JP7103907B2 - Dredging construction management system and dredging construction management method - Google Patents

Description

The present invention relates to a dredging construction management system and a dredging construction management method for a pump dredger.

In pump dredging using a pump dredger, the rudder attached to the bow is swung together with the hull, and the bottom of the water is excavated and dredged by the cutter provided at the tip of the rudder. It is necessary to adjust the depth of the rudder tip. Conventionally, the adjustment of the depth of the tip of the ladder is displayed in the ladder depth gauge installed in the ladder shears supporting the ladder, the positional relationship between the scale provided on the rod suspending the ladder and the water surface, or in the conventional system. The operator manually operated the rudder winch that controls the tilt angle of the rudder while checking the virtual cross-sectional view and the like. On the other hand, in the inventions disclosed in Patent Documents 1 and 2, for example, an attempt has been made to automate the control of a pump dredger including the adjustment of the rudder angle according to parameters such as the mud content of the dredged soil.

Japanese Unexamined Patent Publication No. 50-58790 Japanese Unexamined Patent Publication No. 58-69940

Here, when the depth of the rudder tip is manually adjusted by the operator as described above, the influence of the position of the rudder tip that changes due to the swing operation, the tide level near the construction range that changes from time to time, the draft of the pump dredger, etc. is taken into consideration. In order to dredge to the designed depth, the operator needs high skill and abundant experience. Further, the inventions of Patent Documents 1 and 2 have room for improvement in terms of practicality and the like.
The present invention has been made in view of the above problems, and an object of the present invention is to perform pump dredging with high accuracy regardless of the skill and experience of the operator.

(Aspect of the invention)
The following aspects of the invention exemplify the configurations of the present invention and will be described separately in order to facilitate understanding of the various configurations of the present invention. Each section does not limit the technical scope of the present invention, and while taking into consideration the best mode for carrying out the invention, some of the components of each section are replaced, deleted, or further. Those to which the above-mentioned components are added can also be included in the technical scope of the present invention.

(1) In order to construct a concave road whose side end is formed by a slope on the bottom of the water, a rudder attached to the bow so as to be swingable in the vertical direction is provided with a spud provided at the stern as the center of the concave. It is a dredging construction management system for a pump dredger that excavates the earth and sand on the bottom of the water with a cutter provided at the tip of the rudder while swinging in the width direction of the road, and sucks the excavated earth and sand with a pump and pumps it. A position measuring means for measuring the position of the pump, a tide gauge for measuring the tide level near the construction range, a plurality of sensors for measuring the posture of the pump dredger, and a calculation for managing the calculation and information necessary for the operation of the system. A management means, at least one display means for displaying at least a part of information handled by the calculation management means, and a control means for adjusting the depth of the cutter by controlling the rudder winch for swinging the rudder. In the calculation management means, the cutter management depth according to the design dredging depth of the construction range is set in advance, and the calculation management means is based on the measurement results of the position measuring means, the tide gauge, and the plurality of sensors. The position and depth of the cutter are calculated, and the control means uses the ladder winch based on the position and depth of the cutter calculated by the calculation management means and the cutter management depth set in the calculation management means. Dredging construction management system to control.

The dredging construction management system described in this section manages dredging construction in which a concave road whose side end is formed by a slope is constructed on the bottom of the water by a pump dredging vessel. In the dredging work to be managed, the rudder attached to the bow of the pump dredger so as to swing in the vertical direction is swung in the width direction of the concave road to be constructed on the bottom of the water together with the hull centering on the spud provided at the stern. At the same time, the earth and sand on the bottom of the water is excavated by the cutter provided at the tip of the rudder, and the excavated earth and sand is sucked and pumped by the pump mounted on the pump dredger. The system includes a position measuring means, a tide gauge, a plurality of sensors, an arithmetic management means, at least one display means, and a control means.

The position measuring means measures the position (planar position) of the pump dredger, the tide gauge measures the tide level near the construction range, and multiple sensors measure the posture of the pump dredger, and these measurements are used for construction. By continuously performing during the process, the latest status is always reflected in each measurement result. The calculation management means manages the calculation and information necessary for the operation of the system, and as one of the information to be managed, a cutter according to the design dredging depth (in other words, the design shape of the water bottom) of the construction range. The management depth is preset. Here, the cutter management depth indicates the depth at which the cutter should be placed in consideration of backfilling, the size of the cutter, etc. in order to dred the bottom of the water according to the design dredging depth. Based on this, it is set over the entire construction range.

Further, the calculation management means calculates the position (plane position) and depth of the cutter based on the measurement results of the position measuring means, the tide gauge, and a plurality of sensors as one of the calculations required for the operation of the system. do. At this time, the position of the cutter is measured by the position of the pump dredger measured by the position measuring means, the size of each part (hull, rudder, etc.) of the pump dredger preset in the calculation management means, and a plurality of sensors. It is calculated by taking into account the attitude of the pump dredger. The depth of the cutter is calculated from the tide level near the construction range measured by the tide gauge, the attitude of the pump dredger, the size of the ladder of the pump dredger, and the like. By continuously calculating the position and depth of the cutter during construction, the current position and depth of the cutter can be grasped in real time.

At least one display means includes a calculation result calculated by the calculation management means and various information set in the calculation management means, and displays at least a part of the information handled by the calculation management means. This display means provides the operator with up-to-date information such as the current position and depth of the cutter. The control means changes the inclination angle (swing angle) of the rudder by controlling the rudder winch mounted on the pump dredger so as to swing the rudder in the vertical direction, and the depth of the cutter provided at the tip of the rudder. Is to adjust. At this time, the control means controls the ladder winch based on the position and depth of the cutter calculated by the calculation management means as described above and the cutter management depth set in the calculation management means as described above. That is, the control means controls the ladder winch so that the depth of the cutter is equal to the cutter management depth set at the current position of the cutter.

