JPS6059241A - Method and apparatus for displaying cutter position of pump dredger - Google Patents

Abstract

PURPOSE:To raise the accuracy of dredging work by a method in which on the basis of the position of a barge and relative positions of each installation of the barge, the present position of the cutter is calculated, and the present position of the cutter and the design position of dredging are displayed on a screen. CONSTITUTION:The position of a barge and relative positions of each installation of the barge are detected by such detectors as a wireless position measurer 8, an inclimometer 16, a draft measurer 17, a ladder depth meter 18 and a swing angle indicator (gyro) 19. The output of these detectors is put in a control arithmetic unit 11 through a signal input unit 14, where the present position of a cutter is calculated. On a displayer 13, the present position of the cutter and design dredging position stored in a memory 15 are displayed comparably.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for indicating the canter position of a pump dredger.

Generally, in a pump dredger, a suction lug (
The proximal end of 1 (hereinafter abbreviated as 1-Rough-) is pivotally attached, and a cuckoo 3 is provided at the distal end of this rag.

Such a pump dredger swings the lug 1 together with the 1111 body 2 in a silk-like manner in a horizontal plane (or sometimes swings only the lug 1).
While excavating seabed soil with a cutter 3 at the tip of the dredger, the sand was sucked in with the surrounding water using a dredging pump 5, and was sent overboard using a dredging pump 5. When dredging, the lug 1 is first lowered to the seabed, and the lug 1 is gradually dug down while swinging the lug 3 from side to side to dredge to a predetermined depth. Thereafter, the dredger is moved one step forward using the spant 7 as a fulcrum, and dredging is carried out while repeating the above-mentioned operation.

By the way, when performing normal dredging work, it is necessary to dredge all of the planned cross section that is set based on the standard sea level. Or draft.

Dredging operations were carried out by estimating the position of the cutter tip based on experience and intuition based on the ship's heel angle and other factors.

However, with such conventional means, the spud 7
Errors caused by the dredging process and its flaws result in poor estimation accuracy, resulting in the problem of being forced to dredge in excess of the planned dredging depth and dredging width.

In addition, the error 2:1 caused by Spa/F 7 includes the position side 5J:, r'+', difference at the time of spud driving, error due to spud movement during dredging, and maintaining spud 7 and hull 2. There are errors due to irregular rattling that occurs in the spa/toe keeper gap, errors due to the inclination and deflection of the spud 7, etc. Errors due to the pond include deflections of the hull 2 and rag 1. Error, hull list, draft gauge, rudder depth 81. There is an error in the indication of the Noyairo Revita, etc.

The present invention attempts to solve such problems by making it possible to display the current position determined by measurement in a manner that can be compared with the set dredging + i1 position. Pump dredge 4'(
11i7 cutter position table; jζ method j3 and its device'? The purpose is to present 0 (2).

Therefore, the cutter position display method for a pump dredger according to the present invention is applicable to a pump dredger equipped with a suction lug pivotally attached to the hull and a canter provided at the tip of the suction lug. The relative position of each part of the hull is detected and the current position of the cutter is calculated based on these results, and then the current position of the cutter and the planned dredging position set for dredging are displayed on the screen so that the cutting ratio can be adjusted. It is characterized by

Further, the cutter position display device for a pump dredger of the present invention is applicable to a pump dredger equipped with a suction lug pivotally attached to the hull and a canter provided at the tip of the suction lug. a detector that detects the relative position of the canter, a calculator that calculates the current position of the canter based on the detection signal from the detector, and a rewritable memory that stores the planned dredging position A display device is provided which displays the cutter current position and the dredging plan position stored in the memory as images, respectively. In order to display the planned position on the comparison eye, a control means to which signals from the two arithmetic units and the memory are input is connected to the display. To explain the force/tor position display method and device for a pump dredger as an embodiment of the present invention, FIG. 2 is a block diagram showing the overall configuration of the device, and FIGS. 3 and 4 are both A schematic diagram to explain the specifications for calculating the current position of the cutter, Figure 5 is a flowchart to explain its operation, and Figure 6
Figures (,) to (d) are all schematic diagrams showing display examples in which the current position of the cutter and the planned dredging position are displayed in a way that allows them to be compared.

