JPH0988114A - Method of and device for controlling sand extracting hose - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an optimum posture of a sand extracting hose with respect to a depth and a suck-up angle by precisely measuring an inclined angle of the sand extracting hose. SOLUTION: Sea sand extracting ship hull 1 is incorporated on its deck with a sand extracting hole 2 which is composed of hose base members 21, 22, 23, 24 and 25, the hose base members 21 and 22 being coupled with each other by means of a swivel joints 31 while the hose base members 23, 24 and 25 being coupled together by means of swivel joints 34, 35. The hose base member 24 is provided with an underwater pump P while the hose base member 25 is provided at its front end with a suction port 4. The hose base members are connected to the front ends of wire ropes W1, W2, W3, W4 and W5 which are paid off or wound up so as to be lowered and raised. The hose base members are provided thereto with inclinometers 51, 52, 53, 54 and 55, and postures of the hose members are analyzed by analyzers.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a sand collecting hose and a device therefor, and more particularly to a method for improving sand collecting efficiency and preventing damage to the sand collecting hose in a sea sand collecting ship. The present invention relates to a sand hose control method and apparatus.

[0002]

2. Description of the Related Art With the increasing demand for aggregate for concrete, not only river sand but also sea sand is used. Sea sand sampling vessels are used to collect sea sand. The sea sand sampling ship is equipped with a sand sampling hose equipped with a submersible pump at its tip. The sand hose has an inner diameter of 22 to 26 inches and a length of 50 to 10 inches.
A 0 m steel pipe connected by a universal joint is used.

When collecting sea sand, a sand hose is submerged in the sea, and an underwater pump is operated to suck sea sand together with sea water onto a ship. The sea sand that has been sucked up is loaded onto the ship, and when it is full, it heads for landing. Therefore, increasing the sand extraction efficiency will reduce the extraction cost.

[0004] In the sand collecting work, the rope suspending the sand collecting hose is loosened, the suction port of the sand collecting hose is pressed against the sea bottom by the weight of the sand collecting hose including the submersible pump, and sea sand is sucked together with the sea water. Done. If the mouthpiece becomes parallel to the sand surface, only seawater will be sucked.

Further, if only the sea sand is sucked, the motor of the submersible pump is overloaded and the motor is damaged. When the amount of seawater is large, it takes too much time to suck up a certain amount of sea sand, resulting in poor efficiency. From the past data, it is known that the sand extraction efficiency is best when the mixing ratio of sea sand and sea water in the suctioned material is about 8: 2, and in order to realize the above-mentioned efficient mixing ratio. Is the depth at which the sand hose is installed,
It is important to adjust the attitude of the sand collecting hose including the angle of the suction port with respect to the sand surface of the seabed.

The sand collecting hose is suspended by a required number of wire ropes. Figure 1 shows how to raise and lower the sand hose.
Further, as shown in FIG. 2, it is carried out by winding or winding up a required number of wire ropes wound around a winch installed on the ship and wound around David.

[0007] When lowering the sand collecting hose, the wire rope on the front end side is fed out quickly, and the wire rope on the base end side is fed out slowly or intermittently, so that the sand collecting hose can be lowered into the sea while maintaining a straight posture. Be done. When pulling up, move in the opposite direction to when lowering.

Since the sand collecting hose is constructed by connecting steel pipes with a universal joint, excessive bending of the joint causes damage and makes sand collecting difficult. Therefore, it is important to prevent excessive bending of the joint and to raise and lower the sand collecting hose while preferably maintaining the straight state.

[Problems to be Solved by the Invention]

Conventionally, in order to prevent excessive bending of the joint and raise and lower the sand collecting hose while maintaining a straight state, conventionally, a counter measures the amount of the wire rope that suspends the sand collecting hose and a computer process is performed. The attitude of the sand hose was displayed on the screen.

In this method, when the wire rope bends or the angle changes due to ocean current or the like, the wire rope feeding amount becomes larger than the actual position of the sand collecting hose. When the sand collecting hose has a plurality of bending points, it is not rare that the position on the screen differs from the actual position by about 10 meters, and there is a problem of lacking accuracy and reliability.

Further, it is important from the viewpoint of sand collecting efficiency to quickly set the angle of the suction port with respect to the seabed. However, just by adjusting the length of the wire rope, it is not possible to know the current angle of the suction port. For this reason, it is necessary to repeat the adjustment while checking the result of sand sampling, and there is also a problem that it takes too much time before setting. In particular, if you continue sand sampling at the same location, the amount of collection will decrease, so it is necessary to move the ship with the sand sampling hose lowered to change the sampling location. Even in such a case, it is necessary to quickly set the angle of the suction port and the attitude of the sand collecting hose.