With the above configuration, the dredging construction management system described in this section is equal to the cutter management depth set at the current position of the cutter even if the position of the cutter at the tip of the ladder changes due to the swing operation of the ladder. As such, the depth of the cutter is constantly adjusted. In other words, the depth of the cutter is always adjusted to the depth according to the cutter management depth according to the swing motion of the ladder. Therefore, for example, even if the cutter is moved to a position corresponding to the side end of the concave road by the swing operation of the ladder, the slope is formed at the side end of the concave road according to the cutter management depth set. By adjusting the depth of the cutter, a slope can be easily formed at the side edge of the concave road.

In this way, since the depth of the ladder is adjusted in real time according to the cutter control depth, the water bottom is dredged according to the design dredging depth, and the pump is dredged with high accuracy. Furthermore, since the depth adjustment of the cutter takes into account the tide level near the construction range and the posture of the pump dredger, the dredging is highly accurate, efficient and labor-saving, regardless of the skill and experience of the operator. Is to be done. In addition, the operator is relieved of the delicate rudder operation and the burden is reduced, so that depending on the situation, attention may be paid to other operations required for dredging, which also improves the accuracy of construction. Will be done.

(2) In the above item (1), the depth measuring means for measuring the current bottom depth of the construction range is included, and the calculation management means includes the water bottom depth before the construction of the construction range and the design dredging depth of the construction range. Is preset, and the construction range is divided into a plurality of rectangles for the pre-construction water bottom depth, the design dredging depth, the cutter management depth, and the current water bottom depth acquired from the depth measuring means. Dredging construction management system managed by mesh.
The dredging construction management system described in this section further includes a depth measuring means for measuring the current bottom depth (in other words, the current shape of the bottom) of the construction range, and the measurement by this depth measuring means is continued during the construction. By doing this, the latest state of the bottom shape, which changes from moment to moment due to dredging work, can be grasped.

Further, in the calculation management means, the depth of the water bottom before the construction of the construction range (in other words, the shape of the water bottom before the construction) and the design dredging depth of the construction range are preset as the information to be managed. Then, the calculation management means manages the set water bottom depth before construction, the design dredging depth and the cutter management depth, and the current water bottom depth acquired from the depth measuring means by a mesh in which the construction range is divided into a plurality of rectangles. do. That is, the water bottom depth before construction, the design dredging depth, the cutter management depth, and the current water bottom depth are all managed in units of a plurality of rectangles constituting the mesh. As a result, information on the construction range is aggregated and precisely managed, including the construction status grasped in real time by the depth measuring means, so that the management density is increased and the efficiency of finished product management is improved. be.

(3) In the above item (2), the at least one display means is selected by the operator from the water bottom depth before construction, the design dredging depth, the cutter management depth, and the current water bottom depth. The depth information is displayed as a three-dimensional depth color stereoscopic display while changing the color according to the depth , and a depth color display unit showing the correspondence between the depth and the color in the depth color stereoscopic display. A dredging construction management system (claim 1 ) that displays a display operation menu for rotating and moving the color stereoscopic display of the depth within the screen of the at least one display means .
The dredging construction management system described in this section is among the water bottom depth before construction, the design dredging depth, the cutter management depth, and the current water bottom depth, which are managed by the arithmetic management means as described in (2) above. The depth information selected by the operator is displayed by at least one display means. At this time, the display means displays the above four depths as a three-dimensional color stereoscopic display of the depth while changing the color according to the depth value. Here, since these four depths are managed by the mesh in the arithmetic management means, each depth is displayed by a colored solid for each rectangle constituting the mesh, and such rectangles are arranged to form a part of the construction range. Or the whole can be displayed . As a result, the dredging situation, which changes during construction, is included, and the information on the construction range is realistically "visualized" in three dimensions. Therefore, the dredging situation, etc. can be intuitively grasped by the operator, and the situation can be judged. It is intended to be speeded up and advanced. Further, by using at least one display means, a depth color display unit showing the correspondence between depth and color in the depth color stereoscopic display, and a display operation for rotating and moving the depth color stereoscopic display within the screen of the display means. It displays a menu.

(4) In the above item ( 3), the position measuring means is a GNSS, the depth measuring means is a multi-beam sonar, and the plurality of sensors measure the draft of the pump dredger, and the above. A dredging construction management system (claim 2 ) including an inclinometer for measuring the inclination angle of the rudder.
In the dredging construction management system described in this section, the position measuring means for measuring the position of the pump dredger is GNSS (Global Navigation Satellite System), and the depth measuring means for measuring the current bottom depth of the construction range is multi-beam sonar. By being there, these measurements are performed with high accuracy. Furthermore, multiple sensors that measure the attitude of the pump dredger include a water meter that measures the draft of the pump dredger and an inclinometer that measures the tilt angle of the rudder, so that the attitude of the pump dredger can be measured with higher accuracy. It is something to do. Then, by using the measurement results of the above-mentioned GNSS, draft meter, inclinometer, etc. for calculating the current position and depth of the cutter, the calculation accuracy is also improved.

(5) In the above (3) and (4), the dredging construction management system (claim) including the switching means for switching between the automatic control of the ladder winch via the control means and the manual control of the ladder winch by the operator. Item 3 ).
The dredging construction management system described in this section further includes automatic control of the rudder winch and switching means for switching between automatic control of the rudder winch via a control means and manual control of the rudder winch by an operator. Switching between manual control can be performed quickly and flexibly according to the situation.