Now, the wooden fFe is installed on a pump dredger (see Figure 1) equipped with a lug 1 with a canter of 3 at the tip, and first detects the hull position 1r ((ship position)) and the relative position of each part of the hull. A detector is provided.

This detector consists of the following instruments: That is, as shown in FIG. 2, the radio ship position measuring device 8. Hull inclinometer 16
．． Draft measuring device 17. It consists of instruments such as a lug-depth meter 18 and a swing angle indicator (gyro) 19.

Here, the ship positioning redundant device 8 is a main station 8' set on the ship.
A radio wave is transmitted from the antenna to a slave station 10 installed at a reference point on the coast, and in response, the phase difference of the transmitted radio waves is detected, and the distance is determined by the base station 12. It outputs the numerical value converted to the system I), y(
On the main body, the i-station antenna 1j is constantly output as a digital electric signal based on the X and Y coordinates on the nautical chart set up to dry.

Note that the antenna is fixed on a surface of the ship's hull that is less likely to receive radio wave interference.

Further, the hull inclinometer 16 detects the backward (vertical) and left (horizontal) inclinations of the ship 2 during operation and outputs them as analog electrical signals.

The draft measuring device 1-7 is fixed to the hull 2 and has one or more draft measuring devices. It detects the draft from several detection ends and outputs it as an analog electrical signal,
(If the draft can be detected at three points, it can be used as a Qg body inclinometer.

The Lagu depth meter 18 detects the slope of Lagu-1 and outputs an analog electrical signal.

The swing angle indicator 10 detects the azimuth angle of the gyro controller, detects the swing angle formed by the swing center line and the hull center line, and outputs it as a digital electric signal.

And each of the above instruments 8.16 + i, 7 + 1
8,1! The signal from 3 is sent to signal input sections 1 and 4 as input interfaces including an A/D'l converter and the like.

Signal input units 1, 1-\The input detection signals are input to the control calculation unit 11 via the pass line Azusa.

The control unit 11 is configured as a central 7-page arithmetic processing unit including a CPU, etc., and has the function of an arithmetic unit that determines the current cutter position based on a human-input detection signal.

The current position of the cutter is the swing direction position of the cutter tip
c, the swing center direction of the tip of the cuckoo, I'rLYC, and the force/ter depth from the reference water surface, Zc,
This information can be obtained as follows.

(1) Spink direction of cutter tip 1XcXc=X
A+(LA+I--J-s) sinθo-1-s co
sθ.

... (1) In addition, 1. -/Ly: times... (2)]-5=
(1-IA+D+,) sinθL...(3) Here,
XA is the antenna position X input from the ship position measuring device 8
The coordinate value +I-A is the longitudinal distance between the antenna 1 and the trunnion 20, I- is the vertical distance between the canter 3 and the 1st trunnion 20 1i [i distance + I-L rudder technique + l) +- is the lag-
The hull anchorage point (trunnion 20
position), HA is the vertical height between the antenna 1 and the 1 runion 20, θ. is the swing angle.

(Old cutter tip position in swing center direction'/ (2 Yc = YA + (LA + L Ls) cos θ (+ +
1. r, sin θ(]...(4) Here, YA is the Y coordinate value of the antenna position manually input from the ship position measuring device 8, l-A+ I-+ L-s,
θ. ' is as written in the book of Ju.

(+11) Canter depth ZcZ from reference water surface W0
c ” D H50LsinθL-(T-d+t)...
・(5) Here, θ is the inclination angle ()l, angle) of the front and rear of the hull
, d is the draft, and s is the tide level (distance between the reference water level W. and the sea level W).

