JPS5880035A - Method and apparatus for displaying locus of cutter of pump dredger - Google Patents

Abstract

PURPOSE:To exactly grasp the position of a cutter device by measuring the moving length of the metering wire for the dredging depth, the inclined angle of the hull, the inclined angle of a spud, and the swing angle of the hull. CONSTITUTION:The hull 3 of a dredger is swung over the swing angle of a spud driven into the bottom under water. A cutter 6 and a suction mouth 8 are attached to the tip of a ladder 1 pivotally and in a vertically rocking manner provided to the hull 3, and a ladder-hanging wire rop 5 and a dredging depth-measuring wire rope 9 are attached to near the tip of the ladder 1. By measuring the moving length of the rope 9, the inclined angle of the hull 3, the inclined angle of the spud, and the swing angle of the hull 3, the dredging depth of the cutter 6, the switch moving amount of the spud, and the distances between the spud and the cutter 6 are calculated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for displaying the accurate position of a cutter device as a locus during dredging operations of a pump dredger, and more specifically, the invention relates to a method and a device for displaying the accurate position of a cutter device as a locus during dredging operations of a pump dredger, and more specifically, the present invention relates to a method and a device for displaying the accurate position of a cutter device as a locus during dredging work of a pump dredger. , remove calculation errors caused by heel, spud inclination, etc., calculate the exact position of the cutter device,
The present invention relates to a cutter trajectory display device for a pump dredger that displays this as a trajectory.

Dredging work using a pump dredger is carried out by operating a cutter, swing winch, ladder winch, etc., but since the cutter and suction mouth are below the water surface, it is difficult to ascertain their exact positions. The conventional measurement method and problems will be described below.

As shown in Figures 1 and 2, the dredging depth of the cutter is determined by measuring the distance between the horizontal line (or vertical line) and the rudder (α) using the angle meter (c) installed on the rudder (α) or on the trunnion (bl).
This is calculated using the angle e and the rudder length f, but in normal dredgers, the rudder length reaches 40 to 50 m, so a small angle measurement error can lead to a large depth error. will occur. In addition, since the rudder angle is measured at the position where the angle meter C is installed, when the cutter lands on the seabed, the rudder (α) is deflected as shown by the two-dot chain line, and the measured value of the angle meter C becomes e', which causes a depth error. arise. Also, vibration of the ladder during excavation increases measurement errors.

The trim and heel angles of the hull are determined using a separately provided angle meter, but angle measurement errors occur due to the shaking of the hull and vibrations during dredging, making it difficult to determine accurate trim and heel angles.

In addition, as shown in Figure 3, in a dredger equipped with spuds (y) and (Al) that moves forward by alternately replacing the spuds (gl (A)), the swing angle ψ and the spud (g) (between A1 The amount of advance in the direction of the hull centerline (arrow k) is determined by the interval 2xST, but this amount of advance and the amount of movement of the cutter position is S・Krad (g) 9m
) changes depending on the slope. The inclination of the spud (σ) (h) is caused by the inclination of the hull when driving the sud (tt) (h) into the seabed or by external force during swing, so the planned forward amount and the actual forward amount are different. An error occurs between
Moreover, the position of the cutter will deviate from the planned forward direction of dredging. Additionally, if the spud is tilted due to external force such as cutter reaction force during dredging work, the cutter position may shift.
The exact position of the cutter cannot be determined.

In addition to the above, when measuring the cutter depth, one water meter is installed on the extension of the trunnion center axis to eliminate the influence of trim, but the influence of the heel is not taken into account, and the flat surface of the cutter Since the position is not displayed, the cutter may shift toward the bow and stern, and the 21st
There were drawbacks such as not being able to tell even if there was a problem (see figure).

The present invention eliminates the above-mentioned drawbacks and provides a method and device for grasping the exact position of a cutter device under water and displaying the grasped result, and also provides control guidelines using the display device. This was done to improve the dredging accuracy and dredging efficiency of pump dredgers, and also to provide a foothold for automatic dredging and save labor in dredging work. In a pump dredger that performs dredging work by swinging a Calculating the dredging depth of the cutter device, the amount of movement of the spud due to spud replacement, and the distance at each swing angle from the spud position to the cutter device, and determining the trajectory of the cutter device based on the calculated values, The present invention relates to a method and apparatus for displaying a cutter trajectory of a pump dredger, characterized in that the trajectory is displayed.