(6) In the above item (5), the at least one display means has the depth of the cutter calculated by the calculation management means, the cutter management depth set in the calculation management means, and the switching means. Of the operation input display for operating, the operation input display for operating the ladder winch during manual control of the ladder winch, and the operation input display for setting the upper limit position and the lower limit position of the ladder. A dredging construction management system (claim 4 ) that displays a monitoring screen including at least one of them.
The dredging construction management system described in this section displays a monitoring screen related to ladder control by at least one display means. This monitoring screen shows the depth of the cutter calculated by the calculation management means, the cutter management depth managed by the calculation management means, the operation input display for operating the switching means described in the above item (5), and the ladder winch. It includes at least one of an operation input display for operating the rudder winch and an operation input display for setting the upper limit position and the lower limit position of the rudder in a state where is switched to manual control. By displaying such a monitoring screen to the operator, information indicating the state of the ladder is aggregated and provided, and the switching operation of the ladder control and the manual operation of the ladder winch can be easily executed.

(7) In order to construct a concave road whose side end is formed by a slope on the bottom of the water, a rudder attached to the bow so as to be swingable in the vertical direction is provided with a spud provided at the stern as the center of the concave. This is a dredging construction management method for a pump dredger that excavates the earth and sand on the bottom of the water with a cutter provided at the tip of the rudder while swinging in the width direction of the road, and sucks the excavated earth and sand with a pump and pumps it. While grasping the depth of the water bottom before construction, the design dredging depth of the construction range and the cutter control depth according to the design dredging depth are set, the position of the pump dredging vessel, the tide level near the construction range, and the pump dredging vessel. The position and depth of the cutter are measured based on the measurement results of the position of the pump dredging vessel, the tide level near the construction range, and the attitude of the pump dredging vessel. The depth of the cutter is adjusted by controlling the rudder winch for swinging the rudder based on the calculated position and depth of the cutter and the cutter management depth, and the depth of the cutter is adjusted before the construction. The water bottom depth, the design dredging depth, the cutter management depth, and the current water bottom depth are managed by a mesh in which the construction range is divided into a plurality of rectangles, and at least one display means is used to manage the water bottom depth before the construction. The depth information selected by the operator from the design dredging depth, the cutter management depth, and the current bottom depth is displayed as a three-dimensional depth color stereoscopic display while changing the color according to the depth. A depth color display unit that displays and shows the correspondence between the depth and the color in the color stereoscopic display of the depth, and a display for rotating and moving the color stereoscopic display of the depth within the screen of the at least one display means. Dredging construction management method for displaying an operation menu (claim 5 ).
The dredging construction management method described in this section has the same effect as the dredging construction management system in ( 3 ) above by being executed by the dredging construction management system in ( 3 ) above.

Since the present invention has the above-described configuration, it is possible to dredge the pump with high accuracy regardless of the skill and experience of the operator.

It is a block diagram which shows an example of the structure of the dredging construction management system which concerns on embodiment of this invention. It is an installation image figure of a part component of the dredging construction management system which concerns on embodiment of this invention. It is a side view and the plan view of the pump dredging vessel equipped with the dredging construction management system which concerns on embodiment of this invention. An example of a monitoring screen displayed by the dredging construction management system according to the embodiment of the present invention is shown. An example of a three-dimensional display displayed by the dredging construction management system according to the embodiment of the present invention is shown.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Here, detailed description of the same part or the corresponding part as in the prior art will be omitted, and the same part or the corresponding part will be indicated by the same reference numerals throughout the drawings.
The dredging construction management system 10 according to the embodiment of the present invention, of which an example of the configuration is shown in FIG. 1, manages the dredging construction by the pump dredging vessel 36 as shown in FIG. 3, for example. In the dredging work by the pump dredger 36, for example, in order to create a route leading to the harbor, a concave road extending from the harbor to the offshore side and having a side end in the width direction formed by a slope is constructed on the bottom of the water. ..

First, to briefly explain the configuration of the pump dredger 36 with reference to FIG. 3, a ladder 42 is provided on the bow, and the rudder 42 has a tip side (right side in the figure) that swings in the vertical direction. , The base end side (left side in the figure) is pivotally supported by the hull. The tip end side of the ladder 42 is suspended from the ladder shear 48 via the suspension wire 50 and the rod 52, and the suspension wire 50 is unwound and wound by the ladder winch 44 (see FIG. 2). It swings in the vertical direction with the base end side as the axis. At the tip of the ladder 42, a cutter 54 for excavating the bottom of the water and a suction port (not shown) for sucking the excavated earth and sand are provided. On the other hand, two spuds 56 (56A, 56B) are provided at the stern of the pump dredger 36, and are driven into the water bottom during the dredging work. Further, at the time of dredging construction, as shown in FIG. 3B, two swing wires 58 are stretched from the vicinity of the tip of the rudder 42 toward both sides in the width direction of the concave road (vertical direction in the figure). The tip of each swing wire 58 is fixed to the bottom of the water by an anchor or the like. The bridge is indicated by reference numeral 38 in FIG.

