JP2861977B2 - Dredging equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dredging device for managing the position of a dredger using a GPS device.

[0002]

In a pump dredger for excavating a water bottom, a pair of spuds are provided at the stern, a cutter is provided at the tip of a rudder provided at the bow, and one spud is driven into the water bottom. The hull swings left and right around the spud, thereby moving the tip of the rudder. At this time, earth and sand is sucked up from the tip side of the ladder by a pump provided on the hull, and is pumped to a landfill through a pipeline.

[0003] In such a dredger, when dredging offshore away from a fixed measuring point, accurate position management is difficult. For this reason, Japanese Utility Model Application Hei 7-260
No. 482 proposes a method of positioning a dredger using GPS. This method includes a step of receiving a GPS position signal from an artificial satellite using an antenna provided on a spud and measuring the coordinate position of the spud. Measuring the position of the cutter from the distance between the spud and the cutter and the inclination angle of the ladder holding the cutter; and, when swinging the hull around the spud, the GPS position from the satellite by an antenna provided on the hull. Receiving the signal and measuring the coordinate position of the antenna on the hull, obtaining the swing angle from the coordinate position, and locating the dredging position of the dredger from these measurement results. Receives GPS position signals from artificial satellites and transmits GPS correction signals from fixed stations to telemeter antennas on the hull. Thus by measuring the coordinate position of the spud by receiving (Publication No. 0 010 stages), allowed swing ladder around the spud, GPS on the hull
The GPS correction signal from the satellite is received by the antenna and the telemeter antenna, respectively.
It measures the coordinate position of the PS antenna and calculates the ladder swing angle from both coordinate positions (JP-A-00122).

In the above-described method, a so-called differential GPS (hereinafter, referred to as D-type) using a GPS correction signal from a fixed station is used.
With GPS, the coordinate position of the antenna can be measured at a high level.

However, the above-mentioned dredging position locating method has a problem that if the dredger oscillates due to waves, it is not possible to calculate an accurate three-dimensional position of the cutter. And
In this kind of dredger, fuel etc. is installed to drive devices such as pumps, but when fuel is consumed by work,
The inclination of the dredge may change. Further, in the above method, the position of the cutter is obtained from the distance between the stopper and the cutter and the inclination angle of the rudder (Japanese Patent Publication No. 0011). Severe dredgers lacked those with high measurement accuracy, excellent durability, and relatively low cost.

Further, L ₁ (wavelength 19 cm) or L ₂
Since a GPS signal which is a carrier wave (wavelength: 24 cm) needs to determine which cycle the obtained phase information belongs to, a plurality of satellites are used. For example, when performing three-dimensional positioning, At least five satellites are used. Then, from the grid points (i.e., candidate points), which are the intersections of the wavelength pitches in the respective rotation phases from the respective satellites, a point that does not fluctuate in time due to analysis is initially set as a true positioning point. I have. In particular, D-GPS
In, it is necessary to accurately determine the initial position of the mobile station, and processing this processing in real time by the mobile station is called on-the-fly initialization (OTF). However, in order to perform initialization processing by calculating this true positioning point (finding a solution from the least squares method),
Actually, there is a problem that it takes a long time of several tens of minutes. In addition, the OTF may cause erroneous initialization due to deterioration of the GPS signal (for example, multi-bus or radio wave interference), that is, an erroneous point from many candidate points may be regarded as a positioning point.
In this case, the subsequent position change of the mobile station cannot be accurately measured, and in particular, in a dredger swinging this kind of hull, it is difficult to accurately measure the position of the moving cutter. To measure one position of the two GPSs and then the other,
It is expected that an error will occur at the time of initial setting or that it will take time. Conventionally, to determine whether the initially set positioning point is correct, after initialization, the observation error repeatedly observed is monitored, and the initialization solution is erroneously conditioned on the condition that the error exceeds a certain threshold. Therefore, the initialization is performed again for a long time as described above. However, at least 10
A long time of about a minute is required, and during this time, an incorrect positioning result is presented, which causes a problem in reliability.