[0012] In recent years, the water depth of sand sampling tends to be deep in order to increase the efficiency of collecting sea sand. Along with this, the number of bends (degree of freedom) of the sand collecting hose increases, and the control for maintaining the attitude of the sand collecting hose becomes complicated.

Therefore, (1) improve the accuracy of confirming or controlling the attitude of the sand collecting hose, (2) improve the reliability by avoiding complication of the device, (3) excessive bending at the joint part To protect the sand collecting hose, (4)
The demand for automating the sinking of submersible pumps and sand hoses and the lifting work on the ship is increasing more than ever before. However, the above method cannot be met by the conventional method that obtains information from the amount of feeding of the rope that suspends the sand collecting hose.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to accurately read the inclination angle of the sand collecting hose so that an optimum posture regarding the depth and the suction angle can be obtained. Another object of the present invention is to prevent bending of the sand collecting hose so that the sand collecting hose can be quickly lowered to an optimum sand collecting depth while adjusting the posture of the whole sand collecting hose to improve work efficiency.

[0015]

[Means for Solving the Problems] Means for solving the above problems and achieving the object are as follows. According to a first aspect of the present invention, there is provided a method for controlling the attitude of a sand collecting hose, which comprises the depth of water at a sand collecting location, the attitude of a sand collecting hose with good suction efficiency, the angle of a suction port with respect to a sand surface, The step of pre-storing the sand collecting information in the storage means, the step of lowering the sand collecting hose via the suspension, and the step of detecting the inclination angle of the hose while the sand collecting hose is descending are obtained from the inclination angle detecting means. Compare the slope information and the sand sampling information above,
Controlling the suspension to match the sand picking information,
The method for controlling a sand collecting hose is characterized by including the following.

According to a second aspect of the present invention, there is provided a device for controlling the attitude of the sand collecting hose, wherein the device is provided with a required number of intervals in the longitudinal direction of the sand collecting hose. A tilt angle sensing means for sensing the tilt angle of the hose, a means for processing a tilt signal sent from the tilt angle sensing means by a computer to display a graphic on a monitor screen, and a tilt angle sensing means for sending the signal. Means for processing the tilt signal by a computer and controlling the suspension so as to match preset sand collecting information, and a sand collecting hose control device.

The principle of measuring the attitude of the sand hose underwater using the inclinometer will be described with reference to FIG. One inclinometer is attached to each of the node portions L1 to L5 of the sand collecting hose at a total of five locations. The inclinometer outputs the inclination of the steel pipe with respect to the direction of gravity as a current.

In the XY orthogonal coordinates of FIG. 6, the lengths of the steel pipe portions are L1 to L5, the positions of the joints are P1 to P6, and L.
The angles output from the tilt sensors on 1 to L5 are θ1 to θ5 (where θ is the angle with the direction of gravity).
Further, P1 is a fixed point of the hose, and its position is fixed.

Focusing on the right triangle P1-P2-Q1, the X coordinate of P2 is P2X = P1X + L1 × CO.
S (90−θ) Y coordinate is P2Y = P1Y + L1 × SIN (90−θ)
It is. Similarly, the positions of P2 to P6 are calculated. By processing these calculations with a computer and displaying them graphically on the monitor screen, the operator can see the submersible pump and sanding hose that are invisible under the sea as if they were picking up the whole.

If the inclination sensor cannot output for some reason such as an accident, the sand collecting hose cannot be controlled. For this reason, the amount of extension of the rope that suspends the sand collecting hose is measured in a suitable sand collecting state, and this is stored as information. Then, when a situation in which the tilt sensor cannot be output occurs, the attitude of the sand collecting hose can be controlled by setting the rope length to a feeding amount close to the stored information.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in more detail with reference to the embodiments shown in the drawings. FIG. 1 is a schematic front view of a sea sand collecting ship, FIG. 2 is a schematic plan view of FIG. 1, and FIG. 3 is an explanatory view showing a posture of a sand collecting hose lowered into water. In the figure, reference numeral 1 indicates a sea sand sampling ship body. The sea sand sampling ship body 1 is equipped with a sand sampling hose 2 on the deck.

The sand collecting hose 2 is provided with two rubber tube hose bases 21 and 22 arranged in parallel and steel pipe hose bases 23, 24 and 25 connected to each other. . The hose bases 21 and 22 are swivel joints 3.
They are connected by 1 and are formed in a U shape. Hose base 2
A hose base 23 is connected to the hose base 2
3, 24, 25 are connected by universal joints 34, 35 to form a straight line.