Then, in the pump dredging vessel 36 having the above-described configuration, the rudder 42 is tilted downward (see the virtual line) and is provided at the tip of the rudder 42 during the dredging work, as shown in FIG. 3 (a). The bottom of the water is excavated by the cutter 54, and the excavated earth and sand is sucked from the suction port at the tip of the rudder 42 by using a pump (not shown) and pumped to the sand pond on the land side through a discharge pipe (not shown). Further, excavation of the bottom of the water and suction of earth and sand are performed in a state where the rudder 42 is swung in the width direction of the concave road to be formed together with the hull of the pump dredger 36. At this time, the swing of the hull is performed by using the two swing wires 58 stretched from the vicinity of the tip of the ladder 42 with one of the two spuds 56A and 56B driven into the bottom of the water. .. For example, in the example of FIG. 3B, of the two spuds 56A and 56B, the lower swing wire 58 in the figure is wound up and the upper swing wire 58 in the figure is wound while the spud 56A is driven. By feeding out, the rudder 42 is swung downward in the figure together with the hull around the spud 56A.

Further, when the dredging work at the position where the spud 56 is currently driven is completed and the pump dredging vessel 36 is advanced, the pump dredging vessel 36 is advanced by replacing the two spuds 56A and 56B. To. For example, in the example of FIG. 3B, the spud 56A is pulled out in a state where the pump dredger 36 is swung downward in the figure until the tip of the ladder 42 exceeds the side end of the concave path formed on the water bottom. At the same time, the spud 56B is driven in, and then the pump dredger 36 is swung upward in the drawing, so that the pump dredger 36 advances slightly along the direction passing through the substantially center in the width direction of the swing.

Next, the configuration of the dredging construction management system 10 according to the embodiment of the present invention will be described with reference to FIG. For the configuration of the pump dredger 36, refer to FIG. 3 as appropriate.
As shown in FIG. 1, the dredging construction management system 10 according to the embodiment of the present invention includes a position measuring means 12, a plurality of sensors 14, a depth measuring means 16, a tide gauge 18, a calculation management means 24, and at least one display. The means 26, the control means 28, and the switching means 30 are included. The position measuring means 12 measures the position (planar position) of the pump dredger 36. In this embodiment, GNSS is used, and the antenna and receiver of the GNSS are installed at appropriate positions of the pump dredger 36. The measurement by the position measuring means 12 is continuously performed during the dredging construction, and the position information of the pump dredging vessel 36 measured by the position measuring means 12 is transmitted to the calculation management means 24.

The plurality of sensors 14 measure the posture of the pump dredger 36, and include a draft meter 14A and an inclinometer 14B in the present embodiment. The draft meter 14A measures the draft of the pump dredger 36, and as can be confirmed in FIG. 2, it can be installed at an appropriate position of the pump dredger 36 capable of measuring draft, and various draft meters can be used. can. As can be confirmed in FIG. 2, the inclinometer 14B is attached to the ladder 42 of the pump dredger 36 to measure the inclination angle of the ladder 42, and various inclinometers are used. The measurement by the plurality of sensors 14 (14A, 14B) is continuously performed during the dredging construction, and the information related to the posture of the pump dredging vessel 36 measured by these is transmitted to the calculation management means 24.

The depth measuring means 16 measures the current shape (depth) of the water bottom from the pump dredger 36. In this embodiment, a multi-beam sonar is used, and an appropriate position of the pump dredger 36 capable of measuring the shape of the water bottom. Attached to. Since the measurement by the depth measuring means 16 is continuously performed during the dredging construction, the current bottom shape of the construction range that changes during the dredging construction is transmitted from the depth measuring means 16 to the calculation management means 24. The tide level gauge 18 measures the tide level near the construction range, and as can be confirmed in FIG. 2, the solid position 20 (for example, a shore, a jetty, an artificial island, etc.) near the construction range that is not shaken by the influence of waves or the like. Will be installed in. The measurement by the tide gauge 18 is continuously performed during the dredging construction, and the tide level in the vicinity of the construction range measured by the tide gauge 18 is wirelessly transmitted to the pump dredging vessel 36 via the transmitter 22 to the pump dredging vessel 36. It is transmitted to the arithmetic management means 24 installed on the bridge 38. Various measuring devices capable of measuring the tide level are used for the tide level meter 18.

The calculation management means 24 manages various calculations and information necessary for the operation of the dredging construction management system 10, and is installed on the bridge 38 of the pump dredging vessel 36 as described above. Specifically, the arithmetic management means 24 takes in the measurement results of each of the position measuring means 12, the plurality of sensors 14 (draft meter 14A, inclination meter 14B), the depth measuring means 16, and the tide level meter 18, and manages them as information. do. Further, the calculation management means 24 is preset with the depth of the water bottom before construction of the construction range, the design dredging depth of the construction range, the cutter management depth of the construction range, the size of each part of the pump dredger 38, and the like. Data is also managed. The water bottom depth before construction is the water bottom shape of the construction range measured before construction, and the design dredging depth indicates the shape (concave road shape) to be formed by dredging, and the cutter management depth. Indicates the depth at which the cutter 54 should be finally moved in order to dredge according to the design dredging depth.

Further, the calculation management means 24 includes a water bottom depth before construction in a preset construction range, a design dredging depth in the construction range, a cutter management depth in the construction range, and a current construction range acquired from the depth measuring means 16. The depth of the water bottom is managed by a mesh that divides the construction range into multiple rectangles. That is, the construction range is divided into a plurality of rectangles having the same arbitrary size, and various depth values corresponding to the positions of the rectangles are assigned to each rectangle. For example, in the case of the design dredging depth, the cross-sectional design drawing in the direction orthogonal to the extending direction of the concave road is often shown at predetermined intervals along the extending direction of the concave road as the original data. .. Therefore, among the plurality of rectangles constituting the mesh of the construction range, first, the value of the design dredging depth shown in the cross-section design drawing is assigned to each of the rectangles of the mesh corresponding to the position of the cross-section design drawing. Further, the remaining rectangles are assigned depth values that complement the construction range not shown by the cross-section design drawings, based on the cross-section design drawings shown for the vicinity of the positions corresponding to each rectangle.