Accordingly, an object of the present invention is to provide a dredging apparatus capable of performing initialization with high precision, reducing the number of times of reinitialization, and performing dredging while accurately measuring the cutter position. I do.

[0008]

According to the first aspect of the present invention, there is provided a base having a dredger provided with a spud at the stern, a cutter provided at a tip end of a rudder provided at the bow, and a fixed GPS provided at a known point. Station and a mobile station with a mobile GPS located on the dredger,
A differential GP that obtains a positioning value of the dredger by receiving an S signal with the fixed GPS and the mobile GPS
In the dredging device including the S device, a cutter position calculating unit that calculates the position information of the cutter using the positioning value of the moving GPS is provided, and the mobile station includes the moving GP.
S includes first and second GPSs arranged in a predetermined positional relationship on the dredger, and the fixed GPS
A first positioning result obtained by initialization performed between the first mobile GPS and the first mobile GPS, and a second positioning result obtained by initialization performed between the first mobile GPS and the fixed GPS. A GPS signal from a satellite is received by each of the fixed GPS and the first and second mobile GPSs;
The positioning data from S is sent to the mobile GPS via the transmitter. In the mobile station, the fixed GPS and the first mobile GP
A predetermined initialization process is performed using the GPS signal received in S, initialization is performed to determine a measurement point that can be regarded as a true solution from among a plurality of candidate points, and the first positioning result I do. Similarly, initialization is performed between the fixed GPS and the second mobile GPS, and a second positioning result is obtained. The first and second positioning results regarded as the initial values are guided to the determination means, and it is determined whether or not a predetermined positional relationship with respect to the first and second mobile GPS is satisfied. That is, since the first and second positioning results are obtained by measuring the positions of the first and second mobile GPS, by comparing these positioning results with the predetermined positional relationship, the first and second positioning results are obtained. It is determined with a higher probability that the second positioning result is a true positioning value. Based on the positioning values of the moving GPS obtained in this way, the cutter position calculation means calculates position information such as the direction, plane position, and depth of the cutter.

Further, the invention according to claim 2 is provided with an inclination angle detecting means for detecting an inclination angle of the dredger, and a depth measuring means for measuring a depth of the cutter. The position of the cutter can be accurately controlled by measuring the inclination of the dredger caused by the movement of the center of gravity of the dredger and the waves due to the change of the angle of the dredger, and further measuring the depth by the depth measuring means.

The invention according to claim 3 is characterized in that the depth measuring means includes a wire having a tip connected to the ladder, a movement measuring means for measuring the movement of the wire by swinging the ladder, and the movement amount. And a depth calculating means for calculating the depth of the cutter by calculating the depth of the cutter from the movement amount of the wire connected to the ladder.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIGS. 1 to 10 show an embodiment of the present invention. As shown in FIG. 1, a pump dredge 1 is provided with a rudder 2 at the bow so as to be vertically swingable, and a pair of left and right spuds 3, 3 at the stern. Provided. A rudder shear 4 is provided obliquely upward at the bow of the dredger 1, and the leading end of the rudder shear 4 and the rudder 2 are connected by a suspension member 5, and a winding drum (not shown) provided on the rudder shear 4 The ladder 2 is swung up and down around the rotation axis 6 of the ladder according to the winding amount of the hanging member 5 according to (c), and a cutter 2A that can be driven to rotate is provided at the tip side of the ladder 2. I have.