Embodiments of the present invention will be described below based on the drawings.

The method for measuring dredging depth is shown in Figures 4 and 5. The rudder (1) of the dredger is located either in the rudder country (2) or in the hull (
3) is suspended via a wire rope for lifting the ladder (5) by a ladder winch (4) installed on top of the ladder.

A cutter (6) is equipped at the tip of the rudder (1), and the rudder (1) rotates around the trunnion (7). A suction mouth (dredging suction port) (8) is also installed near the cutter (6).

The wire rope for dredging depth measurement (9) has one end attached to the ladder (
1), and the other end has a 1-hook (A) with appropriate weight.
is attached so that the wire rope (9) moves in accordance with the movement of the ladder (1). The wire rope (9
) is stretched through a sheep (2), and a dredging depth transmitter (13) is attached to the sheep (2) to measure the amount of movement of the wire rope (9).

As shown in FIG. 5, a straight line 102 passing through the center 101 of the trunnion (7) and parallel to the hull (3),
) is the angle formed by the straight line 104 connecting the center 101 of the cutter (6) and the center 103 of the tip of the cutter (6).

Here we are:) Center 101 of Runion (7) and Sheep α
Length L2 of the straight line 105 connecting η: Distance between the center 101 of the trunnion (7) and the point 106 where the dredging depth measurement wire rope (9) is attached to the ladder (1) L3: Between the sheep αp and the point 106 Distance θ1: Angle θ2 between the straight line 107 connecting the center 101 of the trunnion (7) and the point 106 and the straight line 104; An angle created by the straight line 102 and the straight line 105 connecting the center 101 of the trunnion (7) and the sheep αυ be. The above-mentioned glue, L-+, θ1, and θ2 are all unique values determined for each dredger, and %L3 is the value measured by the transmitter α that detects the amount of movement of the wire rope (9) for measuring dredging depth. It is. Furthermore, if the angle that the straight line 104 makes with the straight line 110 connecting the center 109 of the suction mouse (8) and the center 101 of the trunnion is θ, then the angle made by the straight line 102 and the straight line 110 is expressed as (θ+♂). However, this is also a unique value determined for each dredger. Furthermore, calculate the distance from the center 101 of the trunnion (7) to the center 103 of the tip of the cutter (6), and
If the distance from 01 to the center 109 of the suction mouth (8) is L, the depth of the center 109 of the cutter (6) and the suction mouth can be found from the above θ, (θ + θ'), L, and L'. can.

Next, we will discuss how to measure trim, heel, and hiccups. As shown in Figures 6 and 7, the trim angle α and the heel angle β are measured using the water swamp needles 04 (C) (To) Q installed on the hull (3), and the trunnion (
7) The center 101. The stuttering d at the midpoint 113 of 101
Calculate. The trim and heel values are calculated using the following equations.

Here, α takes a positive value when trimming the stern and a negative value when trimming the bow. Further, β takes a positive value when the ship is trimmed to the port side (when the hull (3) is tilted to the port side), and takes a negative value when the ship is trimmed to the starboard side. Center position 10 of trunnion (7)
The hiccup d at the midpoint 113 of 1.101 is Bst (d31- da2) B3□+133. ” dat expression (4
) Runion center 10. Intersection point 11 of straight lines passing through i, 101
1 indicates hiccup, and d4 is the hiccup needle (g) and a'? ) and the center 101 of the trunnion (7). 7'a2 represents the distance between the midpoint 113 of the trunnion and the point 111, and β, 1 represents the The hiccup d at the midpoint 113 of the trunnion (7), which indicates the distance between the midpoint 113 and the point 112, was obtained by equipping with four hiccup needles, but it is also possible to find it using three hiccup needles. It is.

Next, we will discuss how to find the slope of the spud.

