JP2632942B2 - Dredger construction support system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a construction support system for a dredger excavating a seabed.

[Conventional technology]

Conventionally, when digging the seabed using a dredger using a grab, anchors or studs are lowered and fixed to a place where the dredger is dug, and a grab bucket is attached to a hoist attached to the dredger, a support wire, The seabed was gradually being dug down by operating the opening and closing wires and moving the hull.

As a method of measuring the sea bottom using an ultrasonic transducer, there is a depth measuring method described in Japanese Patent Application Laid-Open No. 55-135767, and a transducer array in which a large number of transducers are linearly arranged. Transmits ultrasonic signals, receives the reflected waves in the array by the transducer, and measures the sea bottom from the time difference.

[Problems to be solved by the invention]

However, since the dredger floats on the sea, the water depth changes depending on the tide level.Therefore, if the length of the supporting wire of the grab bucket is controlled to be constant, the depth under the tide changes depending on the tide level, and even if it is corrected visually, it is inaccurate. Therefore, it was usually necessary to increase the excess thickness.

For this reason, there is a problem that extra dredging work generates sediment, and extra cost is required to secure disposal of the sediment.

Further, in the depth measurement method described in Japanese Patent Application Laid-Open No. 55-135767, the frequency of the ultrasonic wave is increased to decrease the directivity angle, but during or immediately after dredging, the seabed becomes turbid. In some cases, there is a problem that ultrasonic waves are reflected on suspended objects and interference is likely to occur, and when adjacent transmitters and receivers receive signals with distinction, a large number of transceivers are required. Was.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a construction assistance system for a dredger capable of controlling the thickness of an overburden to a minimum, and further capable of simultaneously completing the dredging with a simple device. And

[Means for solving the problem]

A construction assistance system for a dredger according to the present invention, which meets the above-mentioned object, includes a hoist having a turning and tilting boom,
It is a construction assistance system of a dredger that suspends a grab bucket from the boom tip via a support wire and an opening / closing wire and lowers a grab bucket to the sea floor to perform dredging work, the swivel angle of the boom, the undulation angle of the boom, and the dredger. While measuring the inclination angle of the hull of each of the hulls and inputting the measurement signals to the arithmetic unit, inputting the received tide level signal to the arithmetic unit, and calculating a correction value for a reference sea level which is not affected by various conditions, Controlling the winch drums of the support wire and the opening / closing wire in consideration of the correction value while detecting the feed lengths of the support wire and the opening / closing wire with a wire length measuring device, respectively, and controlling the seabed at a predetermined depth from the reference sea level. Dredging is performed by the grab bucket, and the dredging finish is monitored by transmitting a number of ultrasonic waves to the hull in a transverse direction. The elements are arranged in a row in a row directly below, and the ultrasonic transmitting / receiving elements are sequentially switched to generate a depth signal corresponding to the distance from the super-heat wave transmitting / receiving element to the seabed, and the depth signal is corrected by the tide level signal. Then, it is configured to be performed by the shallow depth map displayed on the screen.

[Action]

In the construction assistance system of the dredger according to the present invention,
When performing a dredging operation by attaching a grab bucket to the hoist of the dredger, the reference depth from the reference sea surface to the sea floor that does not change with the tide level is the hoisting angle of the boom of the hoist (α), the turning angle of the hoist (θ), It changes according to the sway angle (β) and tide level (h) of the hull.

Therefore, while measuring the above α, θ, and β, the tide level signal h is input to an arithmetic unit, and the vertical components (α _v , θ _v , β _v , h _v ) are extracted, and the reference sea level is obtained therefrom. Is calculated.

The grab bucket is submerged at the set value to be excavated by controlling the length of the support wire and the length of the opening / closing wire drawn by the correction value.

Therefore, excavation with a grab bucket at this position makes it possible to minimize the overburden thickness.

Then, monitoring of the dredging finish is performed by arranging a number of ultrasonic transmitting / receiving elements in a row in a horizontal direction with respect to the hull, directing directly below, and sequentially switching the ultrasonic transmitting / receiving elements from the ultrasonic transmitting / receiving element to the sea floor. Since a depth signal corresponding to the distance is generated, and the depth signal is corrected by the tide level signal and displayed on a screen, a more accurate dredging operation can be performed.

〔Example〕

Next, embodiments of the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.

Here, FIG. 1 and FIG. 2 are schematic configuration diagrams for explaining a construction assistance system for a dredger according to an embodiment of the present invention,
FIG. 3 is a side view of the grab bucket, FIG. 4 is a graph for explaining the operation of the grab bucket, and FIG. 5 is a schematic configuration diagram of a method for creating a shallow depth diagram which is one component of the system.

As shown in FIG. 1 and FIG. 2, a dredger 12 on which a hoist 11 for suspending a grab bucket 10 is attached is anchored.
13 fixed on the sea at a predetermined place.