As shown in FIGS. 3 and 4, a guide member 7 is provided vertically on the vertical rod 4T of the rudder shear 4, and a movable pulley 8 which can move up and down along the guide member 7 is provided. A weight 9 is suspended below the moving pulley 8, and a member 10 to be measured such as a piano wire is connected to a lower portion of the weight 9, and the movement of the member 10 is measured by movement measuring means 11 such as an encoder. . Also, the proximal end of wire 12
12K is fixed to the rudder shear 4, the wire 12 is pulled down, and the wire 12 is wrapped around the moving pulley 8 and turned upward. 12S to the ladder 2
It is connected to the center side of. Note that the guide member 13 is configured by a roller or a combination thereof. Therefore,
When the rudder 2 rotates downward, the moving pulley 8 moves upward due to the movement of the wire 12, and the moving amount is detected by the movement measuring unit 11. 14 is the depth H of the cutter 2A
Is calculated. The movement measuring means 11 and the wire 12
And the depth calculating means 14 constitute a depth measuring means 15 for measuring the depth of the cutter 2A. Further, the dredger 1 is provided with a tilt angle detector 16 such as a trim heel meter for detecting the tilt angle of the dredger 1, and the tilt angle detector 16 is provided as shown in FIG. 5 and FIG. , Which detects the inclination θ1 in the front-rear direction and the inclination θ2 in the left-right direction of the dredger 1, converts displacement of a gravitational pendulum (not shown) into an electric signal, and does not pick up minute vibrations using an oil dump. Have been. In FIG. 2, 18L, 18R
Are left and right swing wires, which are connected to winches (not shown) provided on the left and right of the bow of the dredger 1, respectively. 19 is a pipe attached to the ladder 2,
Soil and the like at the bottom of the water are sucked by a pump (not shown).

[0013] A pair of GPs are provided at the required height on the left and right of the upper part of the rudder shear 4 of the dredger 1 as a mobile station.
S antennas 61 and 71 are provided. The GPS receivers 60 and 70 are provided in the cab 1A on the center front side of the dredger 1, and are connected to the GPS antennas 61 and 71 via signal lines, respectively. Further, the arrangement positions of the GPS antennas 61 and 71 are not limited to the rudder shear 4, but may be any two appropriate positions on the dredger 1. In the present embodiment, G
The PS antennas 61 and 71 are located at a position separated from the rotation axis 6 of the rudder 2 by a horizontal distance L2 in the bow direction, and have a positional relationship separated from each other by L1 / 2 in the left and right direction from the left and right center of this position. It is arranged. In addition, GPS
The antennas 61 and 71 are mounted at appropriate heights in order to minimize the influence of radio interference caused by a multi-bus or the like.

The three-dimensional position of the cutter 2A with respect to the right and left center position 6A of the rotary shaft 6 is determined by the length L of the rudder 2.
3. The depth H of the cutter 2A and the inclination angle θ of the dredger 1.
1, θ2.

FIG. 7 is a block diagram of a differential GPS device used in the present device. In FIG. 7, a base station 200 is installed at a specific point on the ground near a port, has a fixed GPS comprising a GPS antenna 81 and a GPS receiver 80, and transmits data measured by the fixed GPS to a mobile station. A data transmitter 82 and a data antenna 83 for transmission to the dredger 1 are provided.

On the other hand, the dredger 1 as a mobile station includes the above-mentioned GPS receivers 60 and 70 and GPS antennas 61 and 71,
A data antenna 91 for receiving data transmitted from the base station 200 and a data receiver 90 for decoding the received data are provided at the upper part of the cabin 1A. Above the operation frame 17, there are provided a data antenna 91A for receiving data transmitted from the base station 200 and a data receiver 90A for decoding received data.

Reference numeral 100 denotes a management system unit, and the control unit 10
1 and a positioning value monitoring unit 102. The control unit 101 includes a hull position display unit 103 and a cutter position calculating unit 104 for calculating position information of the cutter 2A. The control unit 101 is electrically connected to a depth measuring unit 15 and an inclination angle detecting unit 16 so that each detection data is taken in. The detection data of the depth measuring means 15 is the depth H of the cutter 2A, and the detection data of the inclination angle detecting means 16 is the inclination angles θ1 and θ2 of the dredger 1.

The control unit 101 determines a predetermined position of the hull 2 (for example, the left and right center position 6A of the rotary shaft 6) from the three-dimensional positions of the GPS antennas 61 and 71, which are the positioning data 1 and 2 from the GPS receivers 60 and 70. ) Or the horizontal position L2, the length L3, the depth H, the front-back and left-right inclination angles θ1 and θ2, and the position of the cutter 2A is calculated.
It is displayed on the display of 3. In this example, since the left and right center position 6A and the GPS antennas 61 and 71 are not on the same plane, the height relationship between the left and right center position 6A and the GPS antennas 61 and 71 and the relationship between the horizontal distance L2 and The left and right center position 6A is obtained, and the angle between the left and right center position 6A and the GPS antennas 61 and 71 and the horizontal distance L
2, the left and right center position 6A can also be obtained. The display data indicating the position of the cutter 2A is
It is provided for an operation instruction in the cockpit 1A.