The inclination of the spud (1) was measured using a spud inclination distance meter W (c) (c) attached to the trim, heel and spud keeper Qυ, as shown in Figures 8 to 10. Determined by distance, trim and heel measured using a hiccup needle. The spud α is similarly determined using the spud inclination distance meter (to) 0 to (2) equipped on the spud keeper @ (c), trim, and heel. In the gap between the spud keeper and the spud keeper Qυ, in the distance parallel to the hull centerline (arrow 132),
is measured by the spud inclination distance meter (c), and the distance in the direction perpendicular to the hull centerline (arrow 135) is measured by the spud inclination distance meter @. Similarly spud (a)
In the gap between the and spud keeper (A), the distance in the direction parallel to the hull centerline (arrow 132) is measured using the spud slope range meter (c), and the distance in the direction perpendicular to the hull centerline (arrow 13) is measured.
5) Distance 8 is measured using a spud slope distance meter. The difference between the people and the keeper measured as described above and the keeper (
The angle Δα in the direction of the hull center line between the spud (E) and the hull (3) from the distance KD from the top surface of the spud keeper (A) to the bottom surface of the spud keeper (A) is Δα= tar; ' (K5-, ) / KD It is determined by Similarly, the angle Δβ perpendicular to the hull centerline
is determined by Δβ=tba'' (K!l-K4)/KD.

On the other hand, the trim angle α and heel angle β of the hull (3) are determined by the above equations (2) and (3), so the inclination angle of the spud head toward the hull center is determined by (α − Δα), and the hull center line The inclination angle in the direction perpendicular to can be determined by (β-Δβ). The slope of the spud α can be found in the same way.

Next, we will discuss how to find the cutter position in the dredging forward direction. As shown in FIG. 8 (4) to FIG. 11, if the tip position 114 of the spud (E) is the origin and the dredging forward direction is the Z axis, the position of the cutter (6) in the Z axis direction is: )= (-Δ)+H-coaα+L-co8(θ-α>)
co8ψ−z·8ifLψ It is expressed by equation (9). Here, ΔJ is the amount by which the hull (3) shifts in the bow and stern direction due to the inclination of the driven spud (E) (see Figure 8).
5)).

Δ)=SP-ta%(α-Δα). Here, SP indicates the depth of the spud, that is, the distance from the tip of the spud (1) to the intermediate position of the spud keeper (1), and is expressed by a linear equation.

＼K Total length of SPD varnish pad holder Height from the top of SP varnish pad keeper (C) to the top edge cloth of spud (A) KD Height from the top of varnish pad keeper (C) to the bottom of spud keeper (2) The SF5 is measured using a scale provided on the spud, that is, a spud depth meter (manufactured). In addition, in formula (9), L: from the center 101 of the trunnion (7) to the cutter (6)
The distance ψ to the tip center 103 of the spanned wing is the swing angle (the angle formed by the Z axis and the straight line 136 passing through the tip of the spanned wing and parallel to the center line of the hull (3)), and the swing angle ψ is Measure using the equipped gyro compass (b). Furthermore, in equation (9), the center 1 of the tip of the spud and the tip of the cutter (6)
The deviation z' of 03 (see Figure 11) is z=sT-coaβ-Δz+L・gin(θ-α)os
It is expressed as inβ. Here, ST: Distance Δ2 from the center of the hull (3) to the center of the skid keeper (B) The amount by which the hull (3) shifts in the port and starboard direction due to the inclination of the varnish pad (A) (Figure 8 (Bl) Δw=sP-ta% (β-Δβ) Next, find the position of the tip center 105 of the cutter (6) in the direction perpendicular to the dredging forward direction.In FIG. Let the direction perpendicular to the Z axis be Y
If the axis is = (-Δ) + Hacosa + LIlco8 (θ-α)
) aj%ψ+z”cosψ It is expressed by equation (K). As shown in equation (9) 1 (g), the cutter tip center 103 is
The plane position of can be determined from the trim, heel, spud inclination, spud depth, swing angle, and the angle between the horizontal line and the rudder, that is, the elevation angle. In the above explanation, ΔJ1 and Δ2 were calculated at level 136 at the intermediate position of the spud keeper, but trim and heel corrections based on the height difference CT between level 136 at the intermediate position of the spud keeper and level 137 at the center of the trunnion were calculated. If you add more, the accuracy will be higher.

Next, we will discuss how to determine the dredging depth.