On the other hand, the depth of the water bottom before construction is usually grasped for the entire construction range by the measurement performed before construction, and the cutter management depth is calculated for the entire construction range from the design dredging depth in consideration of the size of the cutter 54 and the like. Therefore, the depth corresponding to the position of each rectangle may be assigned to the entire construction range. On the other hand, the current bottom depth is the depth corresponding to the position of each rectangle of the mesh in the range measured by the depth measuring means 16 (including not only the most recently measured range but also the already measured range) in the construction range. All you have to do is assign it.

Further, the calculation management means 24 executes various calculations based on the various information managed as described above. For example, the calculation management means 24 includes the current position of the pump dredger 36 measured by the position measuring means 12, the tilt angle of the ladder 42 measured by the tilt meter 14B, the size of each part of the pump dredger 36 set in advance, and the like. The position (planar position) of the cutter 54 is calculated based on the information of. Further, the calculation management means 24 is preset with the draft of the pump dredger 36 measured by the draft gauge 14A, the tilt angle of the ladder 42 measured by the tilt gauge 14B, and the tide level near the construction range measured by the tide gauge 18. The depth of the cutter 54 is calculated based on information such as the size of each part of the pump dredger 36. The calculation and information management by the calculation management means 24 as described above are continuously performed during the dredging construction, and a part of the calculation result and the management information is transmitted to the display means 26 and the control means 28. The calculation management means 24 can be configured by various computers.

The display means 26 is installed on the bridge 38 of the pump dredger 36 like the calculation management means 24, and displays information calculated and managed by the calculation management means 24. In the present embodiment, the two display means 26A and 26B Is designed to display different contents from each other. For example, the display means 26A displays the monitoring screen 64 as shown in FIG. 4, and the display means 26B displays the three-dimensional display 80 as shown in FIG. These display contents will be described in detail later. The display by the display means 26A and 26B is continuously performed during the dredging construction while the display contents are constantly updated to the latest information by the calculation management means 24. Various display devices can be used as the display means 26A and 26B, and may be, for example, a computer display device constituting the arithmetic management means 24.

The control means 28 adjusts the depth of the cutter 54 provided at the tip of the ladder 42 by controlling the rudder winch 44 for swinging the ladder 42 based on the information acquired from the arithmetic management means 24. Is. Specifically, the control means 28 is a ladder control panel in the present embodiment based on the position and depth of the cutter 54 calculated by the calculation management means 24 and the cutter management depth set and managed by the calculation management means 24. The control of the ladder winch 44 is executed via the 46. That is, the control means 28 controls the ladder winch 44 while checking the current depth of the cutter 54 so that the cutter 54 is arranged at a depth equal to the cutter management depth set at the current position of the cutter 54. .. The control of the ladder winch 44 by the control means 28 is continuously performed during the dredging work. The control means 28 is composed of various computers and control mechanisms capable of controlling the ladder winch 44 via the ladder control panel 46, and is installed on, for example, a bridge 38. The ladder winch 44 and the ladder control panel 46 are installed in the engine room / winch room 40 of the pump dredger 36.

The switching means 30 switches between automatic control of the ladder winch 44 via the control means 28 and manual control of the ladder winch 44 by the operator, and is operated by the operator via a monitoring screen 64 (see FIG. 4) described later. By doing so, the control method of the ladder winch 44 is switched. That is, when switching to the automatic control of the rudder winch 44, the switching means 30 switches the control system so that the rudder winch 44 is controlled via the control means 28 as described above. On the other hand, when the rudder winch 44 is switched to the manual control, the control system is switched so that the rudder winch 44 is manually controlled by the operation by the operator via the monitoring screen 64 as described later. The switching means 30 is configured by an arbitrary mechanism capable of switching the control method of the ladder winch 44, and at least a part of the configuration is installed on the bridge 38 so as to be operated by an operator.

Subsequently, FIG. 4 shows an example of the monitoring screen 64 displayed by at least one display means 26 (display means 26A in the present embodiment). The monitoring screen 64 is displayed to the operator of the bridge 38 in order to monitor the control state of the ladder 42. In the example of FIG. 4, the monitoring screen 64 has a ladder image display 66, a cutter depth display 68, a cutter management depth display 70, a switching means operation input display 72, a ladder winch operation input display 74, and an upper limit position of the ladder. The setting input display 76 of the ladder and the setting input display 78 of the lower limit position of the ladder are included. The image display 66 of the ladder displays an image of the ladder 42, and the display may be changed according to the actual movement of the ladder 42. The cutter depth display 68 displays the depth of the cutter 54 calculated by the calculation management means 24, and the cutter management depth display 70 displays the cutter management depth set in the calculation management means 24. be.

Further, the operation input display 72 of the switching means executes the switching of the control method of the ladder winch 44 by the switching means 30 by inputting the operation from the operator via an input device such as a mouse. The operation input display 74 of the ladder winch is manually operated by the operator when the operation input display 74 is switched to the manual control of the ladder winch 44 by the switching means 30, for example, through an input device such as a mouse. Is for executing. The operation input display 76 at the upper limit position of the ladder and the operation input display 78 at the lower limit position are input by an operator via an input device such as a mouse, so that the rudder winch 44 is automatically controlled and / or manually controlled. This is for setting the upper limit position and the lower limit position of the ladder 42 in the above. The monitoring screen 64 may not have a part of the display shown in FIG. 4 or may have another display not shown in FIG. 4 added.

