KR20000012193A - Dredging method utilizing Differential Global Positioning System(DGPS) and control system for dredging equipment - Google Patents

Abstract

PURPOSE: A dredging controlling system and dredging method using DGPS(differential global positioning system) position information is provided to reduce error of dredging work. CONSTITUTION: The system comprises a fixing station GPS(global positioning system)1 installed on the ground, a mobile station GPS2 installed on a dredging boat, a depth gauge installed on the dredging boat, a computer for processing data received from the fixing station, the mobile station and the depth gauge. The depth gauge is connected to the computer through a DAS(data acquisition system)1.

Description

Dredging method utilizing Differential Global Positioning System (DGPS) and control system for dredging equipment}

The present invention provides a dredging control device using depth global positioning system (DGPS) position information, a depth measurement device, a turning measurement device, and a dredging control system using them, and a geographic information system (GIS) and a real-time submarine topographic map combined with the dredging control system. (Realtime mapping) method and dredging method.

More specifically, the present invention provides a large error range and inefficiency of position measurement of a target to be dredged due to a surveying method used in conventional dredging work and a measurement method that cannot be applied to dredging work in real time. To improve the performance, DGPS (Differential Global Positioning System) location information, dredging control system and dredging method were developed.

Surveying techniques used in the conventional dredging work can not work when the weather is worse or the visible distance has had a great impact on the dredging construction and field work. In the conventional method of dredging technology, the surveyor sets a coordinate point (CP) by selecting an arbitrary point on the land near the place to be dredged on the specification chart in which the dredging position is indicated by using the chart of the design showing the dredging position. Using this as a reference point, an arbitrary number of TM coordinate points (land coordinates for surveying in sixths) are set at the land surveying coordinate point CP. A flag or other method is displayed on the set TM coordinate point, and the displayed coordinates are displayed on the chart, and the location of the dredger is schematically indicated according to the scale of the specification chart in which the dredging position is indicated. After confirming the location of the dredger indicated on the chart and the dredging position by six minutes on the dredger, the surveyed dredging point is constructed on the chart and dredging operation is performed. The conventional survey method requires a sixth position check every time the working position is changed, and the dredging work is repeatedly performed at four meters intervals as described above. Every time the work position is changed, the surveyor conducts surveys at 4 meter intervals. The TM coordinates obtained at the CP point are artificially checked by the surveyor. Therefore, when surveying TM coordinates at each survey position, In this case, the time cost is large.

In addition, when surveying each TM coordinate point, there is a problem that an error occurs according to the skill of the surveyor.Whenever the repetitive dredging operation is performed, the dredging operation is carried out to check the dredging position with the sextant on the dredger and perform dredging work. As there is no choice but to work, due to the complicated work, there is no choice but to increase manpower and increase the working time. As the working time increases, it is difficult to use dredging equipment efficiently, which increases the equipment cost.

In the conventional dredging method, the location of the dredging work is displayed on the paper map on the paper map or the assistant of the surveyor writes and manages it directly on the paper map with a drawing machine, so it lacks accuracy and costs due to human and time waste. Will increase.

In the conventional dredging method, depth surveying was performed after selecting the location using the conventional sextant using a pressure depth gauge or a sonar at the head of the dredger, and even if the exact dredging position in the dredging work area was found through the sextant, the crane's bucket at the top Or, since the depth of dredging tools is measured, there will always be a few meters of error, and in the case of crushing rock work, or a job requiring accuracy, the diver had to go down to the sea floor to find the location of the sea floor and perform the work. Therefore, the work time increases and the work efficiency is low in the above-mentioned crushing rock work and a work requiring precision.

In addition, since the management of the measurement depth of a specific area according to the dredging depth in the dredging area was managed by a separate paper map, it was inadequate for the real-time working environment.

On the other hand, in the conventional method, it is not possible to check the position of the chain rock, the bucket and the dredger at any time since the operation is dependent on time, and it is not possible to perform the operation when the weather worsens when the surrounding environment in the dredging work area becomes worse.

