JPS6322928A - Method of displaying cutter position of pump dredger - Google Patents

Abstract

PURPOSE:To permit the present position to be recorded and displayed even in case of when vertically moving a cutter by a method in which stored data are renewed only in a specific case at the time of sampling after the vertical movements of the cutter of a pump dredger. CONSTITUTION:On the basis of the outputs of antenna 9, ship position measurer 8, hull inclinometer 16, draft measurer 17, ladder depth meter 18. and swing angle indicator 19, the present position of cutter are calculated in a control arithmetic unit 11 and displayed with a planned dredging position on a displayer 13 for comparison. The depth of the cutter during the swinging is measured over all width of dredging at a small pitch of 1-2m and sent to a memory 15 to store it as coordinate value, and the coordinate value is compared with recorded data for the section during the sampling period after the vertical movement of the cutter. When the coordinate value is greater than the stored data, the stored data are renewed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a cutter position display method for a pump dredger.

(Conventional technology) A conventional pump dredger will be explained with reference to FIG.

(1) is a suction ladder whose base end is pivotally attached to the front of the hull (2) via a trunnion (not shown); (3) is a cutter attached to the tip of the suction ladder (1);
(4) is the suction mouth installed at the tip of the suction ladder (3), (5) is the dredging pump installed on the hull (2), and (6) is the dredging pump (5) connected to the hull (2).
The suction ladder (1) is lowered to the seabed using the sludge pipe extending outward, the spud (7) installed above the sea surface from the seabed, and the antenna (9) installed on the hull (2). By swinging the suction rudder (1) together with the hull (2) horizontally in a fan shape, or by swinging only the suction rudder (1) horizontally, the suction rudder (1)
) is used to excavate seabed soil using a cutter (3) installed at the tip of the cutter (3). At this time, the excavated earth and sand are sucked in by the dredging pump (5) through the suction mouth (4) along with surrounding water, and are discharged to the outside of the hull (2) through the mud removal pipe (6).

The seabed is gradually dug up, and when the seabed has been dredged to a predetermined depth, the hull (2) is moved one step forward using the spud (7) as a fulcrum, and the above dredging work is repeated.

During the dredging work, it is necessary to dredge all of the planned cross section based on the standard sea level.

At that time, the operator refers to the readings from the rudder depth gauge and gyro repeater, or the detected values from the draft measuring device and hull inclination meter, and uses experience and intuition to determine the position of the tip of the cutter (3) and the excavation state. With this in mind, dredging work was proceeding.

(Problems to be Solved by the Invention) As described above, if the operator estimates the position of the tip of the cutter (3) and the excavation state based on the indicated values and detected values of various measuring devices, the spud (7) If there is an error in the set position, etc., the accuracy of excavation will decrease, forcing dredging to exceed the planned depth and width of the dredging plan.

To address this problem, the applicant has already proposed a method for displaying the cutter position of a pump dredger (if necessary,
0-59241). This method of displaying the cutter position of a pump dredger detects the hull position and the relative position of each part of the hull of a pump dredger, which has a suction rudder pivotally attached to the hull and a cutter provided at the tip of the suction rudder. The current cutter position is calculated based on the detection signal, and the current cutter position and the preset dredging plan position are displayed on the screen in a comparative manner, so the above-mentioned problem can be solved.

The current cutter position (cutter trajectory) on the screen does not necessarily display the current position of the cutter (3). That is, the cutter (3) is in the middle of dredging work.

They are often submerged or lifted into the air.

For example, if the concentration of sediment inhaled from the suction mouth (4) is too high, it will settle in the drainage pipe (6) and pose a risk of clogging, so lift the tip of the cutter (3) by about 1 to 2 meters. , adjust the concentration. Furthermore, if it is estimated that the cutter has hit an obstacle such as a sleeper or rock on the seabed, the swing of the suction ladder (1) is stopped and the cutter (3) is lifted above the water surface. Furthermore, if an obstruction is sucked into the suction pipe or the cutter blade breaks, the cutter (3) can be lifted to the surface of the water to remove the obstruction.