Further, FIG. 5 shows an example of a three-dimensional display 80 displayed by at least one display means 26 (display means 26B in this embodiment). The three-dimensional display 80 is mainly displayed to the operator of the bridge 38 in order to convey the depth information managed by the arithmetic management means 24. In the example of FIG. 5, the three-dimensional display 80 includes an image display 82 of a pump dredger, a color stereoscopic display 84 of depth, a display depth switching selection unit 86, a depth color display unit 88, and a display operation menu 90. The image display 82 of the pump dredger is an image of the pump dredger 36, and the image display 82 is also displayed so as to change according to the actual swing operation of the pump dredger 36. The color stereoscopic display 84 of the depth switches the display depth among various depth information managed by the arithmetic management means 24, that is, the water bottom depth before construction, the design dredging depth, the cutter management depth, and the current water bottom depth. The depth information set via the selection unit 86 is displayed in three dimensions while changing the color according to the depth. As described above, since each of the above depth information is managed by a mesh in which the construction range is divided into a plurality of rectangles, the depth may be displayed in units of rectangles constituting the mesh by using the mesh.

The display depth switching selection unit 86 switches the depth information to be displayed on the color stereoscopic display 84 of the depth by selecting and inputting from the operator via an input device such as a mouse. In the example of FIG. 5, the "design" of the display depth switching selection unit 86 is the design dredging depth, the "field board" is the water bottom depth before construction, the "cutter depth" is the cutter management depth, and the "Sea Vision" is the current water bottom depth. Corresponds to. The depth color display unit 88 shows the correspondence between the depth and the color in the color stereoscopic display 84 of the depth, and the correspondence between the depth and the color can be arbitrarily set by the operator. The display operation menu 90 rotates or moves the color stereoscopic display 84 at least in depth within the screen of the display means 26 by being operated and input by an operator via an input device such as a mouse. The three-dimensional display 80 may not have a part of the display shown in FIG. 5, or may have another display not shown in FIG. 5 added. Further, although it is difficult to confirm in FIG. 5 because it is a black and white two-color display, at least the depth color stereoscopic display 84 and the depth color display unit 88 are displayed in colors using RGB or the like.

Here, the dredging construction management system 10 according to the embodiment of the present invention is not limited to the configurations shown in FIGS. 1 to 5, and may have another configuration. For example, the position measuring means 12 may be a measuring device other than GNSS as long as it can measure the position of the pump dredger 36, and the depth measuring means 16 can measure the current bottom depth of the construction range. If there is, it may be a measuring device other than the multi-beam sonar. Further, the plurality of sensors 14 are not limited to the configuration of the draft meter 14A and the inclinometer 14B, and may include other measuring devices as long as they measure the posture of the pump dredger 36. Further, the display means 26 may have only one configuration or three or more configurations, or a plurality of types of display screens may be switched and displayed on the same display means 26, and the number corresponding to the type of display screen. Display means 26 may be installed, and different display screens may be displayed for each display means 26. Further, in addition to the monitoring screen 64 shown in FIG. 4 and the three-dimensional display 80 shown in FIG. 5, the display means 26 displays a plane guide diagram, a cross-section guide diagram, and the like as displayed in the conventional system. May be good.

Now, according to the embodiment of the present invention having the above configuration, it is possible to obtain the following effects. That is, as shown in FIGS. 1 and 2, the dredging construction management system 10 according to the embodiment of the present invention includes a position measuring means 12, a tide gauge 18, a plurality of sensors 14 (14A, 14B), and a calculation management means 24. , At least one display means 26 (26A, 26B), and a control means 28. The position measuring means 12 measures the position (planar position) of the pump dredger 36, the tide gauge 18 measures the tide level near the construction range, and the plurality of sensors 14 measure the posture of the pump dredger 36. By continuously performing these measurements during construction, the latest status is always reflected in each measurement result. The calculation management means 24 manages the calculation and information necessary for the operation of the dredging construction management system 10, and as one of the information to be managed, the design dredging depth of the construction range (in other words, the design shape of the water bottom). The cutter management depth according to the above is set in advance.

Further, the calculation management means 24 is a position (plane surface) of the cutter 54 based on the measurement results of the position measuring means 12, the tide gauge 18, and the plurality of sensors 14 as one of the calculations required for the operation of the dredging construction management system 10. Position) and depth are calculated. At this time, the position of the cutter 54 is the size of each part (hull, rudder, etc.) of the pump dredger 36 preset in the calculation management means 24 at the position of the pump dredger 36 measured by the position measuring means 12. It is calculated by taking into account the posture of the pump dredger 36 measured by the sensor 14 of the above. The depth of the cutter 54 is calculated from the tide level near the construction range measured by the tide gauge 18, the posture of the pump dredger 36, the size of the ladder 42 of the pump dredger 36, and the like. By continuously calculating the position and depth of the cutter 54 during construction, the current position and depth of the cutter 54 can be grasped in real time.

At least one display means 26 includes the calculation result calculated by the calculation management means 24 and various information set in the calculation management means 24, and displays at least a part of the information handled by the calculation management means 24. be. The display means 26 can provide the operator with up-to-date information such as, for example, the current position and depth of the cutter 54. The control means 28 changes the inclination angle (swing angle) of the ladder 42 by controlling the rudder winch 44 mounted on the pump dredger 36 so as to swing the ladder 42 in the vertical direction, and causes the rudder 42 to swing at the tip of the rudder 42. The depth of the provided cutter 54 is adjusted. At this time, the control means 28 is a ladder winch based on the position and depth of the cutter 54 calculated by the calculation management means 24 as described above and the cutter management depth set in the calculation management means 24 as described above. Control 44. That is, the control means 28 controls the ladder winch 44 so that the depth of the cutter 54 is equal to the cutter management depth set at the current position of the cutter 54.