In Figure 8, the dredging depth direction is the Y axis, and the reference water surface 1
15 (For water areas with tidal level fluctuations, the water surface is a publicly established reference water surface, and the depth from the actual water surface (1071 is rarely lower than the reference water surface) to the center 109 of the suction mouth (8). 1.The reason why the tip center 103 of the cutter (6) or the lower end of the cutter (6) is not set as the dredging depth is because there is a risk of sucking up excavated soil compared to the center 109 of the suction mouth (8).Dredging depth V
is expressed by the following equation.

y = (L・5is(θ+θ−α)−dT”cott
α)・ω8β+d−T formula αη Here L: Distance from the center 101 of the trunnion (7) to the center 109 of the suction mouth (8); From the bottom of the hull (3) to the center 10 of the trunnion (7)
1 Height T: Tide level As shown in Figure 12, the tide level T is determined by transmitting the tide level signal obtained from the tide gauge (to) installed on the coast or the sea using a telemeter transmitter (to), Receive with the telemeter receiver (b) installed above. As shown in equation aυ, the dredging depth is trim, heel, dredge, suction mouth (8)
It can be determined by knowing the angle of elevation and elevation, and by making corrections using a tide gauge, the degree to which the cutter (6) has reached the seabed to be excavated can be determined, regardless of the height of the sea surface on which the dredger is floating. can do.

Next, we will discuss how to calculate the amount of spud movement when the dredger moves forward by replacing the spud.

When the dredger moves forward to move on to the next dredge, it moves forward by swinging the port and starboard spuds alternately. In Figures 13 and 14, when driving the spud (E) and lifting the spud α to move forward during dredging, swing in the port direction (arrow 154) by an angle ψ.
At this position, hit spud a groan and then spud (ho) to S top kel.

In this state, the swing is made by ψ2 in the opposite direction (arrow 135), the spud is driven in at this position, and the spud α is then lifted. Next, 93 towards the port side (arrow 1
When you swing to 36), it will become a ship. ``In a normal dredger, it is often swung so that ψ1 = ψ2/! = ψ3. However, if the hull (3) is tilted due to trim and heel, the spud α will not be vertical. It is driven in a diagonal direction to the line, and the amount of advance is different from the planned advance amount, or the advance direction is deviated from the planned advance direction.

The method and device of the present invention are characterized by the position of the tip of the spud OI (a) when the spud Ql) is driven in at an angle, the displacement of the hull (3) based on the inclination of the spud after swinging, and the Calculate the spud tip position. In FIG. 15, reference numeral 116 shows a state in which the spud rod is driven in and the spud Ql is raised. From this state, the spud is swung to the port side by ψ1 with the spud as the center, and the state in which the spud α field is driven is designated as 117. Next, from this state 117, lift the spud (117) and swing it to starboard by ψ2 centering on the Smed α field, and drive the spud rod into the state 11
8.

FIG. 16 shows the position of the tip of spud A in state 117. Now, the tip position of the spud wire is (Jl,
2. ) (symbol 114). In FIG. 16, for convenience of explanation, it is assumed that (, h , Zl ) are located at the origins of the two axes and the X axis. Position the tip of the spud 0 groan 2. f) then 1, h=-(2nd edition, cosβl18i%ψ+)l')+7
2 Formula (2) z2=2ST-CO8β"cosψ-
,;+,; It is expressed by the formula (to).

At this point, lift up the spud kiln, swing with one spud as the axis, and then drive the spud kiln again to get to state 118.
The position of the tip of the spud when it moves to () 3t m3
). As shown in Fig. 17, the position of the spud kiln is 0tsZ+) from (symbol 114) ()ss xs
) to move. Spud α tip position (72% 1
2) remains unchanged. This state 118 is due to the inclination of the spud OI. The amount of deviation between the tip position of the spud Q'l and the intermediate position of the spud keeper (E) and the spud keeper (E) is J2 and z2, respectively. The deviations between the intermediate positions of and) are J3 and x3, respectively. The aforementioned deviation amount, 22%ffi*s
)s and z3' are the spud inclination distance meter (e)(c)(
It can be determined from Δi, ΔZ2hΔJ3, and Δz3 determined by the trim, heel, and spud depth gauges using the water meter.