Or replace the cutter (3). In construction areas with such poor conditions, it becomes necessary to raise and lower the cutter (3) frequently, and the cutter's current position (cutter trajectory) on the screen does not necessarily indicate the current position of the cutter (3). is not limited.

(Means for Solving the Problems) The present invention addresses the above-mentioned problems, and provides a hull for a pump dredger having a suction ladder pivotally attached to the hull and a cutter provided at the tip of the suction ladder. Cutter position of a pump dredger that detects the position and relative position of each part of the hull, calculates the current cutter position based on these detection signals, and displays the current cutter position and the preset dredging plan position on the screen so that they can be compared. In the display method, the cutter depth during swing is measured at fine pitches over the entire width of the dredging, this is sent to a storage device and stored as coordinate values, and when sampling after raising and lowering the cutter, the same coordinate values are compared with the recorded data for that section. This relates to a method for displaying the cutter position of a pump dredger, which is characterized by updating the stored data only when the coordinate values are deeper than the recorded data. , records the current position of the cutter at that point.

An object of the present invention is to provide an improved method for displaying the cutter position of a pump dredger.

(Function) The present invention detects the hull position and the relative position of each part of the hull of a pump dredger having a suction rudder pivotally mounted to the hull and a cutter provided at the tip of the suction rudder as described above, and detects these. In a cutter position display method for a pump dredger that calculates the cutter current position based on a detection signal and displays the cutter current position and a preset dredging plan position on a screen so that they can be compared, the cutter depth during swing is displayed over the entire dredging width. Measure at fine pitches.

This is sent to the storage device and stored as a coordinate value, and when sampling after raising and lowering the cutter, the same coordinate value is compared with the recorded data in that section, and only when the coordinate value is deeper than the recorded data, the stored data is saved. It updates, so even if you raise or lower the cutter.

The current position of the cutter at that time is displayed in record 2.

(Example) Next, the cutter position display method for a pump dredger according to the present invention will be explained using an example shown in FIGS. 1 to 5.
, 4 (1) is a tyranion (20 mm) attached to the front of the hull (2).
), the suction ladder + is pivotally connected via
, (9) in Figure 3 is the antenna installed on the hull (2),
(8) (16) to (19) in Figure 1 are detectors that detect the ship's position (ship position) and the relative position of each part of the ship. Of these, (8) is a radio wave position measuring device, and (16) is a The ship position measuring device (8) is a hull inclination meter, (17) is a draft measuring device, (18) is a rudder depth meter, and (19) is a swing angle indicator (gyro).

Radio waves are transmitted from the main station (8°) installed on the ship via the antenna (9) to the slave station (10) installed at a reference point on the coast, and the phase difference of the radio waves transmitted in response is calculated. The three main station antenna positions are detected and converted into coordinate values based on preset X and Y coordinates on the nautical chart, and these are output as digital electrical signals. Note that the antenna (9) is installed on a ship structure that is less likely to receive radio wave interference. Further, the hull inclinometer (16) detects the longitudinal (vertical) and left/right (horizontal) inclinations of the hull (2), and outputs this as an analog electrical signal. Further, the draft measuring device (17) detects the draft using one or more detection ends fixed to the hull (2), and outputs the detected draft as an analog electric signal.

Note that if the draft is detected at three different points on the hull (2), the two draft measuring devices (17) can also function as a hull inclination meter. Also, the above ladder depth meter (18)
detects the inclination of the suction ladder (1) (the depth of the suction ladder (1)) at a sufficiently fine pitch of about 1 to 2 m, and outputs this as an analog electrical signal. The swing angle indicator (19) detects the azimuth of the gyro compass, based on which the swing angle between the swing center line and the hull center line is detected, and outputs this as a digital electrical signal. These detectors (8) (16) ~
The detection signal from (19) is sent to a signal input section (14) as an input interface including an A/D converter and the like. Further, each detection signal inputted to the signal input section (14) is inputted to the control calculation section (11) via a pass line or the like. The control calculation section (11) is a central processing section including a CPU, etc., and has a calculation function of calculating the current position of the cutter based on the input detection signal. The current cutter position calculated by the control calculation unit (11) is the swing direction position XC of the tip of the cutter (3) + the cutter (
3), the position Ye+ of the tip in the swing center direction and the cutter depth Ze from the reference water surface, each of these positional information can be obtained as follows (3rd and 4th
(see figure).