In addition, since the sea charts used in conventional dredging are charts produced by the Korea Maritime Affairs and Fisheries Office Map and do not follow the coordinate system of the commonly used WGS84 UTM52 Zone, the application of the charts to the automation system required standardization, an international standard coordinate.

It is an object of the present invention to provide a method for precise dredging operation by minimizing the limit of error by finding the exact dredging position.

Another object of the present invention is to provide a DGPS (Differential Global Positioning System) location information for improving the large error range and inefficient problems of dredging operations due to inaccuracy of surveying methods and dredging operations and measurement methods that cannot be applied in real time. It is to provide dredging automatic control system.

Still another object of the present invention is to provide a dredging method in which work can be performed even when the weather is deteriorated or the visible distance is reduced, and the work is not affected by the dredging construction period or the on-site weather conditions.

Still another object of the present invention is to provide a dredging method for providing an accurate depth of a bucket or a hammer that depends on a crane without being affected by the tide level or the surrounding environment.

Another object of the present invention is to digitize the survey value measured by a sextant using a computer program and DGPS (Differential Global Positioning System) position information, which is plotted on a plotting machine, and the dredging work range using a computer program in real time. And dredging work location and depth provide the dredging work method to apply data to GIS and change the value after work.

Still another object of the present invention is a hardware and control program for a turning system 70, a depth gauge 60, a switchgear, a dredging device, an analog gyro compass 1 (4a), an analog gyro compass 2 (4b), and a digital gyro compass 4c. By concentrating the data in one place by linking with them, it provides a dredging work method that implements collective control of dredging equipment and dredging work.

It is still another object of the present invention to provide a dredging operation method that provides a function of dredging in real time using all acquired data values and providing a function of showing the changed terrain on a GIS map after dredging.

It is still another object of the present invention to provide a dredging operation method that can be used for other purposes in the future by creating a dredging operation and accurate route using a map of new information shown on a GIS map in real time.

Each driving device of the dredger may be manually operated by a driver, and is configured to automatically control all systems by connecting the respective devices to a computer in a dredger crane control room.

1 is a flowchart of hardware connection with the control system of the present invention.

2 is an explanatory diagram of the DGPS connection of the dredger of the present invention.

3 is an explanatory diagram of the connection of the DGPS and GPS satellites of the present invention.

4 is a schematic diagram of the connection between the control system and the hardware of the present invention.

5 is a description of a depth measuring apparatus of the present invention.

6 is a schematic diagram of the depth meter initialization of the present invention.

7 is an explanatory diagram of DAS1 of the present invention.

8 is an explanatory diagram of a DAS2 of the present invention.

9 is an explanatory diagram of the operation of the swirl system of the present invention.

10 is a flowchart of a dredging management program of the present invention.

11 is an initial system implementation diagram for the dredging method of the present invention.

12 is a configuration diagram of the monitor screen for the dredging method of the present invention.

<Short description of the symbols in the drawings>

1: Fixed station GPS11a: Modem 1

1b: transmit / receive antenna 12: mobile station GPS2

2a: modem 22b: transmit / receive antenna 2

3: Mobile station GPS33a: Modem 3

3b: transceiver antenna 34: gyro compass

4a: Gyro Compass 1 4b: Gyro Compass 2

4c: Digital Gyrocompass

10: Computer 20: DAS1

30: DAS240: Crane adjustment panel

40a data storage button 41: crane

50: signal splitter 51: office monitor

52: rear spud monitor 53: right spud monitor

54: left spud monitor 55: crane control room monitor

56: control tower monitor 60: depth meter

70: turning system 80: hoist wire drum

81: depth meter (light sensor) 82: depth reset button

83: drum open space 84: drum closed space

The present invention will be described in detail by specific examples.

In the present invention, the dredging control device installed on the dredger is fixed station GPS1 (1) installed on the ground, mobile station GPS2 (2) installed on the dredger, depth meter (60) installed on the dredger, and the fixed station GPS (1) and the mobile station GPS2 (2) ) And a computer 10 for processing data received from the depth meter 60.

