JP7017948B2 - Pump dredging vessel and pump dredging method - Google Patents

Description

The present invention relates to a pump dredging vessel for dredging underwater sediment in a harbor or the like, and a pump dredging method using the same.

Conventionally, as a method of dredging the bottom sediment of a harbor or the like, a dredging method using a pump dredging vessel is known (see, for example, Patent Document 1).

The pump dredger has a rudder that is inserted into the water from the work boat toward the bottom of the water, a swivel means that swivels the rudder together with the work boat, an excavation means that is placed at the tip of the rudder, and suction to the tip of the rudder. It is equipped with a sand drainage pipeline with an open mouth and a suction pump connected to the sand drainage pipeline.

In addition, the pump dredger is equipped with a pile-shaped spat facing up and down at the stern of the work vessel, and this spat is driven into the bottom of the water and swivels horizontally (left and right in the figure) with this as a fulcrum. While excavating, the spud is pulled out and the work boat is advanced, and this series of work is repeated every time the work boat moves.

Further, this pump dredger is equipped with a measuring means for measuring the position of the tip of the ladder, the depth of the ladder (excavation means), and the position of the hull, and the dredging work is performed while accurately controlling the position of the pump dredger (for example). , Patent Document 2).

Japanese Unexamined Patent Publication No. 2002-059888 Japanese Unexamined Patent Publication No. 10-159125

However, in the conventional technique as described above, since the pump dredging vessel excavates in an arc shape while turning in the design dredging area partitioned in a rectangular shape, it is difficult to excavate with high accuracy based on the calculation. , Convenience and versatility are desired.

In addition, since the excavation is performed in an arc shape, it is difficult to perform an operation when excavating a side slope, and it is difficult to perform rigorous excavation based on calculation.

Therefore, in view of such conventional problems, the present invention has been made for the purpose of providing a pump dredging vessel capable of dredging a rectangular planned dredging area with high accuracy and a pump dredging method using the same. ..

The feature of the invention according to claim 1 for solving the above-mentioned conventional problem is that a rudder inserted into water from a work boat toward the bottom of the water and a cutter head arranged at the tip of the rudder are provided. In a pump dredging vessel in which earth and sand excavated by the cutter head are sucked up through an earth and sand transfer pipeline, a position measuring means for measuring the position of the cutter head, a ladder driving means for moving the rudder up and down, and the above. The swivel means for turning the work boat, the forward / backward moving means for moving the work boat forward and backward, and the control means for controlling the rudder driving means, the turning means, and the forward / backward moving means are provided, and the control means is the position measuring means. It is provided with a calculation means for calculating the movement amount and the ladder depth of the work vessel based on the information from the above and the planned dredging area information, and moves forward and backward in conjunction with the turning means based on the movement amount calculated by the calculation means. By means, the work boat is moved back and forth while turning, and the cutter head is moved along a desired locus to excavate.

A feature of the invention according to claim 2 is that, in addition to the configuration of claim 1, the forward / backward moving means raises and lowers a spud driven into the bottom of the water, a support base for supporting the spud so as to be able to move up and down, and the spud. The driving means, the support driving means for moving the support to the work boat, and the turning center measuring means for measuring the driving position of the spud are provided, and the calculation means is information from the turning center measuring means. The movement amount of the support base is calculated based on the above.

The feature of the invention according to claim 3 is a ladder inserted into the water from a work boat toward the bottom of the water, a cutter head arranged at the tip of the ladder, and a position measuring means for measuring the position of the cutter head. The rudder driving means for moving the rudder up and down, the turning means for turning the work ship, the forward / backward moving means for moving the working ship forward and backward, and the rudder driving means, the turning means, and the forward / backward moving means are controlled. Using a pump dredging vessel equipped with a control means, a moving process for moving the work vessel forward or backward, and a rudder inserted from the work vessel toward the bottom of the water, and the rudder is swiveled to the tip thereof. In the dredging method using a pump dredging vessel that dreds a predetermined section by repeating the dredging process of excavating the bottom of the water with the arranged excavation means and sucking the excavated earth and sand together with the surrounding seawater, the position in the dredging process. The rudder driving means, the turning means, and the forward / backward moving means are operated based on the measured values by the measuring means , and the work boat is made to move forward / backward while turning by the forward / backward moving means in conjunction with the turning means, and the cutter head is moved. The purpose is to excavate while moving along a desired trajectory.