More specifically, the control unit 101 receives detection data of the inclination angles θ1 and θ2 of the dredger 1 in the front-rear direction and the left-right direction from the inclination angle detecting means 16, and the cutter position calculation unit 104 Antenna 61, 71-3
The three-dimensional position of the left and right center position 6A of the rotating shaft 6 is calculated from the three-dimensional position and the front-rear and left-right inclination angles θ1 and θ2, and the length L3, depth H, front-rear and left-right inclination angles θ1, The three-dimensional position of the cutter 2A is calculated using θ2. Cutter 2A thus obtained
Is displayed on the hull position display unit 103 by the control unit 101 as shown in FIGS. For example, FIG. 9 shows a display of the hull position display unit 103, in which reference numeral 111 denotes a design sectional shape, and reference numeral 112 denotes a cutter depth position. In addition, as shown in FIG.
The position of the dredger 1 is calculated from the obtained positions of the GPS antennas 61 and 71, the plane contour 113 and the construction section 114 of the hull 2 are displayed on the display of the hull position display unit 103, and the cutter plane position 112 is displayed. The positioning of the two GPS antennas 61 and 71 was performed continuously during the operation, and those shown in FIGS. 9 and 10 were used.
Is rewritten with the current data at a predetermined interval, for example, every two seconds.

The positioning value monitoring unit 102 includes GPS receivers 60 and 70
Is used to determine whether or not the positioning data 1 and 2 are true positioning values by using the positioning data 1 and 2 and the distance L1 written in advance. Especially used. The positioning value monitoring unit 102 monitors the positioning value error even after initialization,
When the error of the side data exceeds a certain threshold value, a reset for initialization (initialization reset) is instructed.

The positioning operation by D-GPS (Differential GPS) is briefly described as follows: L ₁ (wavelength 19c)
m) or L ₂ (wavelength 24 cm) carrier GPS
Since it is necessary to confirm which cycle the phase information obtained is in the signal, a plurality of satellites are used, and at least five satellites are used when performing three-dimensional positioning. In the invention, three-dimensional positioning, a satellite clock and each G
GPS signals from at least five of the satellites are used for error correction between the clocks of the PS receiver.

[0022] Each GPS antenna 81,61,71 receives GPS signals from a satellite, for example, the L ₁ carrier (wavelength 19cm). The GPS receiver 80 transmits carrier wave phase information from the received GPS signal to the sea from the data antenna 83 via the data transmitter 82. At the same time, GPS antenna 6
The GPS signals received at 1,71 are GPS receivers 60,70
Then, the phase information is detected and the data antennas 91 and 91A are detected.
And the phase data of the base station 200 received by the GPS antennas 61 and 71 (wavelength 1
Obtain positioning candidate points (every 9 cm). By performing such processing on a plurality of, for example, five satellites, grid points in five hyperboloids are obtained as candidate points for true positioning points.
The GPS receivers 60 and 70 determine a grid point whose position does not change with time from among the obtained candidate points by using a known analysis method or the like, and determine a grid point that can be regarded as a true positioning point. Determine the value. The two data antennas 91 and 91A have a selection processing function such as space diversity for selecting and processing the one with the higher received radio wave intensity. And
By adopting the diffusion Allen shea dial system by L ₁ carrier, the positioning accuracy is a fraction of the wavelength used, it can be increased to several centimeters. When initialization is completed in the GPS receivers 60 and 70, an initialization completion signal is output.

The positioning value monitoring unit 102 is supplied with a positioning value and an initialization completion signal, which are positioning results obtained by the initialization, and obtains a true positioning value based on the information. The determination is made using a circuit block described later.

FIG. 8 is an internal block diagram of the positioning value monitoring unit 102. 321 and 322 are AND circuits,
2 and an initialization completion signal. 323 is a computing unit, calculates a distance D ₁ of the between the two positions obtained by the positioning data 1 and 2. 324 is an averaging circuit. 325 is a decision unit, a distance D ₁ of the between two positions obtained from the positioning data 1 and 2 to determine whether exceeds a predetermined threshold, i.e., the specified value.