In this dredging control device, the station GPS1 (1) and the mobile station GPS2 (2) installed in the dredger are for implementing DGPS (Differential Global Positioning System). The DGPS consists of fixed station GPS and mobile station GPS. Fixed station GPS and mobile station GPS simultaneously collect data from the same satellite and track the same satellite. Fixed station GPS and mobile station GPS should be in relatively close positions (less than 50 km) and this condition minimizes the margin of error that occurs at the location. The fixed station GPS must have a fixed position value, which is a known position value. The GPS must be initialized with these position values, and since the position values are known, the distance to the satellite can be calculated. Thus, the station knows the distance to the computed satellite and has data from it. The difference correction value is obtained using the exact distance to the satellite and the received position value. These correction values represent error values due to air propagation delay and satellite time error, orbital error, and radio wave interference. Therefore, the correction value of each satellite is extracted from these values and the data is transmitted to the mobile station. In DGPS, setting the position value of a fixed station is important. Mobile stations generally receive position values with inaccurate precision.

2 is an explanatory diagram of a DGPS dredger.

DGPS used in the present invention is implemented by a fixed station GPS1 (1) installed on land and a mobile station GPS2 (2) installed on a dredger. The fixed station GPS1 1 has a modem 1a and a transmitting antenna 1b, and the mobile station GPS2 2 also has a modem 2a and a transmitting antenna 2b.

The fixed station GPS1 (1) installed on land receives the data values of the fixed station from the GPS satellites and transmits and receives the antennas of the dredger's mobile station GPS2 (2) at the transmitting antenna (1b) via the modem (1a) installed in the fixed station GPS1 (1). And the data value converted by the modem 2a is recorded in the computer. The value obtained by summing the mobile station GPS2 (2) data values to reduce the error (error range of about several meters) of the changing data value obtained from the mobile station of the dredger using the data value of the stationary station's unchanged position obtained on land. It uses the method of measuring the position more precisely by correcting it to the average value without removing the error range. The error is reduced to around a few centimeters, and the correction principle of DGPS is measured (S) + noise = unknown value (F), and the pseudorange is (satellite position-receiver position). Subtracting the noise value from the pseudorange is the correction of the DGPS.

If the dredger's mobile station GPS3 (3) is additionally installed and connected to the control tower in the system configured as DGPS, the range of the direction error is reduced to about several centimeters, indicating the dredging work and the exact position of the dredger, which requires more precision. have. The mobile station GPS3 (3) also has a modem (3a) and a transmitting antenna (3b) for conversion and transmission of position data.

5 is an explanatory diagram of a depth measurement apparatus.

The depth meter 60 is connected to the computer 10 via a data controller DAS1 (Data Acquisition System1, 20).

The DAS1 20 receives and encodes an incoming signal from the depth meter, and the changed data value is converted into a logical digital value and transmitted to the database of the computer 10, and the transmitted data value is stored in the database.

The depth meter 60 is a depth measuring device using the optical sensor 81 as shown in FIG. 2 so as to know the correct depth when the bucket 41 or the hammer enters the crane of the dredger, the crane hoist and the wire drum ( 80, Hoist Wire Drum The optical sensor 81 is attached to both sides to calculate the time difference between the open (83) and closed (84) surfaces of the side of the wire drum on which the optical sensor 81 rotates. The optical sensor is preferably equipped with two in case of emergency. The optical sensor 81 calculates the value of the interval by adding a value when the hoist and the wire drum 80 rotate in the forward direction and subtracting the value when the hoist and the wire drum 80 rotate in the backward direction. The calculated value is converted into centimeters so that the length of the crane's wire is unrolled or wound at the hoist and wire drum 80, except for the distance required for the dredge bucket 41 or hammer to reach the water surface. Depth) = L (length)-A (excluded length)}, and the actual depth is calculated in the same manner as described above to measure the depth of the bucket 41 or hammer entered the seabed. The value of the calculated wire length obtained by the optical sensor 81 is transmitted to a computer located in the crane control room, and at the same time numerically displayed on the digital gauge installed in the crane control panel 40.

The depth meter 60 has a plurality of input terminals and output terminals, and when a signal is applied from one terminal, it operates on the principle of an encoder in which a coded signal is output to a combination of the corresponding output terminals. For this reason, they come in the form of pulses, not analogue or digital values. The pulse code undergoes a pulse code modulation process called Pulse Code Modulation (PCM) and performs nonlinear encoding, thereby improving performance. In the control system, since the value cannot be measured by the normal input port, the control system uses the external interrupt of the MPU. Extraction of the depth meter 60 value is collected by connecting directly to the board that outputs the depth meter 60. The collected data values are converted into logical digital values and transmitted to the database for storage.

The depth meter 60 is a type in which two 89C51s are inserted into the DAS1 20, which is a hardware controller, to receive an incoming signal of the depth meter from one MPU. Depth data is collected directly from the 74LS247, a 7-segment decoder chip.

The depth meter of the present invention can be equipped with two depth measuring devices. Each signal from the two depth measuring devices is processed using a switch to process data values in the form of pulses from the depth measuring device, and the signal from the computer is transmitted from the switch to a signal measuring device including an optical sensor.

The switch is a light sensor 81 of the depth measuring device is mounted to the hoist, wire drum 80, the value is added when rotating in the forward direction, the value is subtracted when the hoist, wire drum 80 is rotated in the reverse direction It is calculated by the method, and detects forward and backward, and sends a signal to each depth measuring device to operate the light sensor.

The depth of the depth can be calculated by detecting the change in the electrode from the power source for rotating the hoist and the wire drum 80 to change the depth of the electrode. In the case of using two depth meters, the switch operates according to the outputs of the two depth meters, and is connected to the computer through the DAS1 (20), and the DAS1 (20) is an encoder.

6 is an explanatory diagram for resetting the depth meter 60.

When the end of the bucket (4) touches the water to eliminate numerical errors that may occur in the repeated workgroup, press the reset button installed on the crane adjustment panel (40) to reset the depth to zero to reset the actual numerical value. You get

In addition, the data value transmitted to the computer 10 is transmitted to the automatic control program of the computer and displayed on the depth gauge on the program and converted into information necessary for automatic control together with each data value obtained from each control device on the program. The depth (depth) applied to the program is not affected by the tidal difference by adding the tidal range of the current time of dredging from the information values of the dredging places previously input in order to apply the accurate dredging depth to the dredging work. Instead of applying the depth of the actual depth to the dredging work, it is possible to work at the correct working depth unlike the existing dredging technology.

The dredging control device used in the present invention is connected to the DAS1 (20) through the position gyroscope device 4 through the hardware controller DAS2 (Data Acquisition System 2, 30) to determine the location of the dredger.

The position data value of the dredger inputted from the gyro compass device 4 is used as a dredger position initialization (zero point setting) value for dredging control.

The DAS2 30 modulates data input from the gyro compass device 4 to the DAS2 30 using an analog-to-digital converter.

The gyro compass device 4 is comprised of three parts, an analog gyro compass 1 (4a), an analog gyro compass 2 (4b), and a digital gyro compass 4c.

Receive the data value input from analog gyro compass 1 (4a) as a reference value

The data input from the analog gyro compass 2 (4b) and the value of the digital gyro compass (4c) is received to obtain information about the location of the dredger. When the reference value of the analog gyro compass 1 (4a), the data value of the analog gyro compass 2 (4b) and the value of the digital gyro compass 4c coincide with each other, the position information of the dredger is initialized in the computer 10, The exact location of the dredger will appear.

Data of the three gyro compasses of the present invention is transmitted to the DAS2 (30) of the hardware controller in the Multi Drop (RS232) method and RS232C method of RS485, the connection method of the DAS2 (30) is a connector called a housing. The analog gyro compass 1 (4a), the analog gyro compass 2 (4b), and the digital gyro compass (4c) locate the dredger and transmit the position value of the dredger to the control system. By correcting the position information of GPS satellites obtained from GPS (1), mobile station GPS2 (2) and mobile station GPS3 (3), find the exact current sea position of dredger, and show the current position of dredger on the GIS map. Mapping). Dredging work that displays features (land surface and coastline) in the GIS, dredging area is marked by dredging area using the mapping program, and dredgers move to dredging position accurately to set the pattern of work and perform dredging work. The gyro compass device 4 provides a basic value of.

When the gyro compass digital gyro compass (4c) and analog gyro compass 1 (4a), analog gyro compass 2 (4b) has the same value at the same time, the actual position of the dredger on the GIS map The scale is the same as the size (22m), and the direction of the moving position when the dredger is moved is obtained as the value of the gyro compass, and the obtained value is automatically transmitted to three so that the dredger can move to the work designated position. .

In the case of the gyro compass there are a number of ways that the gyro compass outputs an angle, but the method used here receives an input from the analog gyro compass (4a, 4b) with two analog values, the ADC (analog-to-digital converter, Analog- It digitizes through a to-digital converter and transfers the value to a computer. Since the output value of the digital gyro compass can not be directly transmitted to the PC through the ADC, it is modulated using the MPU and then transmitted to the PC through the RS232C module through the RS232C module. In general, the ADC changes the analog value to a resolution of 8 bits and the digital change rate is between 0 and 255. However, 12 bits were used in this embodiment to improve the resolution of the ADC.

Data processing in the case of DAS2 30 continuously polls the value of each gyro and sends it to DAS1 20. The MPU (Motorola's CPU) used is PIC (Priority Interrupt Controller). .

The 89C51, which is one of the 89C51 used for the depth meter of the DAS1 20, is transmitted from the DAS2 30, and the signal of the hardware controller DAS2 30 and the depth meter received from the other MPU to the PC through the RS232C communication method. And the communication of DAS1 (20) and DAS2 (30) is implemented by RS485.

Originally, RS485 is a multi-drop method and a method used in a long distance. The ship's signal has a length of 80m or more and 1: 1 communication is used.

The encoder compares the data values and transmits the difference values as analog values. In this case, the analog value is very small, so the amplifier using Op-Amp is used and the digitized data value is acquired by the A / D converter. Since the depth meter is output once processed like the switch, it comes out as an output value of 7-segment. To obtain this output value, the stabilized value is obtained by using the Opto-Coupler.

All of the information from the above instruments is collected by a computer, which uses RS232C and printer ports.

The control panel 40 of the dredger crane and the data storage button 40a connected to the control panel 40 are further connected to the DAS1 20 to which the depth meter 60 is connected.

The crane adjustment panel is a panel connecting the functions of each crane equipment to operate the crane equipment.

The data storage button 40a is connected to the crane control unit of the adjustment panel. The data storage button inputs data values input from each device into a database, and the input data values are converted into information necessary for dredging when operating the system for dredging in the computer 10 and the information necessary for dredging When inputting into the system for dredging, press the data save button to initialize the dredging work.

The computer 10 processes the data received from the fixed station GPS1 (11), the mobile station GPS2 (2), and the depth meter (6), and processes the processed data on the rear spud monitor (52) and the right spud monitor (53). The left spud monitor 54, the crane control room monitor 55, and the control tower monitor 56 are distributed through the signal distributor 50.

The rear spurd monitor 52 is installed in the rear spurd control room, and transmits all jobs processed by the computer 10 in real time for transmission of the rear spurd operation, so that the spud operation can be performed.

The right spurd monitor 53 and the left spurd monitor 54 also have the same function as the rear spurd monitor 52.

The crane control room monitor 55 displays the screen so that the crane driver can perform all the tasks required for dredging operation while operating the crane, and the crane operator checks the position and dredging position of the dredger and continues dredging work and the computer 10. Allows you to manipulate the input and output of all incoming information

The crane control room monitor 55 may also be mounted as a touch screen to easily operate the control program.

The control tower monitor 56 is installed in the control tower and is used by the captain to check the direction of the dredger and the direction of the gyro compass displayed on the control tower monitor 56, and detect and execute the position and movement of the dredger.

9 is an explanatory diagram for explaining the operating principle of the turning measuring device.

The turning measurement device 70 applying the GPS receives data values received from the GPS satellites, respectively, by two receivers of the mobile station GPS3 (3) installed on the control tower and the mobile station GPS2 (2) installed on the crane. The information data is implemented in a computer program by calculating the numerical displacement of the position interval of the mobile station GPS2 (2) and the mobile station GPS3 (3) with the information of the data values on the control program in the computer 10 installed in the crane control room. To the turntable of the instrument panel.

The turning measurement device 70 applying the GPS originates when two GPS receivers, with GPS3 (3) installed on the control tower as a reference station for a dredger and GPS2 (2) installed on the crane, as a control station, stand side by side. By converting the changed data value received at the control station GPS2 (2) and the value of the fixed station GPS3 (3) receiver on the turning system when the crane turns, the changed value is 1/360 unit in the operating program. The instrument panel displayed on the monitor of the computer is displayed as an angle on the instrument panel by the angle of the radius of the crane rotated, the data is used to find the exact position to dredge in the dredging operation.

The data values obtained from each dredging equipment are connected to a computer through RS232C (serial communication interface for connecting a computer and a terminal or various peripheral devices set by the US EIA) to control the operation of dredging equipment and to perform work on the control program. The crane driver proceeds dredging by the information indicated by the control program.

FIG. 10 is a flow chart showing algorithms of equipment connection of dredging management program.

When the dredging management program is executed, the previous value is initialized, and the data values of the devices connected to the mobile station GPS2 (2) and the mobile station GPS3 (3), the hardware controller DAS1 (20) and the hardware controller DAS2 (30) are 0.3 ~ Mobile station GPS2 installed on dredger crane and mobile station GPS3 installed on dredger's crane after calculating depth and tide of depth meter 70 by inputting the tide corresponding to the current time at 0.5 second intervals. Calculate the turning angle in 3) and output the input data value of each device on the screen.

Check if the save button is pressed and save the data if the save button is pressed, if not pressed again, mobile station GPS2 (2) installed on the dredger's crane, mobile station GPS3 (3) installed on the dredger's control tower, hardware controller Each device connected to the DAS1 (20) and the DAS2 (30), which is a hardware controller, receives data values at intervals of 0.3 seconds to 0.5 seconds and receives a tide corresponding to the current time from the database. Calculate and calculate the angle of turning to the mobile station GPS2 (2) installed in the crane, the mobile station GPS3 (3) installed in the control tower and outputs the data value received from the respective devices on the screen.

The dredging location information processing method receives the information on the location where the dredger is currently located from the fixed station GPS1 (1) installed on the ground, sends the data value of the location information to the computer database in priority order, and the mobile station GPS2 installed in the dredger crane. Receive the position information of the bucket received at (2) from the GPS satellites, add the values for the position information obtained from the fixed station GPS1 (1) to obtain a corrected position value, and a depth meter (depth measurement device, installed in the dredger) Receiving depth information at 60), the dredging depth is obtained, and the information received from the fixed station GPS1 (1) and the mobile station GPS2 (2) and the depth meter (60) from the computer (10) installed in the dredger is The dredging location information is processed with comprehensive information on dredging location and dredging depth.

The dredger of the present invention is constructed by combining the dredging control device, the depth measuring device, and the turning measuring device described above.

The dredged position information processing method of this invention is demonstrated.

Receive the position information from the fixed station GPS1 (1) installed on the ground, receive the position information from the mobile station GPS2 (2) installed on the dredger crane, receive the depth information from the depth gauge 60 installed on the dredger, and the computer ( In step 10), the dredging position information is processed by finding the dredging position and the dredging depth by processing the information received from the fixed station GPS1 (1), the mobile station GPS2 (2), and the depth gauge 60 in a computer.

If the location information is further received from the computer 10 in the mobile station GPS3 (3) installed in the dredger control tower, more accurate dredging position can be known.

The control method to move the dredger to the position to work dredging is as follows.

Receives the location information from the fixed station GPS1 (1) installed on the ground, receives the location information from the mobile station GPS3 (3) installed on the dredger control tower, receives the depth information from the depth meter 60 installed on the dredger, and the computer (10) Process the information received from the fixed station GPS1 (1), the mobile station GPS3 (3) and the depth gauge 60 to obtain information about the dredging operation position, and receives the position and orientation information of the dredger in the gyro compass (4) Then, the information on the dredging work position is compared with the position and orientation information of the dredger, and the dredger is moved to the dredging work position.

The dredger is moved to the dredging working position by the combined action of the rear spud, the right spud and the left spud.

When the dredger is moved, the dredger is fixed to one of the spuds and the dredger moves to the opposite side by pushing the water by using a thruster opposite to the direction of movement. do. When the dredger is advanced, the same action is repeated in the left and right studs in this manner. When the dredger rotates, the spurs on the side to be rotated are fixed and water is pushed out of the opposite trust.

The dredging method of this invention is demonstrated.

Draw dredging area chart on GIS map of dredging area, display dredging work area on the dredging area chart, control dredger position by dredger position control method, perform dredging work in dredging work area, and The dredging work is displayed on the chart of dredging area in real time.

The dredging location information processing method receives information on the location of the current dredger from the fixed station GPS1 (1) installed on the ground, sends the data value of the location information to the computer database in priority order, and the mobile station installed in the dredger crane. Receiving the position information of the bucket received from GPS2 (2) from the GPS satellites, adding the values for the position information obtained by the fixed station to obtain a corrected position value, and depth gauge (depth measurement device, 60) installed in the dredger dredger Receives the depth information value, obtains the dredging depth, and processes the information received from the fixed station GPS1 (1) and the mobile station GPS2 (2) and the depth meter 60 in the computer 10 installed in the dredger Dredging location information is processed with comprehensive information on dredging location and dredging depth.

11 is an initial system implementation diagram for the dredging method.

The basic survey data is displayed on the screen as a method for carrying out the dredging operation of the present invention.

When displaying the basic survey data on the screen, if you perform a basic operation without displaying a tin file (TIN, a file for easily managing data), and the basic survey data is displayed on the screen. Set up the dredging work area and select the work area setting tool.

When the work area is set, the whole area is set. When the whole area is set, the progress direction of the work area is indicated by a line, and the progress direction is displayed for efficient work during dredging work.

Pressing the draw button in the direction of progress appears at the top of the right screen, and (two clicks) two points in the direction of the direction with the mouse or directly enter the TM coordinates, set the left and right direction, and press the Create button to draw the work line. The text setting is used when a specific area is displayed, and the text setting is used when displaying a part of special information, and since the corresponding area can be clicked with a mouse, TM coordinates can be directly input by a keyboard.

When the TM coordinates cannot be input with the mouse, the screen for setting the entire work area using multiline drawing has been described. When the specific part is displayed, the specific part may be displayed by symbol drawing, and in the symbol drawing, the specific part may be directly inputted by clicking on the corresponding part with the mouse in the same way as the TM coordinate input, and the symbol (rock) may be directly inputted. Display.

The symbol drawing is an important criterion for selecting a job as an area display job for a rock-rock work and other precision work in a dredging work.

FIG. 12 is a monitor screen configuration diagram of a dredging method. When the dredging preparation work is completed, GPS1 (1), GPS2 (2), GPS3 (3) and DAS1 (20) are sequentially connected to give actual data values. Screen. When the actual data value is received in the above, the work section and dredging position are displayed on the screen and the tool connection status tool box turns green in order of the equipment to which the data is received, indicating that the work is completed. If data is not input on the program, it is displayed in red.

After the equipment connection work on the GIS map, the current position on the map of the dredger appears in the actual position, and each spud through the signal distributor 50 to move the location of the dredger to the work start section of the work area Screens are generated on the monitors 52, 53, and 54 of the control room and the control tower monitor 56, and the dredger is moved to the position of the work start section by the value calculated in the spud control room.

The location of the dredger is moved from the computer, the data is displayed on the monitor, the position is displayed on the monitor, and the dredging operation is made by matching the dredging position on the monitor with the dredging position on the GIS map.

The present invention was able to find and dredge the exact location to dredge in the sea dredging operation, to find the sea works that require crushing rock work and precision within a few centimeters to carry out the work that requires precision, the impact of the weather environment Because it can be surveyed without receiving it, it is possible to work even in bad weather, and the automatic control of dredging work can save economically. In addition, GIS and DGPS can be connected to determine the exact location of the feature, and in real time, it is possible to produce a modified seabed topographic map and a chart of the dredging area.