The feature of the invention according to claim 4 is that, in addition to the configuration of claim 3, the pump dredger is provided with a turning center measuring means for measuring the driving position of the spud, and is back and forth based on the information from the turning center measuring means. The purpose is to calculate the amount of movement of the driving means and operate it.

The pump dredging vessel according to the present invention is provided with the configuration according to claim 1, and the work vessel moves forward or backward in conjunction with the turning operation of the rudder by the turning means, so that the cutter head is desired to be linear or the like. It is possible to move along the trajectory of the dredging, and the planned dredging area divided into rectangular shapes can be dredged according to a rough plan, making it easier to formulate a dredging plan and reducing excess digging. Can be done.

Further, in the present invention, by providing the configuration of claim 2, a stable turning operation can be performed with the spud as a base point, and the work boat can be suitably moved forward and backward with the spud as the base point.

The pump dredging method according to the present invention is provided with the configuration according to claim 3, so that the work boat moves forward or backward in conjunction with the turning operation of the rudder by the turning means, and the cutter head is linear or the like. It can be moved along the trajectory, and the planned dredging area divided into rectangular shapes can be dredged according to a rough plan, making it easier to formulate a dredging plan and reducing excess digging. can.

It is a side view which shows an example of the pump dredger which concerns on this invention. It is a plan view of the same as above. It is a schematic plan view which shows the state of the pump dredging method which concerns on this invention in time series. It is a schematic plan view which shows the state of the conventional pump dredging method in chronological order.

Next, an embodiment of the pump dredging vessel and the dredging method according to the present invention will be described based on the examples shown in FIGS. 1 to 4. Reference numeral 1 in the figure is a pump dredger.

The pump dredger 1 has a rudder 4 inserted into the water from the work boat 2 toward the bottom ground 3, a cutter head 5 arranged at the tip of the rudder 4, and a suction port opened at the tip of the rudder 4. It is equipped with a sediment transfer pipeline (not shown) and a suction pump (not shown) connected to the sediment transfer pipeline.

Further, the pump dredger 1 includes a position measuring means for measuring the position of the cutter head 5, a rudder driving means 6 for moving the ladder 4 up and down, a turning means 7 for turning the work boat 2 together with the ladder 4, and a work boat 2. It is provided with a forward / backward moving means 8 for moving forward / backward, and a control means for controlling the rudder driving means 6, the turning means 7, and the forward / backward moving means 8, so that excavation can be performed while controlling the position of the cutter head 5.

As shown in FIG. 3, the coordinate system is set based on the planned dredging area partitioned in a rectangular shape, the y-axis is set in the horizontal direction toward the traveling direction of the work boat 2, and the horizontal axis is orthogonal to the y-axis. The x-axis is set in the direction and the z-axis is set in the vertical direction. The coordinate system is not particularly limited to the embodiment, and for example, an absolute coordinate system may be used.

Further, the pump dredger 1 has a control room 9 for controlling on the work boat 2, and a computer terminal or the like constituting the control means is installed in the control room 9, and the pump dredger 1 is controlled by the control means. You can do it.

The pump dredger 1 is provided with a so-called spud carriage type forward / backward moving means 8, and the forward / backward moving means 8 includes a spud 10 driven into the bottom ground 3, a support base 11 for supporting the spud 10 so as to be able to move up and down, and the spud 10. It is provided with a driving means for raising and lowering (not shown), a support driving means 12 for moving the support 11 with respect to the work boat 2, and a turning center measuring means for measuring the driving position P (X, Y) of the spud 10. ing. Reference numeral 13 in the figure is an auxiliary spud.