Therefore, the tip position of the spunt in state 118 (Js
, zs ) is), = 2 ST' call・sixψ−22+72
"is formula a<23 = -(2s'r-eos
β coaq) + q2 ) + z2+ It is expressed by the J formula α coaq) + q2 ) + z2+. (JsbZ3) obtained by formula Q4 (g) and fin -
The difference from z+) indicates the amount of movement of the spud (e), and this amount of movement can be determined from the inclination of the bass bud (e), the heel of the hull, and the swing angle. In addition to a dredger that moves forward by alternating two spuds, it is also possible to determine the amount of spud movement for a dredger that has a spud carriage, taking into account the inclination of the spud during forward movement.

To summarize what has been said above, the dredging depth is determined by using a wire rope for measuring dredging depth attached near the tip of the rudder to eliminate errors caused by the deflection of the conventional rudder, and by using the 2〇η to measure the inclination of the ship. It is possible to determine the dredging depth taking into consideration. In addition, the plane position of the cutter is calculated using formula Q4 and formula (g).
By combining two calculation operations: finding the spud tip position when the spud is replaced and moving forward, and using equation (9) and αQ to find the cutter position at an arbitrary swing angle with respect to the spud tip position, it is almost continuous. Moreover, this trajectory was determined by taking into account the inclination of the hull and the spud. Therefore, by combining this with the above-mentioned dredging depth, it is possible to obtain a three-dimensional trajectory with extremely high accuracy.

Next, the display device will be described. The display device displays preset setting conditions based on the dredging plan, a computer (up to) that calculates the position and depth of the cutter device based on various constants and measurement data related to the dredger and the above-mentioned calculation formula, and a computer (to be described later). A display device (2) such as a CRT, which displays the above-mentioned setting conditions and calculation results according to the display instructions, and an X-
It consists of a recording device such as a Y-Putter, etc.

The display device (2) is configured to display set values, display a planned dredging cross-sectional view and a plan view, display the locus of the cutter device, that is, a dredging cross-sectional view and a plan view, and display the cutter ± position.

Each display will be explained below.

The setting value display displays the setting values that define the planned dredging cross section and plan view, and also displays the positions of the main spud (the spud head in the above explanation), the center of the cutter tip 103, and the center of the suction mouse 1o9 as the origin, i.e. It is expressed as the distance from the predetermined position before the start of dredging.

Planned dredging cross section (Figure 18) and dredged plan (Figure 1)
Figure 9) is a graphical representation of the aforementioned setting values.

In Fig. 18, folds 11 to 119 indicate the reference water surface of the planned dredging section. Note that in order to display the sloping part widely, it is convenient to be able to set the scale scales of the horizontal part and the slanted part to arbitrary values, or to be able to select from several scale scales. Figure 19 shows a plan view of the dredging plan.

In the figure, the X-axis indicates the forward direction of dredging, the X-axis indicates the coordinate axis perpendicular to the forward direction, the portion between lines 122 and 122 represents a horizontal portion, and the portion between lines 122 and 123 and @ 122 and 125 represents an inclined portion. The scale scale of the inclined part and the horizontal part in the X-axis direction shall be the same as the scale scale selected in the planned dredging cross section. Furthermore, it is convenient to be able to set the scale scales in the two-axis directions arbitrarily, or to be able to select one of several scale scales.

The cutter trajectory display is the cutter (6) determined by calculation.
The tip center position 103 of the suction mouse (8) and the center position 109 of the suction mouse (8) are displayed as a trajectory on the screen showing the dredging plan view (N20 drawing) and cross-sectional view (not shown), respectively. Said position 103.1 (
J9 may be displayed as data. Also, the screen showing the trajectory is
The planned dredging cross section (Fig. 18) and plan view (Fig. 19) may be displayed on a separate screen, or may be displayed overlappingly on the same screen, or the planned dredging drawing and the actual trajectory may be displayed on a color display device. The dredging plan (second
In addition to the locus 150 of the cutter, a locus 151 of the main spud position determined by calculation is displayed along the dredging center line 128 (Figure 0).

In addition, the dredging plan (Figure 20) will allow plotting of planes at the same depth so that it can be confirmed whether there is any leftover excavation. That is, as shown in Fig. 21, when the main spud dredges at positions 124, 125°, 126, and 127 as shown in Fig. 20, the cutter and tar trajectories at the same depth are 12, respectively.
It is displayed as 4% 125.126.127. Ko\de 12
5', 127. Cut inside or outside the arc depending on the inclination of the main spud! If the position shifts, this indicates that the pinched part remains unexcavated.

