processing unit X Crane work ship

Claims (3)

(57) [Claims] 1. A sonar that forms a receiving beam that spreads in a fan shape passing directly below by a lifting motion every time it turns at a constant turning angle by a turning motion, is provided at a predetermined bottom portion of a crane dredging work ship, and the sonar is provided. Is a water bottom observation device for dredging work that displays the water bottom cross section based on the received beam formed at a desired swivel angle as the horizontal distance from the sonar on the horizontal axis, and detects it against a preset dredging area Q. A memory (53) for storing the data of the water bottom cross section, a reading turning angle designating means for designating a desired turning angle, and the data of the water bottom cross section for the designated turning angle are stored in the memory.
The water bottom cross-section display processing unit (54) read out from (53), and the work range replacement processing unit (A to B) for determining the dredging range (A to B) for the turning direction as the working range based on the dredging region Q and the specified turning angle. 55) and the data of the water bottom cross section for the desired turning angle obtained by the water bottom cross section display processing unit (54) and the work range replacement processing unit (5
Based on the work range obtained in 5), a composite display processing unit (7) for displaying two points of the work range (A to B) as markers on the water bottom cross-sectional image with respect to the turning angle is provided. Water bottom observation equipment for dredging work. 2. Crane turning angle detecting means (8) for detecting a turning angle of a crane, the crane turning angle detecting means
The water bottom observing device for dredging work according to claim 1, wherein the crane turning angle detected in (8) is supplied to the turning angle designating means as designation data. 3. A crane turning operation is provided with a sonar that forms a receiving beam that spreads in a fan shape passing directly below by a hoisting operation every time it turns at a constant turning angle by a turning operation, at a predetermined bottom of a crane dredging work ship. A water bottom observation device for dredging work that displays depth data for each corner, a memory (53) for storing data of the bottom cross section detected for a preset dredging range Q, and a crane work cross section for each turning angle of the crane. The crane work section replacement processing unit (q) for obtaining the q, reading the depth data included in each of the crane work sections q from the memory (53), and extracting the shallowest data or the deepest data from the plurality of read depth data ( 56), and the crane operation display processing unit (57) that knows the current turning angle of the crane and creates the data for crane display, and replaces the crane work section. Based on the depth data created by the processing unit (56), the combined display processing unit (Displays the crane position from the crane operation display processing unit (57) while displaying the depth data with the crane turning angle as the horizontal axis ( 7) and a bottom observation device for dredging work.