Here, when the seabed ground is hard, a grab-type rock crushing rod 14 may be used instead of the grab bucket 10, and in this case, the tip of the support wire 15 is replaced with the rock crushing rod 14.

In the figure, reference numeral 16 denotes a remote control room of the dredger, 17 denotes an operation room of the hoist 11, and 18 denotes a tide level telemeter for generating a tide level signal.

FIG. 2 shows a schematic configuration of the construction assistance system for the dredger. As shown in FIG. 2, a boom hoisting angle from a device which is attached to a rotating part of the boom 19 of the hoist 11 and detects the hoisting angle of the boom 19 is shown. A signal 20, a hull trim, a hull tilt signal 21 from a hull motion detection device that detects a heel, and a boom turning angle signal 22 from a turning angle detection device that is attached to the base of the hoist 11 and detects a turning angle, The tide level signal 23 generated by the tide level telemeter 18 and a tide level signal are input to the arithmetic unit 24 via a necessary AD converter or interface.

This arithmetic unit 24 calculates the depth correction value k by summing the vertical components of the signal.

On the other hand, the support wire 15 supporting the grab bucket 10
The support wire 15 is wound around a winch drum 25 for the support wire 15 through various guide wheels, and the winch drum 25 measures the number of rotations thereof to measure the length of the support wire 15. 26 and 27 are provided. A tachometer is provided on a guide wheel passing through the support wire 15 to support the support wire 15.
Can also be measured.

Therefore, the distance that the grab bucket 10 sinks from the seabed to the sea
d ₁ is measured by the support wire length measuring device 26, it is added the distance signal to the arithmetic unit 24, adding the correction value k (if negative also) by the processing unit 28, does not depend on various conditions The distance from the actual reference sea level to the grab bucket 10 is calculated, and while comparing this value with the set value input by the operation panel 29, the output is amplified to an appropriate size by the drive amplifier 30 and the Valve 31
To rotate the hydraulic motor of the winch drum 25,
The length of the support wire 15 is adjusted and excavation is performed with the grab bucket 10 to the set water depth value.In performing this excavation, the wire 32 that opens and closes the grab bucket 10 also moves with the lowering of the support wire 15. Need to lower. Therefore, a wire length measuring device 34 for measuring the length of the unwound wire 32 is also attached to the winch drum 33 for opening and closing. And
The signal of the wire length measuring device 34 and the signal of the other supporting wire length measuring device 27 attached to the winch drum 25 are input to the arithmetic unit 24, and the grab bucket is taken into consideration in consideration of the depth correction value k.
The winch drums 33 and 25 are controlled so as to open and close 10.

At this time, since the horizontal excavation control means 35 is provided in the arithmetic unit 24, this operation will be described with reference to FIGS. 3 and 4. The center of the left and right shells 36 and 37 is connected to the lower block 38. Opening / closing wires 32 suspended through the connecting members 39, 40 and supporting wires 15 suspending the side portions of the shells 36, 37 via the connecting members 39, 40 and the upper block 41, and control the winch drums 25, 33. By this, the shells 36 and 37 are opened and closed, and the trajectory of the claw at the tip of the shells 36 and 37 is shown in FIG. 4 (a) when the opening and closing wire 32 is raised while holding the support wire 15. Become like

Then, when the support wire 15 is lowered as shown in FIG. 4 (b), the trajectory of the entire claw moves on a horizontal plane as shown in FIG. 4 (c).

Therefore, when these movements are operated by considering the correction value, horizontal excavation of the seabed at a predetermined depth can be performed.

These movements can be displayed by the XY plotter 42, the printer 42a, and the CRT 42b attached to the arithmetic unit 24, and furthermore, the cab 17 of the hoist 11 has an aperture meter of the grab bucket 10 and a corrected depth. It is also possible to arrange a depth gauge for displaying and to perform an operation while looking at them. In FIG. 2, reference numeral 43 denotes an electrohydraulic valve.

In the above embodiment, the operation of the grab bucket 10 has been described, but when operating the rock breaking rod 14, the rock breaking rod 14 is connected to the support wire 15, and the depth is corrected in consideration of the correction value k,
By controlling the operation and braking of the winch drum, the slackness of the wire can be reduced, and the rock breaking depth can be kept constant.

Next, an example of creating a shallow depth map for monitoring the dredging finish will be described. This is to accurately measure the depth from just above the sea floor at an interval corresponding to the dredging width. Next, as shown in FIG. 5, the ultrasonic transmitting / receiving elements 45 are arranged in a horizontal row. Sounding transmitter 4 for dredger 12
6, a relay terminal box 47, a scanning signal generator for inputting the code from the relay terminal box 47 in parallel and gradually switching the code sequentially from a predetermined time to generate a scanning signal, and a signal from a tide telemeter 48 for generating a tide signal. Has a data input / output device 50 for receiving a signal therefrom, and a data processing device 51 connected to the device 50. 53, and in the remote control room 16, a digital display 52a, a CR display 53a, a printer 54, and an XY plotter 55.