The hose base 24 is provided with a submersible pump P. The hose base 25 has a suction port 4 at the tip.
Is provided. In addition, the hose bases 21, 22, 2
3, 24 and 25 are attached with the ends of the wire ropes W1, W2, W3, W4 and W5 (shown in FIG. 3) wound on a winch, and are lifted or lowered by feeding or winding the wire rope.

Hose bases 21, 22, 23, 24, 25
Inclinometers 51, 52, 53, 54, and 55 are attached to each. The inclinometer outputs the inclination of the hose base body with respect to the direction of gravity. Inclinometers 51, 52, 53, 54,
The tilt information from 55 is sent to a computer, which will be described later.

4 and 5 are shown. FIG. 4 is an explanatory view showing the overall configuration of the device for controlling the attitude of the sand collecting hose, and FIG. 5 is a schematic explanatory view of the device for directly controlling the attitude of the sand collecting hose. In FIG. 4, inclinometers 51,
Illustration of 52, 53, 54, 55 is omitted, and these are collectively shown as an inclinometer 5. Inclinometer 5 (51,5
2, 53, 54, 55) has an arrester, and the inclination sensor 50 includes an arrester 56, an insulation converter 57, and an A / D.
It is connected to the computer main body 60 via the converter 58.

The inclinometer 5 is the hose base 2 with respect to the direction of gravity.
The inclinations of 1, 22, 23, 24, 25 are output. The inclinometer and the circuit are protected by the first-order lag isolation converter 57 optically isolated from the noise filter, and the inclination signal is displayed on the display 63.
It is taken in by the computer main body 60 connected to. That is, the inclinometer 5 outputs the inclination signal as a voltage,
This voltage is converted into a current, which is again converted into a voltage by the isolation converter 57. The isolation converter 57 converts an electric signal into an optical signal and further converts it into an electric signal to protect the computer from noise.

Reference numeral 7 denotes an EEROM, which stores a program which is the contents of the FD and parameters such as screen display,
It can be recorded and electrically erased. D / A converter 8
Is for moving the hydraulic system, and its output drives the actuator. Therefore, the D / A converter 8 is
It is connected to the hydraulic valve controller 10. The hydraulic valve controller 10 operates the hydraulic motor to operate the winch 11 (shown in FIG. 5) and the david 12.
A manual operation device 15 is connected to the hydraulic valve controller 10 and can be operated manually.

DIO 9 is a digital input / output, and a seating sensor 13 using a limit switch, an emergency stop switch, an automatic manual changeover switch 14 and a buzzer B are connected to the DIO 9. The buzzer B operates when the sand collecting hose is bent too much.

The volume 62 has a display 63 in advance.
Volume 6 is used to display the position of the seabed on the top.
By activating 2, the position of the seabed drawn on the display 63 moves up and down. Whether or not the sand collecting hose reaches the seabed is actually unknown, but when the sand collecting hose reaches the seabed on the display 63, it is determined that the sand collecting hose actually reaches the seabed.

The rope length measuring device 65 is composed of the wire rope W1,
It measures the payout length of W2, W3, W4 and W5, and uses a pulse counter to generate pulses from a rotary encoder (not shown) provided on the shaft of a pulley that pays out the wire ropes W1, W2, W3, W4 and W5. The length of the rope paid out is measured at 64 and the length of the rope paid out according to the number of pulses.

When the inclination sensor cannot output due to some reason such as an accident, the sand collecting hose cannot be controlled. However, the amount of wire rope W1, W2, W3, W4, W5 that suspends the sand collecting hose is measured in a suitable sand collecting state, and this is stored as information. When a situation in which the inclination sensor cannot be output occurs, the attitude of the sand collecting hose can be controlled by setting the lengths of the wire ropes W1, W2, W3, W4, and W5 to the amount of extension close to the stored information, and in an emergency Can also be used.

Operation 1. A case where the attitude of the sand collecting hose is graphically displayed on the display will be described. (1) Adjustment factors such as the length of the sand collecting hose 2 and the bending limit of the joint are read into the computer main body 60 from the external file 61. (2) A hose base 2 corresponding to each of the inclinometers 51, 52, 53, 54, 55 by taking in the inclination signal from the inclinometer 5 (51, 52, 53, 54, 55) into the computer main body 60.
The angles of 1, 22, 23, 24 and 25 are calculated.

(3) From the inclination angle, the hose bases 21, 22,
The position of the inflection point of 23, 24, 25 is calculated. (4) Positions of the hose bases 21, 22, 23, 24, 25,
That is, the attitude of the sand collecting hose 2 is graphically displayed on the display 63. (5) Check the difference in bending angle between adjacent hoses, and if the difference exceeds the limit, display an alarm on the display 63 and ring the buzzer B.