With the above configuration, the dredging construction management system 10 according to the embodiment of the present invention is set to the current position of the cutter 54 even if the position of the cutter 54 at the tip of the ladder 42 changes due to the swing operation of the ladder 42. The depth of the cutter 54 is always adjusted so as to be equal to the control depth of the cutter. In other words, the depth of the cutter 54 can always be adjusted to the depth according to the cutter management depth by following the swing operation of the ladder 42. Therefore, for example, even if the cutter 54 is moved to a position corresponding to the side end of the concave road constructed on the water bottom by the swing operation of the ladder 42, the slope is set to be formed at the side end of the concave road. By adjusting the depth of the cutter 54 according to the management depth of the cutter, it is possible to form a slope at the side end of the concave road without difficulty.

In this way, since the depth of the ladder 42 can be adjusted in real time according to the cutter control depth, the water bottom can be dredged according to the design dredging depth, and pump dredging can be performed with high accuracy. Further, since the depth adjustment of the cutter 54 takes into account the tide level near the construction range and the posture of the pump dredger 36, it is highly accurate, efficient and labor-saving without being influenced by the skill and experience of the operator. You can perform dredging. In addition, the operator is relieved of delicate rudder operations and the burden is reduced, allowing the operator to pay attention to other operations required for dredging depending on the situation, which also improves the accuracy of construction. It becomes possible.

Further, the dredging construction management system 10 according to the embodiment of the present invention further includes a depth measuring means 16 for measuring the current bottom depth of the construction range (in other words, the current shape of the water bottom), and the depth measuring means. By continuously performing the measurement according to No. 16 during the construction, it is possible to grasp the latest state of the bottom shape that changes every moment due to the dredging work. Further, in the calculation management means 24, the depth of the water bottom before the construction of the construction range (in other words, the shape of the water bottom before the construction) and the design dredging depth of the construction range are preset as the information to be managed. Then, the arithmetic management means 24 is a mesh in which the construction range is divided into a plurality of rectangles by dividing the set pre-construction water bottom depth, design dredging depth and cutter management depth, and the current water bottom depth acquired from the depth measuring means 16. Manage with. That is, the water bottom depth before construction, the design dredging depth, the cutter management depth, and the current water bottom depth are all managed in units of a plurality of rectangles constituting the mesh. As a result, it is possible to collect and precisely manage the construction range information including the construction status grasped in real time by the depth measuring means 16, so that the management density can be increased and the efficiency of finished product management can be improved. It becomes possible to plan.

Further, in the dredging construction management system 10 according to the embodiment of the present invention, the position measuring means 12 for measuring the position of the pump dredging vessel 36 is GNSS, and the depth measuring means 16 for measuring the current bottom depth of the construction range is multi. If it is a beam sonar, these measurements can be performed with high accuracy. Further, a plurality of sensors 14 for measuring the posture of the pump dredger 36 include a draft meter 14A for measuring the draft of the pump dredger 36 and a tilt meter 14B for measuring the tilt angle of the rudder 42. The posture can be measured with higher accuracy. Then, by using the measurement results of the above-mentioned GNSS, draft meter 14A, tilt meter 14B, etc. for calculating the current position and depth of the cutter 54, the calculation accuracy can also be improved.
Further, by including the switching means 30 for switching between the automatic control of the ladder winch 44 via the control means 28 and the manual control of the ladder winch 44 by the operator, the automatic control of the ladder winch 44 and the switching of the manual control can be performed. It can be executed quickly and flexibly according to the situation.

In addition, the dredging construction management system 10 according to the embodiment of the present invention displays the monitoring screen 64 related to the control of the ladder 42 by at least one display means 26, for example, as shown in FIG. The monitoring screen 64 shows the depth of the cutter 54 calculated by the calculation management means 24 (cutter depth display 68), the cutter management depth managed by the calculation management means 24 (cutter management depth display 70), and the switching means 30. Operation input display 72 for operating the rudder winch 44, operation input display 74 for operating the rudder winch 44 with the rudder winch 44 switched to manual control, and setting the upper limit position and the lower limit position of the ladder 42. It includes at least one of the operation input displays 76 and 78. By displaying such a monitoring screen 64 to the operator, information indicating the state of the ladder 42 can be aggregated and provided, and the control switching operation of the ladder 42 and the manual operation of the ladder winch 44 can be easily performed. Can be run on.

Further, the dredging construction management system 10 according to the embodiment of the present invention is at least one of the pre-construction water bottom depth, the design dredging depth, the cutter management depth, and the current water bottom depth managed by the arithmetic management means 24. One is displayed by at least one display means 26, for example, as in the color stereoscopic display 84 at the depth of the three-dimensional display 80 shown in FIG. At this time, the display means 26 displays the above four depths in three dimensions while changing the color according to the value of the depth. Here, since these four depths are managed by the mesh in the arithmetic management means 24, each depth is displayed by a colored solid for each rectangle constituting the mesh, and such rectangles are arranged to be one of the construction ranges. All you have to do is display the part or the whole. Further, the depth selected by the operator among the four depths may be displayed by using the display depth switching selection unit 86 or the like shown in FIG. As a result, the information on the construction range can be realistically "visualized" in three dimensions, including the dredging situation that changes during construction, so that the operator can intuitively grasp the dredging situation, etc., and judge the situation. It is possible to speed up and improve the technology.
The dredging construction management method according to the embodiment of the present invention is executed by the dredging construction management system 10 according to the above-described embodiment of the present invention, thereby exhibiting the same effect as the dredging construction management system 10. be able to.