The positioning value monitoring processing will be described below with reference to FIG. Now, the coordinate position relative to a particular location (e.g., left-right central position 6A) on the hull of the GPS antenna _{61,71 (x 10, y 10,} z 10), when the _{(x 20, y 20, z} 20), 2 points The distance D between

[0026]

(Equation 1)

This value is written in the positioning value monitoring unit 102 in advance.

On the other hand, the positioning data 1 and 2 output from the AND circuits 321 and 322 are converted to coordinates (x ₁ , y ₁ , x ₁ ), (x
₂ , y ₂ , z ₂ ), the distance D ₁ between the two points is calculated by the arithmetic unit 323 as shown in Equation 2.

[0029]

(Equation 2)

## EQU1 ##

The distance D ₁ between the two points based on the positioning data 1 and 2 should match the distance D if the positioning data 1 and 2 are true positioning values.
The judgment unit 325 compares the value D ₁ obtained from the GPS positioning with the value D ₁ for correctness. That is, in the determination formula shown in Expression 3, D ₁ is

[0032]

(Equation 3)

Is satisfied.

However, in order to improve the measurement accuracy, in the averaging circuit 324, for example, three consecutive times D _ll , D ₁₂ ,
Distance data D ₁₃ is the average. For example, D ₁ 4
The third value is averaged as (D ₁₁ + D ₁₂ 12D ₁₃ ) / 3.

The value D ₁ is within the specified value, that is, D ₁
There greater than D-dD, and D ₁ is less than D + dD, a signal indicating a NO from decision 325 is output as a normal status signal. Conversely, if D ₁ is smaller than D−dD or D ₁ is larger than D + dD, the measured value is determined to be not a true measured value, and a signal indicating YES is issued from the determination unit 325 to instruct re-initialization. Is output as an initialization reset signal.

The positioning value monitoring unit 102 constantly executes monitoring processing during the positioning operation, so that when an incorrect positioning result is obtained both during initialization and during positioning after initialization, the positioning value monitoring unit 102 immediately performs monitoring processing. It is possible to issue an initialization reset instruction. Therefore, it can be said that the device is extremely accurate and highly reliable as compared with a conventional case where it is impossible to judge it in an erroneous state unless several tens minutes elapse.
And since the position can be measured accurately at the centimeter level,
As in recent years of dredging, it is possible to sufficiently cope with demands for high working accuracy of several centimeters to several tens centimeters.

As described above, when the normal status signal is output to the control unit 101, the control unit 101 uses one of the GPS antennas 61 and 71 based on the obtained positioning data 1 and 2. Positioning results and front-back and left-right tilt angles θ
The left and right center position 6A is calculated using the first and second θ1, and the three-dimensional position of the cutter 2A is obtained using the length L3, the depth H, and the inclination angles θ1 and θ2 of the ladder 2. By using the two pieces of positioning data 1 and 2 as described above, the position and orientation of the dredger 1 can be accurately measured, and particularly, accurate position management can be performed on the swinging dredger 1.

In this embodiment, the GPS antenna 6
The coordinates of 1,71 were set based on the center position 6A.
The position may be determined by defining only the position coordinates of the other GPS antenna with reference to one GPS antenna. In this case, the coordinate value can be made small, the storage capacity can be reduced, It is also convenient in terms of calculation. Further, distance data may be directly stored in place of the coordinate data. In this case, the GPS antenna 61,
There is no need to calculate the distance between 71.

Next, the construction method using the dredging device will be described. At the dredging place, one spud 3 is driven into the water bottom, the ladder 2 is rotated, and the cutter 2A is lowered to a predetermined depth position. Then, the cutter 2A is rotated to suck the pipe 19 to perform dredging, and the dredging boat 1 is swung using the left and right swing wires 18L and 18R to dredge the construction section. In this case, the depth measuring means
15, the depth H of the cutter 2A is measured, and the three-dimensional position of the cutter 2A is determined by the control unit 101.
The positioning of the antennas 61 and 71 is continuously performed during the work, and the sectional position of the cutter 2A is displayed on the display as shown in FIG. 9, and the plane positions of the dredger 1 and the cutter 2A are shown in FIG. On the display,
You can work while visually checking these,
In addition, by using two GPS antennas 61 and 71, the dredger 1
Position and orientation can be accurately managed.

As described above, according to the present embodiment, the dredger 1 has the spud 3 provided on the stern and the cutter 2A provided on the tip end of the rudder 2 provided on the bow.
A base station 200 having fixed GPS installed at a known point;
A mobile station having a mobile GPS placed on the dredger 1 and receiving a GPS signal from a satellite as a fixed GPS
In a dredging device including an antenna 81 and a differential GPS device that obtains a positioning value of the dredger 1 by receiving signals with a first and second GPS antennas 61 and 71 as moving GPS, the first and second GPS as moving GPS are provided. Antenna 61,
Cutter position calculating means 104 for calculating the position information of the cutter 2A using the positioning values of 71 is provided.
As S, there are provided first and second GPS antennas 61 and 71, which are arranged in the dredger 1 with a predetermined positional relationship, and is executed between the fixed GPS antenna 81 and the first mobile GPS 61. The first positioning result obtained by the initialized initialization and the second positioning result obtained by the initialization performed between the GPS antenna 81 as the fixed GPS satisfy a predetermined positional relationship. Since it has a positioning monitoring unit 102 as a judging means for judging whether or not there is a GPS signal from a satellite, the receivers 80 and 60 of the fixed GPS antenna 81 and the first and second mobile GPS antennas 61 and 71 respectively. , 70
, And the positioning data from the fixed GPS is sent to the mobile GPS via the differential GPS transmitter 82. The mobile station performs a predetermined initialization process using the fixed GPS and the GPS signal received by the first mobile GPS, and determines an initial point for determining a measurement point that can be regarded as a true solution from a plurality of candidate points. And the first positioning result is obtained.
Initialization is also performed between the PS and the second mobile GPS, and a second positioning result is obtained. The first and second positioning results regarded as the initial values are guided to the judging means, and the first and second positioning results are obtained.
It is determined whether or not a predetermined positional relationship with respect to the mobile GPS is satisfied. That is, since the first and second positioning results are obtained by measuring the positions of the first and second mobile GPS antennas 61 and 71, by comparing these positioning results with the predetermined positional relationship, It can be determined with higher probability that the first and second positioning results are true positioning values. Further, by providing two GPS antennas 61 and 71 and GPS receivers 60 and 70 on the dredge 1 and calculating the respective positioning results, it is possible to easily confirm the position and direction of the dredge 1 and the cutter 2A. it can.

As described above, according to the present embodiment, claim 2
In response to the above, the inclination angle detecting means 16 for detecting the inclination angles θ1 and θ2 of the dredger 1 and the depth measuring means for measuring the depth of the cutter 2A are provided. By measuring the inclination of the dredger 1 due to the movement of the center of gravity of the dredger 1 and the waves due to the change of the angle of the dredger 1, and further measuring the depth H by the depth measuring means 15, the position of the cutter 2A can be accurately controlled. it can. In addition, even when the angle of the dredger changes due to fuel consumption, the cutter position can be accurately measured.

As described above, in the present embodiment, claim 3
In response to the above, the depth measuring means 15 is connected to the wire 12 having the tip 12S connected to the rudder 2 and the wire
Since it includes the movement measuring means 11 for measuring the movement amount of the cutter 12 and the depth calculating means 14 for calculating the depth H of the cutter 2A based on the movement amount, the wire connected to the ladder 2 is provided.
The depth H of the cutter 2A can be calculated from the movement amount of the cutter 12, and the depth measuring means 15 has high measurement accuracy, excellent durability, and is relatively inexpensive.