Claims (15)

Fixed station GPS1 (1) installed on the ground; Mobile station GPS2 (2) installed in the dredger; A depth gauge 60 installed in the dredger; A computer (10) for processing data received from the fixed station GPS1 (1), the mobile station GPS2 (2), and the depth meter (60); Dredge control device, characterized in that consisting of. The dredging control device according to claim 1, further comprising a mobile station GPS3 (3) connected to said computer (10). The dredge control apparatus according to claim 1, wherein the depth gauge is connected to the computer (10) through a DAS1 (20) which is a hardware controller. The dredging control device according to claim 1, wherein a gyro compass device (4) is connected to the DAS1 (20) of claim 3 through a DAS2 (30) which is a hardware controller. 5. The dredging control device according to claim 4, wherein the gyro compass device (4) comprises an analog gyro compass 1 (4a), an analog gyro compass 2 (4b), and a digital gyro compass (4c). The dredging control device of claim 3, wherein the control panel (40) of the dredger crane and the data storage button (40) connected to the control panel (40) are further connected to the DAS1 (20). According to claim 1, the data processed by the computer 10, rear spud monitor 52, right spud monitor 53, left spud monitor 54, crane control room monitor 55, and control tower monitor ( Dredging control device, characterized in that further connected to the signal splitter (50) to distribute to 56. Dredger crane hoist, wire drum 80; A guide rail connected to one side of the drum by a circular ring and having a plurality of holes drilled at regular intervals on a circumferential surface thereof; An optical sensor (81) capable of detecting light reflected from the side of the guard rail by emitting light to the guard rail; An input terminal and an output terminal connected to the optical sensor 81; A computer (10) incorporating a program for receiving a signal output from the output terminal and converting the signal to a depth value; An opening and closing device capable of detecting a change in an electrode from a power source for rotating the drum and converting the increase and decrease of the depth; A DAS1 connected to the input / output terminal; And A depth gauge reset button connected to the dredger's crane adjustment panel; Depth measurement device, characterized in that consisting of. Mobile station GPS2 (2) installed in the dredger crane; Mobile station GPS3 (3) installed in the dredger control tower; And A computer (10) for processing data received from the mobile station GPS2 (2) and the mobile station GPS3 (3); Rotation measuring device, characterized in that consisting of. Dredging control device of claim 1; Depth measurement device of claim 8; And A turning measuring device of claim 9; Dredger comprising a. Receiving location information from a fixed station GPS1 (1) installed on the ground; Receiving position information from the mobile station GPS2 (2) installed in the dredger crane; Receiving depth information from a depth gauge (60) installed in the dredger; And, Processing information received from the fixed station GPS1 (1), the mobile station GPS2 (2) and the depth meter (60) in the computer (10) to find a dredging position and dredging depth; Dredging location information processing method comprising the. 12. The method according to claim 11, further comprising the step of receiving the position information from the computer (10) at the mobile station GPS2 (2) installed in the dredger crane. Receiving location information from a fixed station GPS1 (1) installed on the ground; Receiving location information from the mobile station GPS3 (3) installed in the dredger control tower; Receiving depth information from the depth gauge 60 installed in the dredger; Processing information received from the fixed station GPS1 (1), the mobile station GPS3 (3) and the depth meter (60) in the computer (10) to obtain information on the dredging work position; Receiving position and orientation information of the dredger at the gyro compass 4; Comparing the information on the dredging work position with the position and orientation information of the dredger; And, Moving the dredger to a dredging working position; Dredger position control method characterized in that consisting of. The dredging control method of claim 13, wherein the moving of the dredger to a dredging operation position is performed by a combination action of a rear spud, a right spud, and a left spud. Create a dredging area chart on the GIS map of the dredging area; Displaying a dredging work area on the dredging area chart; Controlling the dredger position according to claim 13 or 14; Perform dredging work in the dredging work area; And, Displaying the dredging operation contents on a dredging area chart in real time; Dredging method characterized in that consisting of.