The cutter position display is for accurately displaying the cutter position in the swing direction and for displaying data on the state of the swing operation, and is performed by a cutter position display device (b). The cutter position is the center position of the swing, the stop position on the port side, and the stop position on the starboard side, and each position is displayed as data. The swing state display displays the deceleration start position and stop position of the swing motion during the swing, divided into port and starboard sides. The position of the cutter may be displayed on the screen of the display device (2) instead of using the cutter position indicating device θ.

The data is recorded by a recording device such as a notebook or a plotter. Record a diagram (Figure 19) and a plan view of the dredged area after dredging (Figure 20).

Next, we will discuss the monitoring equipment and how to correct the dredging work.As mentioned above, it is possible to grasp the trajectory of the cutter extremely accurately, but in the unlikely event of a failure or malfunction of the various metering equipment or calculation equipment, A more complete dredging operation can be carried out by equipping the dredger with monitoring equipment.Monitoring equipment includes dredging filers, search lights, Z-ners, etc. It is preferable to provide a ship position measuring device, for example, a radio wave type or a light wave type. Although these monitoring devices themselves are well known as will be described later, a method of applying them to dredging work will be described.

As shown in Figure 26, depth signals from acoustic sounding instruments, Grofilar, Searchlight, etc.
A required depth survey or depth distribution map (see FIG. 23) is drawn on the dredging plan or dredged cross section by inputting the data to the input interface via the D converters (1) and (3). If the excavation sounding map shows an area shallower than the planned dredging depth, that is, unexcavated areas, instruct the operator to calculate the required main spud position, swing angle, and rudder angle so that the cutter will come to the unexcavated position. It is possible to accurately and easily carry out correction work to remove unearthed parts.

By directly inputting the position signal measured by the ship position measuring device &71 to the interface ■ as shown in Fig. 26, the swing angle, that is, the position of the main snowboard (rad) calculated based on the gyro signal, can be compared. If a deviation occurs, calculate the data necessary for maneuvering the ship and give instructions to the operator in order to move it to the correct position.The calculation formula for calculating these corrections takes into account the inclination of the ship and the slope Because the causes of calculation errors due to inclination, etc. are removed, extremely accurate data can be indicated.Furthermore, by incorporating the signals necessary for these corrections into the setting signals of automatic control devices such as winches, normal In addition to dredging operations, it is possible to automate a wide range of operations, including correction operations.

Next, we will show you how to track the excavation path passed by the cutter using an acoustic sounder (acoustic sounder) and create a depth sounding map of the excavation path. As shown in FIGS. 22 and 23, the echo sounder 0 is installed on the bottom of the ship or on a boom (not shown) installed on the dredger. 2nd-
The arc 129 shown in Figure 3 is the locus of the position measured according to the hull's snoring when the hull (3) is at the position shown by the solid line in Figure 22, and the arc 129' is the locus of the position when the hull (3) is at the position shown by the solid line in Figure 22.
This is the locus of the sound measurement position at the position indicated by the dashed dotted line. On the other hand, since the tip center 103 of the power ivy also swings, dredging is performed by drawing arc-shaped trajectories 130, 130', so data at the position where this arc 130 and the arc 129 of the trajectory of the sound measurement position coincide are compared. This makes it possible to compare the calculated cutter depth, that is, the depth of the suction mouth, with the actual value measured by sound measurement.

Note that if a correction coefficient is provided in the calculation circuit, it can be used to correct the calculation of the dredging depth.

Next, we will discuss how to measure the ship's position using a radio wave ship position measuring device. As shown in FIGS. 24 and 25, a dredger is usually equipped with a main station (ie, a ship position measuring device), a slave station (51) at a fixed point on land. The distance between the slave station and (50) is constant, and the positions of the slave and (51) are known.Here, using radio waves, the distance between the master station and the slave station (4) and the position of the slave member (51) are known. Measure the distance between the stations (L4 and slave station φl) and find the position of the dredger (5).What is the position of the dredger?