1゛ is the vertical R1i Rl between the trunnion 20 and the bottom of the ship
r, and D, . . . L are as described above.

Please see Section 3.4 for details on what the specifications in section 2 represent.
As shown in the figure.

In addition, a storage device 15 is provided which is connected to the control calculation 1'rls 11 via an input/output ink interface.
It is configured to include a rewritable memory cap that stores dredging plan positions.

Furthermore, a terminal keyboard 12 is provided,
This terminal keyboard 12 is connected to the control calculation unit 11 via an input/output ink face, and when dredging plan position information is entered, it is stored in the storage device 15.

Further, a display device (display device) 13 for displaying images is provided, and an input/output interface for this display device 13 is built into the terminal keyboard 12.

Note that the display devices 1 and 3 may be CRi' or a liquid crystal display device.

By the way, the control calculation unit 11 displays the canter current position information and the dredging plan position information on the screen of the table 41 unit 13. It also has the function of a control means for displaying images in a comparable manner, and in order to perform this function, an image processing program in the storage device 15 is executed.

In addition, the cutter current position information is displayed on the screen along with the image.
c.

The numerical values of Yc and Zc are also displayed.

An example of displaying the cutter current position and dredging plan position in a comparable manner on the same screen J- is by displaying a cross section as shown in Figure 6 (,), but in a plane view as shown in Figure 6 (b). Various display methods are conceivable, such as display, vertical section display as shown in FIG. 6(c), or stereoscopic display seen from a perspective direction as shown in 61t<I(d).

Note that l:(t, (in Figure 3 (a) to (d), the symbol a indicates the current position of the cutter, and the symbols υa and o indicate the planned dredging position.

Next, the whole part of this device J! I! The flow will be explained using FIG. 5. First, using the terminal keyboard 12, etc., enter the shape of the ship, attitude, depth, dredging plan information, and detector position.

Sampling interval 7 Set initial values for calibration coefficients, tide level data, etc. for human power values. Step Δ1) Note that if the tide level can be detected by the detector, no tide level data is input.

Next, drawing processing is performed for the identified image of a closed frame, flhm1 line, or table (Step No. 1 ＼ 2), and Step 7 Step A 3
The signal input time is set. In step A3, the sampling interval is added to the current time and the next input time (
For example, 1 second later) is 7) A.

And Stenopno\・1・、Swing angle (Noyairo angle).

Rudder tip depth (or inclination angle), longitudinal and lateral inboard inclination I
Analog and digital electrical signals such as ship position, draft, etc. on XIY coordinates are input.

After that, Stenobuno\5 calculates the coordinate values for the Graphita screen (calculates the coordinate values on the screen), and then updates the current position of the 111 cuckoos determined by measurement on the screen. . (Step A6) And,
In step A7, it is determined whether the next measurement time has arrived, and when the next measurement time has arrived, the process from step A3 onwards is repeated.

With the above configuration, in order to display the force/tar position 1η of the pump dredger, first detect the ship position and the relative position of each part of the hull (ship inclination, draft, rudder depth, swing angle, etc.),
Based on these detection results, the current position of the canter is suspended, and then this force/tar current position and the dredging plan 1) r position entered in advance through the terminal keyboard 12 are used as the Inusamurai II.
6(a) to (d) on both sides of the display unit 13.
As shown, they are displayed for comparison.

In this way, the three-dimensional position of the cutter 3 is calculated regardless of the position of the spud 7, and the accurate current position is displayed on the display 13 in real time during dredging operation. Since it is displayed in comparison with the planned line, dredging can be carried out while looking at this display without being affected by spant position measurement errors, backlash, inclination, or movement of the spud tip during dredging. be able to.

This will improve dredging accuracy and efficiency compared to the current blind operation.

In particular, by using the detection signal of the ship's position measuring device, we can improve the position measurement accuracy when driving spuds, and improve the water-reduction effect by eliminating the effects of tilting, deflection, etc. of spant 7. Therefore, it is possible to improve the detection accuracy of the canter position.