2. The case where the sand collecting hose is installed in the sea by automatic operation will be described. (1) The depth of water at the sand sampling site is preset with a knob or the like, and the sea floor is graphically displayed on the display 63.

(2) When the automatic subsidence switch is pressed, the hydraulic motor and hydraulic cylinder for driving the winch 11 and david 12 are operated in accordance with a preset procedure,
The sand hose 2 is automatically submerged from the fixed seat 19 on the ship to a specified water depth by controlling the attitude of the sand hose 2 along a predetermined route.

(3) While the sand collecting hose 2 is descending, the inclination angle of each hose base 21, 22, 23, 24, 25 is measured by the inclinometer 5.
It is captured by 1, 52, 53, 54, 55 and fed back to the computer main body 60 as position information. By doing this, it is compared whether or not the predetermined path and the attitude of the sand collecting hose are maintained, and the davit 12 and the winch 11 are operated using the proportional control hydraulic circuit output from the computer. The hydraulic valves of the davit 12 and winch 11 are analog-controlled. In this way, the sand collecting hose 2 is installed at a predetermined water depth with a predetermined inclination and at a predetermined suction angle.

When the sand collecting hose 2 is pulled up, when the automatic pulling up switch is pushed, the sanding hose 2 is pulled up from the current position to the fixed seat 19 by a route reverse to the above by the automatic operation. Whether or not the sand collecting hose 2 is seated on the fixed seat 19 is confirmed by the seat sensor 13. Needless to say, the operator can manually operate the sinking and pulling up by the main operating device 15. Further, the present invention is not limited to the above embodiment, and various modifications can be made within the scope of the claims.

[0038]

The present invention has the above-described structure and has the following effects. (1) Since the sand collecting hose is provided with the inclination angle detecting means, the inclination of the sand collecting hose can be accurately read. Thereby, the inclination information of the sand collecting hose can be compared with the optimum sand collecting information, and the optimum inclination angle regarding the depth and the suction angle of the sand collecting hose can be obtained. (2) Even if the sand collecting hose is formed by connecting a plurality of hose bases with joints, it is possible to quickly lower the sand collecting hose to an optimum depth while keeping the posture of the whole sand collecting hose, thereby improving work efficiency.

[Brief description of drawings]

FIG. 1 is a schematic front view of a sea sand sampling ship.

FIG. 2 is a schematic plan view of FIG.

FIG. 3 is an explanatory view showing a posture of a sand collecting hose lowered into water.

FIG. 4 is an explanatory diagram showing an overall configuration of a device that controls the attitude of a sand collecting hose.

FIG. 5 is a schematic explanatory view of a device for directly controlling the attitude of the sand collecting hose.

FIG. 6 is an explanatory diagram of the principle of measuring the attitude of a sand hose in water using an inclinometer.

[Explanation of Codes] 1 Sea sand sampling ship body 2 Sand sampling hose 21, 22, 23, 24, 25 Hose base 31 Swivel joint 34, 35 Universal joint P Submersible pump 4 Suction port W1, W2, W3, W4, W5 Wire Rope 5 (51, 52, 53, 54, 55) Inclinometer 50 Inclination sensor 56 Arrestor 57 Insulation converter 58 A / D converter 60 Computer main body 63 Display 7 EEROM 8 D / A converter 10 Hydraulic valve controller 11 Winch 12 David 15 Manual operating device DIO9 Digital input-output 13 Seat sensor 14 Automatic manual changeover switch 19 Fixed seat B Buzzer 62 Volume 65 Rope length measuring machine 64 Pulse counter

Claims (2)

[Claims] 1. A method of controlling the attitude of a sand collecting hose, which comprises the depth of water at the sand collecting location, the attitude of the sand collecting hose with good suction efficiency, and the sand collecting information such as the angle of the mouthpiece with respect to the sand surface. Is stored in the storage means in advance, the step of lowering the sand collecting hose via the suspension body, the inclination information obtained from the inclination angle detecting means for detecting the inclination angle of the hose while the sand collecting hose is descending, and A method for controlling a sand collecting hose, comprising the step of comparing the sand collecting information and controlling the suspension so as to match the sand collecting information. 2. A device for controlling the attitude of a sand collecting hose, wherein the device is installed in a required number at a required interval in the longitudinal direction of the sand collecting hose and senses the inclination angle of the sand collecting hose. The tilt angle sensing means, means for processing the tilt signal sent from the tilt angle sensing means by a computer to display graphically on a monitor screen, and the means for processing the tilt signal sent from the tilt angle sensing means by the computer. A device for controlling a sand collecting hose, comprising: a means for controlling the suspension so as to match preset sand collecting information.