As an effect of the embodiment, since the predetermined positional relationship is the three-dimensional position coordinates of the first and second mobile GPS antennas 61 and 71, the first and second mobile GPS antennas 61 and 71 are located. , 71 are stored as three-dimensional position coordinates, the distance between them can be easily obtained by vector operation. Further, as the predetermined positional relationship, information of the second mobile GPS antenna 71 based on the first mobile GPS antenna 61 is used, or the first mobile GPS antenna based on the second mobile GPS antenna 71 is used. Since the 61 pieces of information are used, the amount of information and the value for defining the positional relationship between the two mobile GPSs can be reduced, which is convenient in terms of storage capacity and calculation. Further, since the distance information between the mobile GPS antennas 61 and 71 is used as the predetermined positional relationship, the distance data can be directly stored and the calculation can be omitted. Further, the determining means includes an arithmetic unit 323 as a distance calculating unit for calculating a distance between the first and second mobile GPS antennas 61 and 71 from the first measurement result and the second measurement result; And a coincidence determination unit 325 for determining whether the calculated distance obtained in step (1) corresponds to the predetermined positional relationship. Therefore, the distance between the first and second mobile GPS antennas 61 and 71 is obtained. The initialization can be performed with higher accuracy only by determining whether or not the distance information satisfies a predetermined positional relationship. Further, the distance calculation unit may set a value obtained by the averaging circuit 324 as an averaging means for averaging a plurality of calculation results as a calculation distance,
Since the calculated distances are averaged and provided to the determination unit 325, the reliability of the determination accuracy can be improved. Also, as differential GPS positioning devices,
Since the calculating unit 323 is provided as calculating means for calculating the position information of the predetermined position (the left and right center position 6A) of the moving body using at least one of the measured values of the second moving GPS, the predetermined position of the hull 2 is determined by the first unit. , And the second mobile GPS antennas 61 and 71 are simply set in relation to each other.
The position of the predetermined location can be easily obtained from the positioning information of S. Further, since the two data antennas 91 and 91A have a selection processing function such as space diversity for selecting and processing the received radio wave with higher intensity, data errors can be prevented. In addition, since the first and second mobile GPS antennas 61 and 71 are provided at symmetric positions in the upper part of the bow, the positions of the cutter 2A are determined symmetrically with the left and right spuds 3 and 3 which are the swing center. It can be easily performed.

The present invention is not limited to the above embodiments, and various modifications can be made within the scope of the present invention. For example, the inclination angle detecting means includes:
Various types can be used. Further, in the embodiment, a weight is used to apply tension to the wire 12, but other tensioning means may be used, and the material of the wire can be appropriately selected. Further, the depth calculation means can be incorporated in the control unit. In the embodiment, the GP
Although two GPS devices such as S receivers 60 and 70 (GPS antennas 61 and 71) are employed on the mobile station side, the present invention provides:
However, the number is not limited to three or four or more. For example, when three mobile station GPS devices are used, first to third
Is set in a predetermined positional relationship (coordinates and distance) on the hull 2, and the positional relationship information is transmitted to the positioning value monitoring unit 102.
And the first to third positions obtained by performing position processing between the GPS device on the base station side and each mobile station GPS and regarded as three true positioning values.
By obtaining the positional relationship data of the third GPS antenna and collating them with the above-mentioned respective predetermined positional relationship information, initialization with even higher accuracy becomes possible.

[0045]

According to the first aspect of the present invention, there is provided a dredger provided with a spud at the stern and a cutter at a tip side of a rudder provided at the bow, a base station having a fixed GPS installed at a known point, and A mobile station having a mobile GPS disposed on the dredger, and a differential GPS device for obtaining a positioning value of the dredger by receiving a GPS signal from a satellite with the fixed GPS and the mobile GPS. Providing a cutter position calculating means for calculating the position information of the cutter using the positioning value of the mobile GPS, wherein the mobile station is provided with a predetermined positional relationship on the dredging ship as the mobile GPS. , A second GPS, and the fixed GPS and the first mobile G
The first positioning result obtained by the initialization performed with the PS and the second positioning result obtained by the initialization performed with the fixed GPS form a predetermined positional relationship. A dredging device that is equipped with a judging means for judging whether or not the condition is satisfied. The dredging device is capable of performing initialization with high precision, reducing the number of times of reinitialization, and performing dredging while accurately measuring the cutter position. Can be provided.