In addition, the means of the present invention can be applied to a dredger that uses a Christmas tree method using wire mooring instead of the conventional spa/1 method and the Suba no Docarenon method. In this case as well, dredging can be carried out with high precision and high efficiency by displaying the current position of the cutter and the planned dredging position so that they can be compared, regardless of the shaking or movement of the ship.

As detailed above, the power of the pump dredging I() of the present invention /
According to the Jj method for indicating the hull position, the hull position and the relative position of each part of the hull can be determined in a dredger equipped with a suction rudder pivotally attached to the hull and a canter provided at the tip of the suction rudder. The current position of the cutter is calculated based on these detection results, and then the current position of the cutter and the planned dredging position set for dredging are displayed on the screen so that they can be compared. Since the current position of the canter can be clearly seen in relation to the planned dredging position, dredging is no longer forced blindly as in the past, and dredging can be carried out without waste. In addition, the cutter position display device for a pump dredger according to the present invention has the advantage that it can greatly contribute to improving dredging accuracy. In a pump dredger equipped with a cutter, a detector for detecting the hull position and the relative position of each part of the hull, a calculator for calculating the current position of Kanku based on the detection signal from the detector, and memorizing the dredging plan position 1n. a rewritable memory that displays the current position of the cutter calculated by the arithmetic unit and a display that displays the dredging plan position stored in the memory as an image; In order to display the above-mentioned canter current position and dredging planned position in a simple manner, a control means to which signals from the above-mentioned arithmetic unit and memory are input is connected to the above-mentioned display. , the current position of the cutter and the planned dredging position can be automatically displayed on the screen so that they can be compared, which has the advantage of eliminating waste and greatly contributing to the realization of dredging with high precision.

[Brief explanation of drawings]

Fig. 1 is a side view showing a pump dredger, and Figs. 2 to 6 show a cutter position display method and device for a pump dredger as an embodiment of the present invention. The entire 4i! ! A7 diagram showing the configuration, f; ts3.
All figures 4 are 4'S! for explaining the specifications for calculating the current position of the cutter. The formula diagram, Figure 5 is a flowchart to explain its operation, and Figures 6 (a) to (d) can compare the current cutter position and dredging plan position 1d. FIG. l... Suction ladder, 2... Hull, 3... Cutter, 4... → Noction matus, 5... Dredging pump, 6...
・Dato mud pipe, 7... Spud, 8... Ship position measuring device, 8
′...Main station, 5]...Antenna, 10...Slave station, 11
... Control calculation unit that also serves as a calculation unit and control means, 12.. Terminal keyboard, 13.. Display unit, 14.. Signal input section, 15.. Storage device (memory), 16.. Hull inclinometer, 17.・Draft measuring device, 18... Rudder depth gauge,
19...Swing angle indicator, 2o...Trunion. Sub-Agent Patent Attorney Yoshihiko Iinuma

Claims (2)

[Claims] (1) In a pump dredger equipped with a suction lug pivotally attached to the hull and a canter provided at the tip of the suction lug, detect the position of the hull and the relative positions of each part of the hull. A canter for a pump dredger, characterized in that the current position of the cutter is calculated based on the result, and then the current position of the cutter and the planned dredging position set for drying are displayed in comparison on a screen. - Location display method. (2) Suction lugs attached to the old version of II
In a pump dredger equipped with a force/torter installed at the tip of the same Zakujion lug, there is a detector that detects the hull position and the relative position of each mouth (i1s), and a detection signal from the detector. A computing unit that computes the current position of the base cutter, a rewritable memory that stores the dredging plan position, and the current position of the cutter calculated by the computing unit as 111. In order to display the cutter current position and the dredging plan position in a comparative manner on the screen of said display device,
2. A cutter position display device for a pump dredger, characterized in that a control means receiving signals from the calculator and memory as described above is connected to the display device.