(1) Swing direction position Xc of the tip of the cutter (3)
teeth.

Xc = Xa + (LA+LLs) sin
θG LScos θ. 01.0.
Meeting 0. ■Note that L=L, “-D,” ・・・・・・
・・■Ls ”= (HA + DL) s
in aL ""'■Where, XA is the X coordinate value of the antenna position input from the hull measurement device (8) IL4 is the distance in the longitudinal direction between the antenna (9) and the trunnion (20), and L is the cutter ( 3) and the vertical distance between the trunnion (20).

LL is the length of the suction ladder (1), and DL is the hull pivot point (trunnion) obtained from the rudder depth gauge (18).
20) depth from position), HA is the vertical distance between the antenna (9) and the trunnion (20), and θ is the swing angle.

(II) What is the position Yc of the tip of the cutter (3) in the swing center direction?

Yc = Ya + (LA + L-L, ) cos
θG +LSinθG・・・・・・・・・
(2) Here, YA is the Y coordinate value of the antenna position manually input from the ship position measuring device (8), and the other symbols are the same as above.

(1) What is the cutter depth Zc from the reference water surface?

Zc=Dt+Lsin aL(T-d+t)・
・■Here, θ is the inclination angle (trim angle) fore and aft of the hull.

d is the draft, t is the tide level (distance between the reference water level W. and the sea level W), T is the vertical distance between the trunnion (20) and the bottom of the ship, and the other signs are the same as above.

The control calculation unit (11) is connected to a storage device (15) via an input/output interface, and the storage device (15) includes a memory for storing calculation processing programs, image processing programs, fixed data, etc. It has a rewritable memory etc. to record the dredging plan position. Further, a terminal keyboard (12) is connected to the control calculation section (11) via an input/output interface,
When the planned position information is entered into the terminal keyboard (12), it is stored in the storage device (15). Further, a display device (13) for displaying images via an input/output interface is connected to the terminal keyboard (12). Note that this display device (13) includes a CRT or a liquid crystal display device. The control calculation section (11) has one display (
13) It also has a function to display cutter current position information and dredging plan position information on the screen so that they can be compared.

When the image processing program in the storage device (15) is executed, the cutter current position information and the dredging plan position information are displayed on the screen of the display device 13) so that they can be compared. In addition, on the same screen, the cutter current position information flix,,y
The numerical values of C and z are also displayed at the same time (see Fig. 5).

Examples of displaying the cutter current position and dredging plan position in a comparable manner on the same screen include a cross-sectional display as shown in Figure 5 (1), or a planar display as shown in Figure 5 (II). 5 (II[)), or 3D display as shown in FIG. 5 (TV) viewed from a perspective direction. Note that the symbol a in FIGS. 5(1) to (III) indicates the current cutter position, and rao indicates the planned dredging position.

Next, the entire processing flow of this cutter position display method will be explained in the second section.
This will be explained using figures. First, the terminal keyboard (12)
etc. using hull shape, attitude, depth.

Dredging plan information, detector locations, and sampling intervals.

Step AI) to set initial values such as calibration coefficients and tide level data for input values. Note that if the tide level can be detected by a detector, there is no need to input tide level data. Next, drawing processing is performed for a fixed image of an enclosing frame, a design line, or a table (step A2).

Next, the signal input timing is set (step A3).

In step A3, the sampling interval is added to the current time to set the second input time (for example, one second later). Next, dredging work begins, and each detector measures the swing angle (gyro angle) and the depth (or inclination angle) of the rudder tip.
, longitudinal and transverse hull inclination.