The antenna of the main station θ (position 5), so to find any position on the dredger, the position is corrected using a direction signal, for example, a direction signal from a gyro compass C31.The light wave ship position measurement device , the modulated light emitted from the light wave range meter installed on the dredger is reflected by the reflector installed on land and returned to the light wave range meter, and the distance is determined from the phase difference between the light emission and reception. The position of the dredger can be determined by equipping two or three sets of this light wave distance meter and a reflector.

Finally, the configuration of this device is shown in the block diagram of FIG. 26. The output signals from the dredging water gauges 04) to 0η, the dredging depth transmitter α, the spud slope distance meters @ to (e) and the kanji (2), and the spud depth gauges are sent to the A/D converter φ5). The output signal from the tide gauge (to) goes through the telemeter transmitter (to) and the telemeter receiver (b), and the output signal from the gyro compass (b) goes to the S/D converter ( 56), the output signal from the ship position measuring device θ is directly transmitted, the output signal from the echo sounder (6) is transmitted through the VD converter, and the profile signal is transmitted to the A/D converter).
are input to the input interface ■ through the computer, calculated by the computer (to), and output to the output interface (
The data is output to a display device (2), a recording device), and a cutter position indicating device @no, respectively.

Note that the present invention is not limited to the above-described embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

The cutter locus display method and device for a pump dredger of the present invention has the above-described configuration, and therefore exhibits the following excellent effects.

(L) Since the inclination of the hull (trim, heel), the inclination of the spud, etc., which were not considered in the past, have been incorporated into the calculation formula for estimating the position of the cutter device, the position of the cutter device can be determined without causing calculation errors. can be accurately grasped.

(11) Since the position of the cutter device is displayed as a trajectory, by comparing it with the planned cross-sectional view and plan view based on the dredging plan, dredging work can be carried out as planned without waste, and guidelines for correction work can easily be obtained. It is possible,
Dredging accuracy and dredging efficiency can be improved.

(m) By electrically calculating the locus of the cutter device and incorporating the correction work guideline in item (11) above into the setting signal of an automatic control device such as a ladder winch.

It provides a stepping stone to automatic dredging and can save labor in dredging work.

(1v) Since the dredging depth is determined by measuring the moving length of the wire rope for measuring dredging depth that is attached near the tip of the rudder, it is possible to eliminate measurement errors caused by deflection of the ladder and improve measurement accuracy. .

M Because the hull heel (trim, heel) is measured using three or more stuttering meters installed at different locations on the hull,
The inclination of the hull can be accurately measured, and by determining the stuttering at the trunnion center position, the stuttering error can be removed.

(VO The gap between each spud and snow; Tsudokino<- is measured and combined with the hull inclination determined by the stutter meter, so the inclination angle of the snow can be accurately measured.

(vii) Install ship position measuring equipment, echo sounders, etc.
By directly measuring the spud position, cutter position, and dredging depth, comparing them with those determined by calculation, and making corrections as necessary, the cutter position can be determined more accurately.

[Brief explanation of the drawing]

Figures 1 and 2 are explanatory diagrams of the conventional method of measuring dredging depth, Figure 3 is an explanatory diagram of the amount of dredging advancement by replacing the dredging depth, and Figures 4 and 5 are diagrams of the method of measuring the dredging depth of the present invention. Figures 6 and 7 are explanatory diagrams showing how to measure dredging depth, and Figures 8 and 8 are explanatory diagrams showing how to measure dredging depth. Figures 9 and 10 are explanatory diagrams showing the measurement method, respectively.
Enlarged cutaway plan view from the IK direction and the X-X direction, No. 11
The figure shows an embodiment of the present invention, and is an explanatory diagram of the displacement of the hull due to the inclination of the spud. Figure 12 is an explanatory diagram showing the procedure for transmitting and receiving tide level signals. Figures 13 and 14 are illustrations of the displacement of the hull due to the inclination of the spud. FIG. 15 is an explanatory diagram showing the spud replacement order; FIGS. 16 and 17 are explanatory diagrams showing the amount of spud movement after spud replacement according to the embodiment of the present invention; FIG. Figure 19 is a plan view of the planned dredging, Figure 20 is a plan view of the dredging showing the locus of the cutter, Figure 21 is an explanatory diagram of how to determine whether there is any leftover excavation, and Figure 22 is a plan view of the dredging plan. 23 and 23 are explanatory diagrams of the procedure for creating an excavation sounding map using an acoustic sounder showing an embodiment of the present invention. FIG. 26 is a block diagram showing the configuration of a measuring device, an arithmetic device, a display device, etc., showing an embodiment of the present invention. In the diagram, (1) is the rudder, (3) is the hull, and (6) is the cutter. (8) is a suction mouse, (9) is a dredging depth measuring wire, Q4α*MQη is a water meter, (c) is a seabed, a9 (a) is a spud, (c) is a span l-1-Par, (E) @ (I) (E) IJ H01) H is a spud inclinometer, ■ is a gyro compass, (to) is a computer, (to) is a display device. ■ indicates an acoustic depth sounder, θ force indicates a ship position measuring device, and (Foundation) indicates a spud depth meter. Patent applicant Ishikawajima Harima Heavy Industries Co., Ltd. Patent applicant agent Patent applicant agent Figure 15 1 Figure 22 30 Figure 24

Claims (1)

[Claims] 1) In a pump dredger that performs dredging work by swinging the hull using a spud driven into the water bottom as the center of swing, the moving length of a wire rope for measuring dredging depth, the inclination angle of the hull, and the inclination angle of the spud and the swing angle of the hull, and using each of the measurement data and the specific dimensions of the hull and rudder of the dredger, determine the dredging depth of the cutter device at the tip of the rudder and the amount of movement of the spud by replacing the spud, A cutter trajectory display for a pump dredger, characterized in that the distance at each swing angle from the rad position to the cutter device is calculated, the trajectory of the cutter device is determined based on the computed values, and the trajectory is displayed. Method. 2) Claim 1 in which the angle of inclination of the hull is measured by stutter meters placed at three or more different positions on the hull.
) How to display the cutter trajectory of a pump dredger as described in section 2. 3) Adjust the inclination angle of the spud with the spud keeper.
A method for displaying a cutter locus of a pump dredger according to claim 1) or 2), wherein the cutter locus is measured based on the gap between the two and the inclination angle of the hull. 4) The pump dredger according to claim 1) or 5), wherein each measuring device is configured so that each food measurement data is output as an electrical signal, and the locus of the cutter device is electrically calculated. Cutter path display method. The pump according to claim 1) or 4), wherein the display of the cutter device is graphically displayed so as to be able to be compared with the planned dredging cross-sectional view and the planned dredging plan view in the dredging plan. How to display the cutter trajectory of a dredger. 6) A cutter trajectory of a pump dredger according to claim 1), 3) or 5), in which the locus of the cutter device is displayed with respect to the center position of the cutter tip and the center position of the suction mouth provided at the tip of the rudder, respectively. Display method. 7) In a pump dredger that drives a spud into the water bottom, moves forward, and swings the hull to carry out dredging work, one end is attached near the tip of the rudder, and a wire rope for measuring dredging depth is strung through a sheep fixed above the rudder. , a dredging depth transmitter that detects the moving length of the wire rope, a stutter meter placed at three or more different locations on the ship's hull, and a gap that measures the gap between the spud and spant keeper provided for each spud. a spud depth meter for measuring the depth of the tip of the spud; a swing angle measuring device; a calculation device for calculating the trajectory of the cutter device based on a predetermined calculation formula using each of the measurement data; A cutter trajectory display device for a pump dredger, characterized by comprising a display device. 8) In a pump dredger that drives a spud into the water bottom, moves forward, and swings the hull to carry out dredging work, one end is attached near the tip of the rudder, and a wire rope for measuring dredging depth is stretched through a sheep fixed to the rudder gantry. , a dredging depth transmitter that detects the moving length of the wire rope, a stuttering meter placed at three or more different locations on the hull, and a gap that measures the gap between the spud and spud keeper provided for each spud. a spud depth meter for measuring the depth of the tip of the spud; a swing angle measuring device; a calculation device for calculating the trajectory of the cutter device based on a predetermined calculation formula using each of the measurement data; A cutter trajectory display device for a pump dredger, comprising a display device and a device to actually measure the ship position and dredging depth for monitoring the calculation results.