The support base driving means 12 is not particularly limited, but for example, as shown in FIGS. 1 and 2, the support base 11 is movably installed on the orbital 12a and 12a installed on the work boat 2, and the winch or the like is used. The support base 11 is moved on the tracks 12a and 12a by a drive actuator such as a hydraulic cylinder. Further, the movement amount k is controlled by the control means.

The turning center measuring means is a driving position of the spud 10 based on the reference position information of the work vessel 2 obtained by the horizontal position detecting means including the GNSS unit 17 and the relative positional relationship between the work vessel 2 and the spud 10 at the initial position. It is designed to measure P (X, Y). As the turning center measuring means, the GNSS unit 17 or the like may be installed on the support base 11 constituting the forward / backward moving means 8 and the position P (X, Y) thereof may be measured.

The turning means 7 is provided with turning wires 16 and 16 extending horizontally from winches 14 and 14 provided on the bow and extending horizontally via a pulley supported by the rudder 4, and the tip thereof is an anchor. By unwinding and winding the fixed swivel wires 16 and 16, the rudder 4 is swung horizontally together with the work boat 2 with the spud 10 as a fulcrum.

On the other hand, the base end portion of the ladder 4 is pivotally supported on the bow portion of the work vessel 2, and the tip end side thereof is moved up and down by the ladder driving means 6.

The ladder driving means 6 includes hanging wires 6a and 6a drawn out from the upper end of the support column 6c installed at the bow of the work boat 2, and the tip of the hanging wire 6a and 6a is the tip of the ladder 4. The rudder 4 is moved up and down with the pivot shaft 6b as the base axis by feeding and winding the hanging wires 6a and 6a by the winch 6d mounted on the work boat 2 by connecting them to the central portion and the central portion. It has become.

The feeding amount of the hanging wire is measured by a measuring instrument including a rotary encoder or the like, and the measured feeding amount data is output to the control means, and the rudder angle θ is measured and controlled based on the feeding amount data, that is, , The position of the tip of the rudder 4 in the water depth direction is controlled. The ladder angle θ may be obtained by calculation based on the depth (cutter depth) of the tip of the ladder 4, which will be described later, and the height of the hull, regardless of the measured feed amount data.

On the other hand, a water depth detecting means including a water pressure gauge and a tide gauge is installed on the tip side portion of the ladder 4, and the position of the tip portion of the ladder 4 is determined together with the horizontal position detecting means composed of the GNSS unit 17 installed on the work vessel 2. A position detecting means for detecting is configured, and the actual three-dimensional position p (x, y, z) of the tip portion (cutter head 5) of the ladder 4 is measured in real time and output to the control device.

The position detecting means is not limited to the above-described embodiment, and is provided with a plurality of GNSS devices, a GNSS device equipped with a directional meter such as a gyro compass, and a GNSS capable of measuring a horizontal position and an orientation. It may be a combination of a compass (GPS compass) and a water depth detecting means including a water pressure gauge and a tide gauge.

The control means includes a calculation means for calculating the movement amount k of the work vessel 2 and the depth of the ladder 4 based on the information from the position measuring means and the turning center measuring means and the planned dredging area information, and is calculated by the calculation means. The work boat 2 is moved back and forth while turning by the forward and backward means 8 based on the amount of movement k, and the cutter head 5 is linearly, that is, on y = Yd (constant) along a desired trajectory in this embodiment. It is designed to excavate while moving with.

The calculation means calculates the movement amount k using, for example, the following formula 1, and the forward / backward means 8 has a working radius so as to be a position of the movement amount k from the driving position P (X, Y) of the spud 10. The work boat 2 is designed to move forward or backward in the direction.

Note that x', y'and z'are the design coordinates of the dredging target area partitioned in a rectangular shape, L1 is the distance from the spud 10 to the ladder base point at the initial position, L2 is the ladder length, and Ht. Is the height of the ladder base point.