10: Dredging construction management system, 12: Position measuring means (GNSS), 14: Multiple sensors, 14A: Water meter, 14B: Tilt meter, 16: Depth measuring means (multi-beam sonar), 18: Tide meter, 24: Calculation management means, 26 (26A, 26B): Display means, 28: Control means, 30: Switching means, 36: Pump dredger, 42: Ladder, 44: Ladder winch, 54: Cutter, 56 (56A, 56B): Spud , 64: Monitoring screen, 68: Cutter depth display, 70: Cutter management depth display, 72: Switching means operation input display, 74: Ladder winch operation input display, 76: Ladder upper limit position operation input display, 78: Operation input display of the lower limit position of the ladder, 80: Three-dimensional display, 84: Color stereoscopic display of depth

Claims (5)

In order to construct a concave road whose side end is formed by a slope on the bottom of the water, a rudder attached to the bow so as to be swingable in the vertical direction is provided, and the width of the concave road together with the hull is centered on a spud provided at the stern. It is a dredging construction management system for a pump dredger that excavates the earth and sand on the bottom of the water with a cutter provided at the tip of the rudder while swinging in the direction, and sucks the excavated earth and sand with a pump and pumps it.
A position measuring means for measuring the position of the pump dredger, and
A tide gauge that measures the tide level near the construction range and
A plurality of sensors for measuring the attitude of the pump dredger, and
A calculation management means that manages the calculation and information necessary for the operation of the system, and
At least one display means for displaying at least a part of the information handled by the calculation management means, and
A control means for adjusting the depth of the cutter by controlling the rudder winch for swinging the rudder is included.
In the calculation management means, the cutter management depth is set in advance according to the design dredging depth of the construction range, and the position of the cutter and the position of the cutter are set based on the measurement results of the position measuring means, the tide gauge, and the plurality of sensors. Calculate the depth and
The control means controls the ladder winch based on the position and depth of the cutter calculated by the calculation management means and the cutter management depth set in the calculation management means.
Including depth measuring means to measure the current bottom depth of the construction area
In the calculation management means, the water bottom depth of the construction range before construction and the design dredging depth of the construction range are preset, and the water bottom depth before construction, the design dredging depth, and the cutter management depth of the construction range are set. The current bottom depth obtained from the depth measuring means is managed by a mesh in which the construction range is divided into a plurality of rectangles.
The at least one display means displays depth information selected by the operator among the pre-construction water bottom depth, the design dredging depth, the cutter management depth, and the current water bottom depth according to the depth. While changing the color, it is displayed as a three-dimensional depth color stereoscopic display, and the depth color display unit showing the correspondence between the depth and the color in the depth color stereoscopic display and the depth color stereoscopic display are displayed at least one of the above. A dredging construction management system characterized by displaying a display operation menu for rotating and moving within the screen of one display means . The position measuring means is GNSS.
The depth measuring means is a multi-beam sonar.
The dredging construction management system according to claim 1 , wherein the plurality of sensors include a draft meter for measuring the draft of the pump dredger and an inclinometer for measuring the tilt angle of the rudder. The dredging construction management system according to claim 1 or 2 , further comprising a switching means for switching between automatic control of the ladder winch via the control means and manual control of the ladder winch by an operator. The at least one display means includes a depth of the cutter calculated by the calculation management means, a cutter management depth set in the calculation management means, an operation input display for operating the switching means, and the above-mentioned. A monitoring screen including at least one of an operation input display for operating the ladder winch and an operation input display for setting the upper limit position and the lower limit position of the ladder during manual control of the ladder winch. The dredging construction management system according to claim 3 , characterized in that it is displayed. In order to construct a concave road whose side end is formed by a slope on the bottom of the water, a rudder attached to the bow so as to be swingable in the vertical direction is provided, and the width of the concave road together with the hull is centered on a spud provided at the stern. This is a dredging construction management method for a pump dredger that excavates the earth and sand on the bottom of the water with a cutter provided at the tip of the rudder while swinging in the direction, and sucks the excavated earth and sand with a pump and pumps it.
The depth of the water bottom before construction of the construction range is grasped, and the design dredging depth of the construction range and the cutter management depth according to the design dredging depth are set.
The position of the pump dredger, the tide level near the construction range, the attitude of the pump dredger, and the current bottom depth of the construction range were measured.
The position and depth of the cutter are calculated based on the measurement results of the position of the pump dredger, the tide level near the construction range, and the posture of the pump dredger.
The depth of the cutter is adjusted by controlling the ladder winch for swinging the ladder based on the calculated position and depth of the cutter and the cutter management depth.
The water bottom depth before construction, the design dredging depth, the cutter management depth, and the current water bottom depth are managed by a mesh in which the construction range is divided into a plurality of rectangles.
Using at least one display means, the depth information selected by the operator among the pre-construction water bottom depth, the design dredging depth, the cutter management depth, and the current water bottom depth is converted into a depth. While displaying as a three-dimensional depth color stereoscopic display while changing the color accordingly, the depth color display unit showing the correspondence between the depth and the color in the depth color stereoscopic display and the depth color stereoscopic display are described above. A dredging construction management method comprising displaying a display operation menu for rotating and moving within the screen of at least one display means .

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