In the dredger 12, the movement is performed by the control winch 56, and usually moves only at a speed of about 6 to 10 m / min. In addition, at normal dredging water depth (within 30m), the ultrasonic transducer 45
Can switch 10 elements per second,
Therefore, even if the dredging width is widened or the dredging depth is deep, two switching devices are sufficient, and this method has the advantage that the depth error due to oblique measurement can be reduced. It can be applied even when using a large number of elements by reducing the directivity angle of the sound wave transmitting and receiving element. 54, XY plotter 55 can be displayed accurately.
The water depth is displayed on the digital display 52 and the printer 54.

In such a dredger construction support system, the driver performs the dredging rocks manually or semi-automatically with high precision,
In addition, the construction management system of the dredger can confirm the finished condition of the dredging condition and reduce the overburden thickness.

〔The invention's effect〕

With the construction assistance system of the dredger according to the present invention, the grab bucket can be arranged at a fixed position from the seabed even when external conditions such as tide level change, so that the seabed can be accurately dredged under given conditions. This made it possible to minimize the excess thickness.

Then, the state of the seabed dredged by the grab bucket is attached to the hull of the dredger by mounting a number of ultrasonic transmitting / receiving elements in a straight line in a horizontal direction, and sequentially switching the ultrasonic transmitting / receiving elements from the ultrasonic transmitting / receiving element to the seabed. A depth signal corresponding to the distance is generated, and this depth signal is corrected by the tide level signal and is performed by a shallow depth map displayed on the screen, so that the state of the dredged seabed is not immediately searched for a position. It can be monitored accurately.

Further, since the ultrasonic transmitting and receiving elements are sequentially switched and used, the signals of the adjacent ultrasonic transmitting and receiving elements do not interfere with each other, and it is possible to monitor the state of the seabed at a high depth, and the switching device is used. Although necessary, signal processing can be performed using one transmission / reception control device, so that the device can be extremely simplified.

[Brief description of the drawings]

1 and 2 are schematic structural views for explaining a construction assistance system for a dredger according to an embodiment of the present invention, FIG. 3 is a side view of a grab bucket, and FIG. 4 is an operation of the grab bucket. FIG. 5 is a schematic diagram of an apparatus for monitoring the seabed after dredging. [Explanation of Signs] 10 ... Grab bucket, 11 ... Hoist, 12 ... Dredger,
13 ... anchor, 14 ... rock bar, 15 ... support wire, 16
… Remote control room, 17… Drive cab, 18… Tide level telemeter, 19 …… Boom, 20 …… Boom up / down angle signal, 21 ……
Hull tilt signal, 22 ... Boom turning angle signal, 23 ... Tide level signal, 24 ... Calculation device, 25 ... Winch drum, 26, 27
…… Support wire length measuring instrument, 28 …… Calculation processing section, 29 …… Operation panel, 30 …… Drive amplifier, 31 …… Electro-hydraulic valve, 32…
... wire, 33 ... winch drum for opening and closing, 34 ... wire length measuring device, 35 ... horizontal excavation control means, 36, 37 ... shell, 38 ... lower block, 39, 40 ... connecting member, 41 ... …
Upper block, 42 ... XY plotter, 42a ... Printer, 42b ... CRT, 43 ... Electro-hydraulic valve, 44 ... Bottom,
45 ... Ultrasonic transducer, 46 ... Sounding transmitter, 47 ... Relay terminal box, 48 ... Tide level telemeter, 49 ... Sounding processing device
50 data input / output device, 51 data processing device, 52,
52a …… Digital display, 53, 53a …… CR display,
54 …… Printer, 55 …… XY plotter, 56 …… Operation winch

Claims (1)

(57) [Claims] 1. A dredger construction assistance system comprising a hoist having a boom that swivels and tilts, and lowers a grab bucket suspended from the end of the boom to a seabed via a support wire and an opening / closing wire to perform a dredging operation. The turning angle of the boom, the elevation angle of the boom, and the inclination angle of the hull of the dredger are measured, and the measurement signals are input to the arithmetic device, and the received tide level signal is input to the arithmetic device. Calculating a correction value for a reference sea surface which is not affected by various conditions, and detecting the feed length of the support wire and the opening / closing wire with a wire length measuring device, and correcting the correction value for the winch drum of the support wire and the opening / closing wire. Taking into account and controlling the dredging of the seabed at a predetermined depth from the reference sea level by the grab bucket, Monitoring of the finished wedge is performed by arranging a number of ultrasonic transmitting / receiving elements in a row in a horizontal direction with respect to the hull and directing the ultrasonic transmitting / receiving elements in a row in a row, and sequentially switching the ultrasonic transmitting / receiving elements from the super warm wave transmitting / receiving element to the sea floor. A construction support system for a dredging vessel, wherein a depth signal corresponding to a distance is generated, and the depth signal is corrected by the tide level signal and displayed on a screen and is performed by a shallow depth map.