Further, the invention of claim 2 is provided with an inclination angle detecting means for detecting an inclination angle of the dredger, and a depth measuring means for measuring a depth of the cutter, and performs initialization with high accuracy. In addition, it is possible to provide a dredging device capable of reducing the number of reinitializations and performing dredging while accurately measuring the cutter position.

Further, in the invention according to claim 3, the depth measuring means includes a wire having a tip connected to the ladder, a movement measuring means for measuring a moving amount of the wire by swinging the ladder, And a depth calculating means for calculating the depth of the cutter, thereby enabling initialization to be performed with high accuracy, reducing the number of re-initializations, and performing dredging while accurately measuring the cutter position. A dredging device can be provided.

[Brief description of the drawings]

FIG. 1 is a side view of a pump dredge showing one embodiment of the present invention.

FIG. 2 is a plan view of a pump dredger showing one embodiment of the present invention.

FIG. 3 is a side view of a bow of a pump dredger showing one embodiment of the present invention.

FIG. 4 is a longitudinal sectional view of a main part of a depth measuring unit showing one embodiment of the present invention.

FIG. 5 is a schematic side view of a pump dredge showing one embodiment of the present invention.

FIG. 6 is a schematic front view of a pump dredge line showing one embodiment of the present invention.

FIG. 7 shows a differential G showing an embodiment of the present invention.
It is a block diagram of a PS device.

FIG. 8 is an internal block diagram of a positioning value monitoring unit according to an embodiment of the present invention.

FIG. 9 is an explanatory diagram of a display showing a designed cross-sectional shape and a cutter depth position according to an embodiment of the present invention.

FIG. 10 is an explanatory view of a display showing an outline, a construction section, and a cutter plane position of a dredger showing one embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Pump dredger 2 Rudder 2A cutter 3 Spud 11 Movement measuring means 12 Wire 14 Depth calculating means 15 Depth measuring means 16 Incline angle detecting means 60, 70 GPS receiver (first and second moving GPS) 61, 71 GPS antenna ( First and second mobile GPS) 81 GPS antenna (fixed GPS) 100 Management system unit 101 Control unit 102 Positioning value monitoring unit (judgment unit) 200 Base station L1 Distance between first and second GPS antennas L2 First and second GPS Horizontal distance between the line connecting the antennas and the left and right center positions

────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Eitaro Kawaura 3300-3, Ninominato-machi, Minomachi, Niigata, Niigata Prefecture Honma Gumi Co., Ltd. (72) Inventor Kiyoaki Soen 1 Nishiawaji, Higashiyodogawa-ku, Osaka, Osaka No. 1-36, Tachibana High-Technology Research Institute Co., Ltd. Machi Hoshiwadai 1-10-21 (56) References JP-A-7-260482 (JP, A) JP-A 8-248114 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) ) E02F 3/90 G01S 5/14

Claims (3)

(57) [Claims] 1. A dredger provided with a spud at the stern and a cutter at a tip side of a rudder provided at the bow, a base station having a fixed GPS installed at a known point, and a mobile GPS arranged at the dredger And a mobile station having a fixed GPS and a mobile GPS.
A differential GPS device that obtains a positioning value of the dredger by receiving the positioning value of the dredging vessel by receiving a position value of the cutter by using a positioning value of the moving GPS; The station comprises, as the mobile GPS, first and second GPSs arranged in a predetermined positional relationship on the dredger, and initialization performed between the fixed GPS and the first mobile GPS. Determining means for determining whether or not the first positioning result obtained in step (1) and the second positioning result obtained by initialization performed with the fixed GPS satisfy a predetermined positional relationship. A dredging device comprising: 2. The dredging apparatus according to claim 1, further comprising: an inclination angle detecting means for detecting an inclination angle of the dredger, and a depth measuring means for measuring a depth of the cutter. 3. The depth measuring means includes: a wire having a tip connected to the ladder; a movement measuring means for measuring a movement amount of the wire by swinging the ladder; and calculating a depth of the cutter based on the movement amount. The dredging apparatus according to claim 2, further comprising: a depth calculating unit that calculates the depth.