Next, a pump dredging method using the pump dredging vessel 1 described above will be described.

First, while measuring the position by the work vessel 2 position measuring means such as the GNSS unit 17, the pump dredger 1 is moved to a predetermined position, and the spud 10 is driven into the bottom ground 3 at that position.

At that time, the support base 11 that supports the spud 10 is located at the initial position of the work vessel 2, and the driving position P (X, Y) of the spud 10 is measured by the turning center measuring means.

Next, as shown in FIG. 1, the ladder 4 is lowered, the cutter head 5 is landed on the bottom ground 3, and the position p (x, y, z) of the cutter head 5 at that position is measured and measured. The Y coordinate y = Yd is output to the control means, and y'is automatically set in the calculation means.

Then, turning is started by the turning means 7 with the driving position P (X, Y) of the spud 10 as the turning center.

When the turning is started, the control means sequentially updates the x-coordinates x1 and x2 in the planned dredging area for each turning movement, and the calculation means calculates the movement amount k with each coordinate x1 and x2 as x'by the mathematical formula 1. The forward / backward moving means 8, that is, the support base driving means 12 is driven to move forward in the turning radius direction from the driving position P (X, Y) of the spud 10 calculated to move in the x direction to the position of the movement amount k.

Then, the turning movement and the forward movement of the work vessel 2 by the forward / backward moving means 8 are repeated until one end in the x-direction in the planned dredging area is reached.

Further, when reaching one end in the x-direction, the operations shown in FIGS. 3 (a) to 3 (c) are performed in the reverse order, the control means operates the turning means 7, and the pump dredging vessel 1 is turned in the opposite direction in the x-direction. The x-coordinates x2 and x1 in the planned dredging area are sequentially updated for each turning movement, the movement amount k with each x-coordinate as x'is calculated by the calculation means by the mathematical formula 1, and the forward / backward movement means 8 is operated. As a result, the work boat 2 is retracted in the turning radius direction from the driving position P (X, Y) of the spud 10 to the position of the movement amount k. Then, when the pump dredger 1 returns to the position of x = X, the relative position between the spud 10 and the work ship 2 returns to the initial position.

In this way, the cutter head 5 moves along a desired trajectory, that is, on a straight line of y = Yd (constant) by sequentially advancing the work boat 2 while being supported by the spud 10 together with the turning motion. ..

Next, as shown in FIG. 3D, the pump dredger 1 is advanced by a predetermined distance D by the spud carriage (movement step), and the spud 10 is newly driven at the position P'(X, Y + D). The same work as in 3 (a) to 3 (c) is performed, and the underwater ground 3 is excavated while moving the cutter head 5 on a straight line of y = Yd + D (constant) (excavation step).

Then, the moving process and the excavation process are repeated, and linear dredging is continuously performed in the y-axis direction, and the dredging work is performed in a rectangular shape corresponding to the planned dredging area.

In the above embodiment, for convenience, the case where the excavation work is turned to one side from the position shown in FIG. 3A has been described, but the excavation work can be performed in the same manner while turning to the opposite side.

In the conventional pump dredging method, as shown in FIGS. 4A to 4C, the rudder 4 and the cutter head 5 at the tip thereof move in an arc shape as the pump dredging vessel 1 turns, so that the cutter head The moving trajectory of No. 5 deviates from the rectangular planned dredging area, and it is necessary to formulate a dredging plan in consideration of the deviation, and it is necessary to dig extra to dred the planned area.

On the other hand, in the pump dredging vessel 1 and the pump dredging method using the pump dredging vessel 1 according to the present invention, the calculation means calculates an appropriate movement amount k, and the control means bases the pump dredging means 8 in conjunction with the turning movement. By operating the cutter head 5, the cutter head 5 moves linearly on y = Yd (constant), so that the planned dredging area partitioned in a rectangular shape can be dredged according to a rough plan, and the dredging plan can be drafted. This can be facilitated and the excess digging can be reduced.

In the above embodiment, the case where the cutter head 5 moves linearly on y = Yd (constant) has been described, but the function related to y'in Equation 1 is changed according to the mode of the planned dredging area. Thereby, the cutter head 5 can be moved along a desired locus.

For example, y'in Equation 1 is a proportional function y'= Ax + Yd (0≤x <x1), y'= Bx + {(AB) x1 + Yd} (x1≤x≤x2) (A and B are constants) and By setting the step function y'= Yd (0≤x <x1), Yd + B (x1≤x≤x2) (B is a constant), the arithmetic means calculates an appropriate movement amount k, and the control means is based on it. The forward / backward moving means 8 is operated in conjunction with the turning movement, and the cutter head 5 is moved along a desired locus such as a zigzag shape or a stepped shape.

In the above-described embodiment, an example using the spud carriage type forward / backward moving means 8 has been described. However, as the forward / backward moving means 8, the work boat 2 is turned and moved forward and backward by a wire operation anchored in a Christmas tree shape. The Christmas tree method may be adopted.

1 Pump dredger 2 Workboat 3 Underwater ground 4 Ladder 5 Cutter head 6 Ladder drive means 7 Swivel means 8 Forward / backward movement means 9 Control room 10 Spad 11 Support stand 12 Support stand drive means 13 Auxiliary spud 14 winch 17 GNSS unit

Claims (4)

A pump equipped with a ladder inserted into the water from a work boat toward the bottom of the water and a cutter head arranged at the tip of the ladder so that the earth and sand excavated by the cutter head can be sucked up through the earth and sand transfer pipeline. In the dredger
A position measuring means for measuring the position of the cutter head, a ladder driving means for moving the ladder up and down, a turning means for turning the work boat, a forward / backward moving means for moving the work boat forward and backward, and the ladder driving means. , A control means for controlling a turning means and a forward / backward moving means,
The control means includes a calculation means for calculating the movement amount and the ladder depth of the work vessel based on the information from the position measuring means and the planned dredging area information.
Based on the movement amount calculated by the calculation means, the work boat is moved forward and backward while turning by the forward / backward moving means in conjunction with the turning means, and the cutter head is excavated while moving along a desired trajectory. A pump dredger characterized by the fact that it was made. The forward / backward moving means includes a spud to be driven into the bottom of the water, a support base for supporting the spud so as to be able to move up and down, a driving means for raising and lowering the spud, and a support base driving means for moving the support base to the work ship. And a turning center measuring means for measuring the driving position of the spud.
The pump dredger according to claim 1, wherein the calculation means calculates the movement amount of the support base based on the information from the turning center measuring means. A ladder inserted into the water from the work boat toward the bottom of the water, a cutter head arranged at the tip of the ladder, a position measuring means for measuring the position of the cutter head, and a ladder driving means for moving the ladder up and down. A pump dredger provided with a turning means for turning the work ship, a forward / backward moving means for moving the work ship back and forth, and a control means for controlling the ladder driving means, the turning means, and the forward / backward moving means is used. death,
The moving process of moving the work vessel forward or backward,
A dredging process in which a rudder is inserted from the work vessel toward the bottom of the water, the rudder is swiveled, the bottom of the water is excavated by an excavation means arranged at the tip of the rudder, and the excavated earth and sand are sucked together with the surrounding seawater. In the dredging method using a pump dredging vessel that dredges a predetermined section by repeating and
In the dredging process, the ladder driving means, the turning means, and the forward / backward moving means are operated based on the measured values by the position measuring means , and the work boat is moved back and forth while turning by the forward / backward means in conjunction with the turning means. A pump dredging method comprising advancing and excavating while moving the cutter head along a desired trajectory. The pump dredger is provided with a turning center measuring means for measuring the driving position of the spud.
The pump dredging method according to claim 3, wherein the moving amount of the forward / backward moving means is calculated and operated based on the information from the turning center measuring means.

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