The ship's position on the X and Y coordinates, draft, etc. are detected, and the detection signal obtained at that time is input to the control calculation section (11) (step A4). In the same control calculation section (11).

Calculation of coordinate values for the graphic screen (calculation of coordinate values on the screen) is performed (step A5), and the resulting cutter current position and the preset dredging plan position are displayed on the display (13).
) on the screen so that they can be compared.

During this dredging work, as mentioned above, the cutter (3) may be lifted into the water or into the air.

The rudder depth meter (18) measures the current position of the cutter during swing at fine pitches over the entire width of the dredging, and sends this to the storage device (15) to be stored as coordinate values. Then, at the time of sampling after the cutter (3) has been raised and lowered, the same coordinate value is compared with the stored data for that section, and the stored data is updated only when the coordinate value is deeper than the stored data (step A6). The dredging work continues thereafter, and the current position of the cutter on the screen is updated accordingly (step A7). Next, it is determined whether or not the next planned time has arrived, and when the fifth planned time has arrived, the processing from step A3 onwards is repeated again. In addition, if dredging at the current Spite (7) location is completed and progress is made.

The tq data updated in step 86 is reset manually or by a spite operation signal.

(Effects of the Invention) The present invention detects the hull position and the relative position of each part of the hull of a pump dredger having a suction ladder pivotally mounted to the hull and a cutter provided at the tip of the suction ladder as described above, In a cutter position display method for a pump dredger that calculates the current cutter position based on these detection signals and displays the cutter current position and a preset dredging plan position on a screen in a comparative manner, the cutter depth during dredging is Measured at fine pitches across the entire width.

This is sent to the storage device and stored as a coordinate value, and when sampling after raising and lowering the cutter, the same coordinate value is compared with the recorded data in that section, and only when the coordinate value is deeper than the recorded data, the stored data is saved. It updates, so even if you raise or lower the cutter.

This has the effect of being able to record and display the current position of the cutter at that time.

Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to these embodiments, and can be modified in various ways without departing from the spirit of the present invention.

[Brief explanation of the drawing]

Fig. 1 is a system diagram showing a configuration example of a cutter position display device used to implement the cutter position display method for a pump dredger according to the present invention, Fig. 2 is an explanatory diagram of its operation, and Figs. 3 and 4 are cutter current positions. Figures 5 (1) to (IV) are explanatory diagrams showing the specifications for calculating the current position of the cutter and the planned dredging position. FIG. (1) ...suction rudder, Te2) ...hull. (3)... Cutter, (4)... Suction mouth, (5)... Dredging pump, (6)... Sludge removal pipe. (7)...Spud, (8)...Ship position measuring device. (8”)...Main station, (9)...Antenna, (10
)...Slave station, (11)...Control calculation section, (12
)...Terminal keyboard, (13)...Display unit, (14)...Signal input section, (15)...Storage device, (16)...Hull inclinometer, (17)...
・Draft measuring device, (18)... Rudder depth gauge, (
19)...Swing angle indicator. (20)...Trunion. Sub-representative Patent Attorney Okamoto Shigemon 2 people flooded 3-Fan 4 Figure 5th floor

Claims (1)

[Claims] The hull position and the relative positions of each part of the hull of a pump dredger, which has a suction rudder pivotally attached to the hull and a cutter installed at the tip of the suction rudder, are detected, and the current position of the cutter is determined based on these detection signals. In the cutter position display method for pump dredgers, which calculates and displays the cutter's current position and the preset dredging plan position on the screen so that they can be compared, the depth of the cutter during swing is measured at fine pitches over the entire width of the dredging, and this is memorized. Send it to the device and store it as a coordinate value, and when sampling after raising and lowering the cutter, compare the same coordinate value with the recorded data for that section, and update the stored data only when the coordinate value is deeper than the recorded data. A cutter position display method for a pump dredger featuring: