JP7701838B2 - Dredging construction management system and dredging construction management method - Google Patents

Description

The present invention relates to a dredging work management system and a dredging work management method for a pump dredger.

In pump dredging work using a pump dredger, the ladder attached to the bow is swung along with the ship, and the cutter at the end of the ladder is used to excavate and dredge the bottom of the water. This requires simultaneous swing management and ladder depth management. In swing management, the swing speed is controlled according to the thickness of the dredged soil, and in ladder depth management, the ladder depth is controlled according to the tide level. In particular, when constructing a slope, the swing speed of the horizontal movement and the speed of the vertical movement of the ladder are finely adjusted to construct according to the design line. Conventionally, both of these controls were performed manually by the operator. Therefore, the inventors developed a system that mainly automatically controls the ladder depth (see Reference 1).

JP 2020-056250 A

Here, the control of the swing speed and ladder depth requires the operator to perform delicate operations in accordance with the design line while checking multiple instruments and system displays, which requires concentration and places a heavy burden on the operator during work. Furthermore, there is a risk that the construction accuracy will vary depending on the operator's skill and experience. Although the system developed by the inventors described above automatically controls the ladder depth, there is still room for improvement.
The present invention has been made in consideration of the above-mentioned problems, and its purpose is to perform pump dredging stably and with high precision regardless of the operator's skill or experience, while reducing the workload.

(Modes of the Invention)
The following aspects of the invention are illustrative of the configuration of the present invention, and are described in terms of items to facilitate understanding of the various configurations of the present invention. Each item does not limit the technical scope of the present invention, and the technical scope of the present invention may include any embodiment in which some of the components of each item are replaced or deleted, or other components are added, while taking into account the best mode for carrying out the invention.

(1) A dredging construction management system for a pump dredger in which a ladder attached to the bow so as to be swingable in the vertical direction is swung in the width direction of the concave channel with the hull centered on a spud attached to the stern, and sediment is excavated from the bottom of the water using a cutter attached to the tip of the ladder, and the excavated sediment is sucked in and pumped out by a pump, in order to construct a concave channel on the bottom of the water, at least one side of which is formed by a slope. The system includes a position measuring means for measuring the position of the pump dredger, a tide gauge for measuring the tide level in the vicinity of the construction area, and a plurality of sensors for measuring the attitude of the pump dredger, and a calculation and information required for the operation of the system, which includes a calculation and information calculating means for calculating the position and depth of the cutter based on the measurement results of the position measuring means, the tide gauge, and the plurality of sensors. and a control means for controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data received from the calculation management means to adjust the depth and the widthwise position of the cutter, wherein the calculation management means is configured to be switchable between a learning mode in which an operation log related to the operation of the ladder winch and the swing winch during manual dredging work in which the ladder winch and the swing winch are manually operated, and an automatic control mode in which the control data is calculated based on the operation log while reproducing the movement of the cutter during the manual dredging work so that dredging is performed in accordance with the designed dredging depth .

The dredging construction management system described in this section manages dredging construction in which a pump dredger constructs a recessed channel on the bottom of the water, at least one side of which is formed by a slope. In the dredging construction to be managed, a ladder attached to the bow of the pump dredger so that it can swing up and down is swung together with the hull of the pump dredger in the width direction of the recessed channel to be constructed on the bottom of the water, centered on a spud attached to the stern, while excavating soil from the bottom of the water with a cutter attached to the tip of the ladder, and the excavated soil is sucked in and pumped out by a pump mounted on the pump dredger. The components of the system include a position measurement means, a tide gauge, multiple sensors, a calculation management means, and a control means.

The position measurement means measures the position (planar position) of the pump dredger, the tide gauge measures the tide levels near the construction area, and the multiple sensors measure the attitude of the pump dredger, and these measurements are taken continuously during construction so that the latest situation is always reflected in each measurement result. The calculation management means performs calculations and manages information necessary for the operation of the system, and as one of its calculations, calculates the cutter position (planar position) and depth based on the measurement results of the position measurement means, tide gauge, and multiple sensors. At this time, the cutter position is calculated by taking into account the position of the pump dredger measured by the position measurement means, the size of each part of the pump dredger (hull, rudder, etc.) that is preset in the calculation management means, and the attitude of the pump dredger measured by the multiple sensors, etc. The cutter depth is calculated from the tide level near the construction area measured by a tide gauge, the attitude of the pump dredger, the size of the pump dredger's ladder, etc. Such calculations of the cutter position and depth are performed continuously during construction, so that the current position and depth of the cutter can be grasped in real time.

The control means controls the ladder winch mounted on the pump dredger to swing the ladder up and down, thereby changing the inclination angle (swing angle) of the ladder and adjusting the depth of the cutter installed at the tip of the ladder. Furthermore, the control means controls the swing winch mounted on the pump dredger to wind and pay out two swing wires stretched from near the tip of the ladder to both sides in the width direction of the concave channel, thereby swinging the hull together with the ladder around the spud and adjusting the position of the cutter in the width direction of the concave channel. At this time, the control means controls both the ladder winch and the swing winch based on the control data received from the calculation management means.

That is, the calculation management means calculates and transmits control data used by the control means to control the ladder winch and the swing winch. For this purpose, the calculation management means is configured to be switchable between a learning mode and an automatic control mode. In the learning mode, the calculation management means records an operation log related to the operation of the ladder winch and the swing winch during manual dredging work in which the ladder winch related to depth adjustment and the swing winch related to swing adjustment are manually operated by an operator. For this reason, an operation log is usually recorded when a skilled operator with a wealth of experience and excellent skills manually operates as described above. Also, in the automatic control mode, the calculation management means calculates control data to be transmitted to the control means based on the operation log recorded in the learning mode so that dredging is performed according to a preset design dredging depth.

In other words, the calculation management means calculates control data from the recorded operation log so that the movement of the cutter during manual dredging work as described above is reproduced. Moreover, the calculation management means adjusts the control data while checking the cutter position and depth calculated as described above so that dredging is performed according to the designed dredging depth. As a result, during dredging work, the movement of the cutter operated by an experienced operator is reproduced and dredging is performed according to the designed dredging depth, so pump dredging is performed stably and with high precision regardless of the skill and experience of the operator using the system. Furthermore, the operator is freed from delicate operations that require concentration, such as operating the swing speed and ladder depth, which significantly reduces the burden on the operator during work.

(2) In the above (1), the calculation management means virtually divides the recessed path into a plurality of areas along the width direction, records the operation log for each area in the learning mode, and calculates the control data for each area in the automatic control mode . When recording the operation log in the learning mode, the calculation management means simultaneously records the area in which the cutter is located, thereby recording the operation log linked to each area. When calculating the control data in the automatic control mode, at the timing when it is determined that the area in which the cutter is currently located has changed, the operation log used to calculate the control data is changed from that of the area before the change to that of the area after the change (Claim 1 ).
In the dredging construction management system described in this section, the calculation management means virtually divides a recessed passage constructed on the bottom of the water into a plurality of areas along the width direction of the recessed passage, for example, based on the position where the shape changes. When recording an operation log in the learning mode, the calculation management means records an operation log for each divided area, and at this time, records the area where the cutter is located at the same time, thereby recording the operation log linked to each area. When calculating control data in the automatic control mode, the calculation management means calculates control data for each divided area , and at this time, changes the operation log used to calculate the control data from that of the area before the switch to that of the area after the switch when it is determined that the area where the cutter is currently located has changed . As a result, the characteristics such as the shape unique to each area are recorded and calculated to be reflected, thereby improving the accuracy of pump dredging during construction.

(3) In the above (2), the dredging construction management system (Claim 2) in which the calculation management means uses at least the toe position of the slope of the depression road and the toe position of the slope of the depression road as division positions of the multiple areas.
In the dredging construction management system described in this section, the calculation management means specifies the positions to be used as the division positions when dividing a recessed road having a slope at least on one side end into a plurality of areas. Specifically, the calculation management means uses at least the toe position of the slope of the recessed road and the toe position of the slope of the recessed road as the division positions of the plurality of areas. That is, when the recessed road has slopes on both sides, the toe position of the slope of one side end of the recessed road, the toe position of the slope of one side end of the recessed road, the toe position of the slope of the slope of the other side end of the recessed road, and the toe position of the slope of the slope of the other side end of the recessed road are used as the division positions of the plurality of areas. Also, when the recessed road has a slope on one side end, the toe position and the toe position of the slope are used as the division positions of the plurality of areas. As a result, the recessed road is divided into a plurality of areas at a position where the shape in the width direction changes significantly, so that the shape of each area is accurately reproduced during construction.

(4) In the above (2) or (3), the calculation management means records at least one of the ladder winch raise command, the ladder winch lower command, the ladder winch speed setting, the swing direction, the swing speed setting, the swing winch tension setting, and the swing winch rotational speed as the operation log (Claim 3 ).
In the dredging construction management system described in this section, the calculation management means records at least one of the following as an operation log in the learning mode: ladder winch up command, ladder winch down command, ladder winch speed setting, swing direction, swing speed setting, swing winch tension setting, and swing winch rotation speed. By recording such various operation elements, more detailed movements can be reproduced in the automatic control mode, and construction accuracy is further improved.

(5) In the above items ( 2 ) to (4), the calculation management means calculates the control data by taking into account at least one of the following: a difference in soil quality of the dredged soil between the learning mode and the automatic control mode; a difference in excavation depth between the learning mode and the automatic control mode; a difference in the driving position of the swing wire connected to the swing winch relative to the pump dredger ship between the learning mode and the automatic control mode; and the influence of waves and/or wind during the automatic control mode (claim 4 ).
The dredging construction management system described in this section corrects deviations in cutter position and depth, etc., that arise due to differences in conditions, mainly external factors, between the time of recording and the time of construction when dredging is performed in automatic control mode based on the operation log recorded by the calculation management means in learning mode.

That is, the calculation management means calculates the control data by taking into consideration at least one of the following: difference in soil quality of the dredged soil between the learning mode and the automatic control mode, difference in excavation depth ( thickness of dredged soil ) between the learning mode and the automatic control mode, difference in driving position of the swing wire connected to the swing winch relative to the pump dredger ship between the learning mode and the automatic control mode, and influence of waves and/or wind in the automatic control mode. Each of the above conditions in the learning mode may be recorded together with the operation log during the learning mode or during an investigation prior to construction at that time, and each of the conditions in the automatic control mode may be grasped during the automatic control mode or during an investigation prior to construction at that time. As a result, the calculation management means calculates the control data so that deviations in the cutter position and depth due to external factors are corrected, and therefore the construction accuracy of the pump dredging is further improved.

(6) In the above items ( 2 ) to (5), the calculation management means transmits the control data to the control means at a timing taking into account a time lag from when the control data is transmitted until when the control data is reflected in the depth and position of the cutter (Claim 5 ).
In the dredging construction management system described in this section, the calculation management means transmits control data to the control means at a timing that takes into account the time lag from when the calculation management means transmits the control data to the control means until the control contents are actually reflected in the depth and position of the cutter. This suppresses the effect of the time lag mainly caused by the response delay of the machine, which also improves the construction accuracy of the pump dredging.

(7) A dredging construction management method for a pump dredger in which a ladder attached to the bow so as to be swingable in the vertical direction is swung in the width direction of the concave passage together with the hull about a spud attached to the stern, and sediment is excavated from the bottom of the water with a cutter attached to the tip of the ladder, and the excavated sediment is sucked in and pumped out by a pump, in order to construct a concave passage on the bottom of the water, at least one side end of which is formed by a slope, the method comprising the steps of: measuring the position of the pump dredger, the tide level in the vicinity of the construction area, and the attitude of the pump dredger; calculating the position and depth of the cutter based on the measurement results; controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data to adjust the depth and the widthwise position of the cutter; and dividing the concave passage into a plurality of virtual areas along the widthwise direction. a dredging construction management method including: dividing the area into areas by dividing the area into smaller areas by a factor of 10; recording an operation log relating to the operation of the ladder winch and the swing winch for each area during manual dredging work in which the ladder winch and the swing winch are manually operated; and calculating the control data for each area based on the operation log so as to dredge in accordance with the designed dredging depth while reproducing the movement of the cutter during the manual dredging work, wherein when recording the operation log, the area in which the cutter is located is simultaneously recorded, thereby recording the operation log linked to each area, and when calculating the control data, at the timing when it is determined that the area in which the cutter is currently located has changed, the operation log used for calculating the control data is changed from that for the area before the change to that for the area after the change (Claim 6 ).
The dredging construction management method described in this section is executed by the dredging construction management system described in section (2) above, and thereby achieves the same effect as the dredging construction management system described in section (2) above.

As the present invention is configured as described above, it is possible to perform pump dredging stably and with high precision regardless of the operator's skill or experience, and to reduce the workload.

1 is a block diagram showing an example of a configuration of a dredging construction management system according to an embodiment of the present invention. FIG. FIG. 2 is an image diagram of the installation of some of the components of the dredging construction management system of FIG. 2 is a side view and a plan view of a pump dredger equipped with the dredging construction management system of FIG. 1. FIG. 2 is a flow chart showing an example of a procedure of a dredging construction management method according to an embodiment of the present invention, which is executed using the dredging construction management system of FIG. 1. FIG. 13 is an image diagram showing a state in which a recessed path is virtually divided into a plurality of areas along its width direction. 2 shows an example of a management screen displayed in the dredging construction management system of FIG. 1 . 13 is a table showing an example in which the operation log and the autonomous driving are in different areas. FIG. 13 is an image diagram showing an example of correction performed during autonomous driving.

Hereinafter, the embodiments of the present invention will be described with reference to the accompanying drawings. Here, detailed descriptions of the same or corresponding parts as those in the prior art will be omitted, and the same or corresponding parts are indicated by the same reference numerals throughout the drawings.
A dredging execution management system 10 according to an embodiment of the present invention, an example of the configuration of which is shown in Figure 1, manages dredging execution by a pump dredger 36 as shown in Figure 3. In dredging execution by the pump dredger 36, for example, in order to create a channel leading to a harbor, a recessed channel 66 (see Figure 5) is constructed on the water bottom, which extends from the harbor toward the offshore side and has sloped sides in the width direction.

First, the configuration of the pump dredger 36 will be briefly explained with reference to Figure 3. A ladder 42 is provided at the bow, and the base end (left side in the figure) of this ladder 42 is supported on the hull so that the tip end (right side in the figure) can swing up and down. The tip end of the ladder 42 is suspended from the ladder shackle 48 via a suspension wire 50 and a rod 52, and the suspension wire 50 is paid out and reeled in by a ladder winch 44 (see Figures 1 and 2) installed in the winch room 41, so that the ladder 42 swings up and down around the base end as an axis. At the tip of the ladder 42, a cutter 54 for excavating the bottom of the water and a suction port (not shown) for sucking up the excavated soil and sand are provided.

On the other hand, two spuds 56 (56A, 56B) are provided at the stern of the pump dredger 36, and one of them is driven into the bottom of the water during dredging. During dredging, as shown in FIG. 3(b), two swing wires 58 are stretched from near the tip of the ladder 42 toward both sides of the width of the recessed passage 66 (vertical direction in the figure), and the tip of each swing wire 58 is fixed to the bottom of the water by an anchor or the like. The base end of each swing wire 58 is reeled out and reeled in by a swing winch 60 (see FIG. 1) installed in the winch room 41, so that the ladder 42 together with the hull is swung in the vertical direction in FIG. 3(b) around one of the spuds 56 driven into the bottom of the water. Note that the reference numeral 38 in FIG. 3 denotes a bridge.

During dredging work, the pump dredger 36 configured as described above has the ladder 42 tilted downward (see phantom lines) as shown in Figure 3(a), and excavates the bottom of the water using the cutter 54 attached to the tip of the ladder 42. The excavated soil is sucked in from the suction port at the tip of the ladder 42 using a pump (not shown), and pumped to a sand discharge basin on the land side via a discharge pipe (not shown). Furthermore, the excavation of the bottom of the water and the suction of the soil are performed with the ladder 42 swung together with the hull of the pump dredger 36 in the width direction of the recess 66 to be formed. For example, in the example of FIG. 3(b), when the spud 56A of the two spuds 56A and 56B is driven in, the swing wire 58 at the bottom in the figure is wound up by the swing winch 60, and the swing wire 58 at the top in the figure is paid out by the swing winch 60, causing the rudder 42 to swing downward in the figure together with the hull, centered on the spud 56A.

Furthermore, when dredging work is completed at the position where the spud 56 is currently driven in, and the pump dredger 36 is to move forward, the two spuds 56A and 56B are replaced, and the pump dredger 36 is moved forward. For example, in the example of FIG. 3(b), the pump dredger 36 is swung downward in the figure until the tip of the ladder 42 passes the side end of the recessed channel 66 formed in the bottom of the water, and then the spud 56A is removed and the spud 56B is driven in. Next, by swinging upward in the figure, the pump dredger 36 moves forward slightly in a direction that passes through approximately the center of the swing width.

Next, the configuration of a dredging execution management system 10 according to an embodiment of the present invention will be described with reference to Fig. 1. Note that for the configuration of a pump dredger 36, refer to Fig. 3 as appropriate.
As shown in Fig. 1, a dredging construction management system 10 according to an embodiment of the present invention includes a position measurement means 12, a plurality of sensors 14, a depth measurement means 16, a tide gauge 18, a calculation management means 24, a display means 26, and a control means 28. The position measurement means 12 measures the position (planar position) of a pump dredger 36, and in this embodiment, a GNSS is used, and a GNSS antenna and receiver are installed at an appropriate position of the pump dredger 36. Measurements by the position measurement means 12 are continuously performed during dredging construction, and the position information of the pump dredger 36 measured by the position measurement means 12 is transmitted to the calculation management means 24.

The multiple sensors 14 measure the attitude of the pump dredger 36, and in this embodiment, include a draft gauge 14A and an inclinometer 14B. The draft gauge 14A measures the draft of the pump dredger 36, and is installed at an appropriate position of the pump dredger 36 where the draft can be measured, as can be seen in FIG. 2, for example, and any draft gauge can be used for the draft gauge 14A. As can be seen in FIG. 2, the inclinometer 14B is attached to the ladder 42 of the pump dredger 36 and measures the inclination angle of the ladder 42, and any inclinometer can be used for the inclinometer 14B. Measurements by these multiple sensors 14 (14A, 14B) are continuously performed during dredging work, and information related to the attitude of the pump dredger 36 measured by these sensors is transmitted to the calculation management means 24.

The depth measurement means 16 measures the current shape (depth) of the bottom of the water from the pump dredger 36. In this embodiment, a multi-beam sonar is used and is attached to an appropriate position of the pump dredger 36 that can measure the shape of the bottom of the water. Measurements by the depth measurement means 16 are continuously performed during dredging work, and the current shape of the bottom of the water in the work area, which changes during dredging work, is transmitted from the depth measurement means 16 to the calculation management means 24. The tide gauge 18 measures the tide level near the work area, and is installed at a solid position 20 (e.g., a shore, a jetty, an artificial island, etc.) near the work area that is not shaken by the influence of waves, etc., as can be seen in Figure 2, for example. Measurements by the tide gauge 18 are made continuously during dredging work, and the tide level in the vicinity of the work area measured by the tide gauge 18 is wirelessly transmitted via the transmitter 22 to the pump dredger 36, and then transmitted to the calculation and management means 24 installed on the bridge 38 of the pump dredger 36. The tide gauge 18 uses various measuring devices capable of measuring the tide level.

The calculation and management means 24 performs various calculations and manages information necessary for the operation of the dredging construction management system 10, and is installed on the bridge 38 of the pump dredger 36 as described above. Specifically, the calculation and management means 24 takes in the measurement results from each of the position measurement means 12, the multiple sensors 14 (draft gauge 14A, inclinometer 14B), the depth measurement means 16, and the tide gauge 18, and manages them as information. Furthermore, the calculation and management means 24 also manages the data set in advance, such as the water bottom depth of the construction area before construction, the design dredging depth of the construction area, the cutter management depth of the construction area, and the size of each part of the pump dredger 36. The water bottom depth before construction is the water bottom shape of the construction area measured before construction, the design dredging depth indicates the shape (concave channel shape) to be formed by dredging, and the cutter control depth indicates the depth to which the cutter 54 should ultimately be moved in order to dredge according to the design dredging depth.

The calculation management means 24 also performs various calculations based on the various information managed as described above. For example, the calculation management means 24 calculates the position (planar position) of the cutter 54 based on information such as the current position of the pump dredger 36 measured by the position measurement means 12, the inclination angle of the ladder 42 measured by the inclinometer 14B, and the size of each part of the pump dredger 36 that is set in advance. The calculation management means 24 also calculates the depth of the cutter 54 based on information such as the draft of the pump dredger 36 measured by the draft gauge 14A, the inclination angle of the ladder 42 measured by the inclinometer 14B, the tide level near the construction area measured by the tide gauge 18, and the size of each part of the pump dredger 36 that is set in advance.

Furthermore, the calculation management means 24 is configured to be switchable between a learning mode and an automatic control mode. In the learning mode, the operation log relating to the operation of the ladder winch 44 and the swing winch 60 is recorded during manual dredging work, which will be described in detail later. In the automatic control mode, the calculation management means 24 calculates control data to be transmitted to the control means 28 based on the operation log recorded in the learning mode. In addition, the calculation management means 24 performs corrections to suppress the influence of external factors such as waves when calculating control data in the automatic control mode, which will be described in detail later. The calculations and information management by the calculation management means 24 as described above are continuously performed during dredging work, and part of the calculation results and management information is transmitted to the display means 26 and the control means 28. The calculation management means 24 can be configured by various computers.

The display means 26, like the calculation and management means 24, is installed on the bridge 38 of the pump dredger ship 36 and displays information calculated and managed by the calculation and management means 24. For example, the display means 26 displays a management screen 82 shown in FIG. 6 to the operator on the bridge 38, the contents of which will be described in detail later. Each display by the display means 26 is performed continuously during dredging work, with the display contents always being updated to the latest information by the calculation and management means 24. Various display devices can be used for the display means 26, and it may be, for example, a display device of the computer constituting the calculation and management means 24.

The control means 28 controls the ladder winch 44 and the swing winch 60 based on the control data acquired from the calculation management means 24, thereby adjusting the depth and the widthwise position of the recessed passage 66 of the cutter 54 provided at the tip of the ladder 42. Specifically, the control means 28 controls the ladder winch 44 and the swing winch 60 according to the control data so that the cutter 54 is positioned at the depth according to the cutter management depth set in the calculation management means 24 while checking the position and depth of the cutter 54 calculated by the calculation management means 24. In this embodiment, the ladder winch 44 is controlled via the ladder control panel 46 installed in the engine room 40, and the swing winch 60 is controlled via the swing control panel 62 installed in the engine room 40. The control of the ladder winch 44 and the swing winch 60 by the control means 28 is continuously performed during dredging work. The control means 28 is composed of various computers and control mechanisms, and is installed, for example, on the bridge 38.

Next, with reference to the flow diagram shown in Figure 4, we will explain the specific procedures and control flow when performing pump dredging using the dredging construction management system 10 according to an embodiment of the present invention. For the configuration of the dredging construction management system 10 and the pump dredger ship 36, please refer to Figures 1 to 3 as appropriate. Note that the flow diagram shown in Figure 4 shows an example of a procedure for explaining the specific procedures and controls. Therefore, the construction procedure is not limited to the flow diagram in Figure 4, and for example, some of the steps shown in Figure 4 may be deleted, changed, or added as appropriate depending on the configuration and situation of the dredging construction management system 10.

S10 (operator operation start): As described above, the calculation management means 24 needs to record an operation log in the learning mode, so here, the procedure when the calculation management means 24 records an operation log will be briefly described. First, the operator starts manual operation of the ladder winch 44 and the swing winch 60 in order to record an operation log by the calculation management means 24. During this manual operation, pump dredging is actually performed to construct a recessed passage 66 on the bottom of the water. Specific operations performed by the operator include, for example, operations related to the ladder winch 44, such as operating the lowering switch of the ladder 42, operating the upper switch of the ladder 42, adjusting the speed of the lowering or rising of the ladder 42, and stopping the lowering or rising of the ladder 42. Operations related to the swing winch 60 include selecting the swing direction (left or right), notching the swing speed adjustment, and stopping the swing. During manual dredging work for recording such an operation log, it is preferable that an experienced operator performs the operations.

S20 (Start of recording): When manual operation by the operator is started, the calculation management means 24, which has been switched to the learning mode, starts recording an operation log related to the operation of the ladder winch 44 and the swing winch 60. For example, the calculation management means 24 records, as the operation log, the command to raise the ladder winch 44, the command to lower the ladder winch 44, the speed setting of the ladder winch 44, the swing direction, the swing speed setting, the tension setting of each of the two swing wires 58 by the swing winch 60, the rotation speed setting of the swing winch 60, and the control current value of the swing winch 60. Furthermore, the calculation management means 24 may record, as the operation log, the control current value of the cutter 54, the suction negative pressure of the pump, and the discharge pressure of the pump. These operation logs are recorded, for example, at one-second intervals.

The calculation management means 24 also records the above-mentioned operation log for each area of the recessed path 66, which is divided into a plurality of areas. Referring to FIG. 5, the recessed path 66 constructed on the bottom of the water is illustrated with its width direction as the left-right direction, and the recessed path 66 has a slope 68 formed at one end on the left side in the figure, and a slope 74 formed at the other end on the right side in the figure. The recessed path 66 in FIG. 5 is divided into ten areas A to J along its width direction. For this reason, the calculation management means 24 of this embodiment records an operation log for each of the ten areas A to J. That is, when recording the operation log, the area in which the cutter 54 is located is simultaneously recorded, and the operation log is recorded in association with each area.

In FIG. 5, the following positions are used as the division positions for the ten areas A to J: the position S1 of the toe 70 of the slope 68 at one end, the middle position S2 of the slope 68 at one end, the position S3 of the toe 72 of the slope 68 at one end, the position S4 a predetermined distance away from the toe 72 of the slope 68 at one end, the widthwise center position S5 of the recessed path 66, the position S6 a predetermined distance away from the toe 78 of the slope 74 at the other end, the position S7 of the toe 78 of the slope 74 at the other end, the middle position S8 of the slope 74 at the other end, and the position S9 of the toe 76 of the slope 74 at the other end. Of these nine division positions S1 to S9, the position S1 of the toe 70, the position S3 of the toe 72, the position S7 of the toe 78, and the position S9 of the toe 76 are positions where the shape of the recessed path 66 changes significantly in the width direction.

The midway position S2 of the slope 68 is a preparation position for switching from area C to D at position S3 when swinging to the right in the figure, and a preparation position for switching from area B to A at position S1 when swinging to the left in the figure, and is set at an arbitrary position on the slope 68. Similarly, the midway position S8 of the slope 74 is a preparation position for switching from area I to J at position S9 when swinging to the right in the figure, and a preparation position for switching from area H to G at position S7 when swinging to the left in the figure, and is set at an arbitrary position on the slope 74. In addition, position S4, which is a predetermined distance away from the end of the slope 72, is a preparation position for switching from area D to C at position S3 mainly when swinging to the left in the figure, and is set at an arbitrary distance from the end of the slope 72. Similarly, position S6, which is a predetermined distance away from the end of the slope 78, is a preparation position for switching from area G to H at position S7 mainly when swinging to the right in the figure, and is set at an arbitrary distance from the end of the slope 78. The widthwise center position S5 of the recessed passage 66 is mainly used as an alignment indicator.

Furthermore, when the operation log is recorded by the calculation management means 24, the display means 26 displays a management screen 82 as shown in FIG. 6, for example. As shown in the figure, the management screen 82 includes a recording pattern designation section 84, an operation pattern designation section 86, an initial action instruction section 88, a depth display section 90, and a swing display section 92. The recording pattern designation section 84 includes buttons 1 to 10 and a recording ON/OFF button, and the buttons 1 to 10 indicate the patterns in which the operation log is recorded. That is, in this embodiment, ten patterns of operation logs, recording patterns 1 to 10, can be recorded, and when the operation log is recorded, the operator selects one of the buttons 1 to 10 in the recording pattern designation section 84, and the operation log currently being operated is recorded as the recording pattern corresponding to the selected button number. In addition, the calculation management means 24 may be configured to switch to a learning mode by pressing the recording ON button in the recording pattern designation section 84 by the operator. Note that other display elements of the management screen 82 will be described later.

S30 (End of operator operation): The operator who started the manual operation in S10 above ends the operation for forming the recessed path 66 on the bottom of the water. At this time, it is preferable that the operator has performed the operation in all ten areas A to J as shown in Fig. 5, and has also performed the swing in both the left and right directions.
S40 (End of recording): When the operator finishes the manual operation, the operation log recording by the calculation management means 24 ends. At this time, it is preferable that the operation logs for all ten areas A to J as shown in Fig. 5 are recorded in the recording pattern for which recording started in S20 above. That is, a series of operation logs for the ten areas A to J can be recorded in each of recording patterns 1 to 10.

S50 (operation log determination): The operator or the like determines whether or not the operation log has been sufficiently recorded by the calculation management means 24. At this time, the determination may be made taking into consideration whether all of the recording patterns 1 to 10 have been recorded, whether operation logs of various patterns with different construction conditions have been recorded, etc. Then, if it is determined that the operation log has been sufficiently recorded (YES), the process proceeds to S60, and if it is determined that the operation log has not yet been sufficiently recorded (NO), the process returns to S10, and the above S10 to S40 are repeatedly executed until it is determined that the operation log has been sufficiently recorded.
S60 (mode switching): Since sufficient operation logs have been recorded by the above S10 to S50, the automatic dredging operation by the dredging construction management system 10 will now be described. First, the operator switches the calculation management means 24 to the automatic control mode. This switching to the automatic control mode may be performed when an operation ON button, which will be described later, is pressed in the operation pattern designation section 86 shown in the management screen 82 of Fig. 6. The site where the automatic control mode is used may be the same construction site as that in the learning mode, or may be a different construction site.

S70 (operation pattern selection): The operator selects an operation pattern suitable for the current construction site. As shown in FIG. 6, the operation pattern designation section 86 of the management screen 82 is provided with buttons 1 to 10 and a recording ON/OFF button, and the buttons 1 to 10 correspond to the buttons 1 to 10 of the recording pattern designation section 84. For example, when the button 1 (operation pattern 1) of the operation pattern designation section 86 is selected, the operation log recorded as the recording pattern 1 is used, and when the button 7 (operation pattern 7) of the operation pattern designation section 86 is selected, the operation log recorded as the recording pattern 7 is used. This operation pattern may be selected from the operation patterns 1 to 10 linked to the recording patterns 1 to 10, taking into consideration various conditions (such as similarity in the shape of the recessed path 66) between the current construction site and the construction site in the learning mode. Here, the following explanation will be continued assuming that the operation pattern 1 corresponding to the recording pattern 1 is selected.

S80 (swing direction selection): The operator selects the direction in which the rudder 42 is to be swung together with the hull (left or right in the width direction of the recessed passage 66). The swing direction may be selected, for example, in the initial movement instruction section 88 of the management screen 82 shown in Fig. 6. Here, the following explanation will be continued assuming that the swing direction from left to right in Fig. 5 has been selected.
Here, in the management screen 82 shown in Fig. 6, the depth display section 90 displays the current depth of the cutter 54, the target depth (cutter management depth), and the difference therebetween, and further displays the movement direction of the ladder 42 with an up or down arrow. Also, the swing display section 92 displays the swing distance and swing speed, and further displays the swing direction with a left or right arrow. Note that the management screen 82 may not include some of the displays shown in Fig. 6, or may include other displays not shown in Fig. 6.

S90 (Start operation with control data calculated from operation log): For example, the operator presses the operation ON button in the operation pattern designation section 86 of the management screen 82 to start automatic dredging work with the currently selected operation pattern 1. Here, the calculation management means 24 calculates control data for each area shown in FIG. 5 based on the recorded operation log so as to reproduce the movement of the cutter 54 during manual dredging work. For this reason, among the operation logs recorded as record pattern 1, the calculation management means 24 first uses the operation log for area A to calculate control data. At this time, the calculation management means 24 adjusts the control data while checking the current depth and position of the cutter 54 so that dredging is performed according to the design dredging depth of the current construction site, in other words, so that the cutter 54 is positioned at the depth according to the cutter management depth.

The calculation management means 24 also compares the current position of the cutter 54, which is constantly measured, with the design position of the recessed path 66, which is set in advance, and grasps in which area of the recessed path 66 the cutter 54 is currently located. Then, when it is determined that the area in which the cutter 54 is currently located has changed, the operation log used to calculate the control data is changed from that of the area before the change to that of the area after the change, and the control data is calculated. For example, when it is determined that the cutter 54 has reached the division position S1, the operation log corresponding to area A of the recording pattern 1 is changed to that corresponding to area B of the recording pattern 1, and the calculation of the control data is continued. The control data calculated in this manner is transmitted from the calculation management means 24 to the control means 28, and the dredging work is advanced by the control means 28 controlling the ladder winch 44 and the swing winch 60 based on the received control data.

S100 (area match determination): The calculation management means 24 determines whether the area of the operation log currently being used to calculate the control data matches the area in which the cutter 54 is currently located during automatic operation. The former area is identified from the area recorded together with the operation log, and the latter area is identified from the position of the cutter 54, which is constantly measured. If it is determined that the two areas match (YES), the process proceeds to S140, and if it is determined that the two areas do not match (NO), the process proceeds to S110.
S110 (preceding determination): The calculation management means 24 determines whether the area of the operation log currently being used to calculate the control data precedes the area in which the cutter 54 is currently located during automatic operation. In other words, of the two areas determined to not match in S100 above, one of them is considered to be preceding, so a determination is made to clarify this.

In FIG. 7, an example in which the area of the operation log precedes the area of the automatic operation is shown by the position of the notch for adjusting the swing speed. Note that the times in the table in FIG. 7 indicate the flow of time by their numerical order, and do not indicate the actual size of time. As shown in FIG. 7, at times 1 and 2, the area of the operation log and the area of the automatic operation are both "C", and the notch position of the automatic operation is set to "5", the same as the notch position of the area C of the operation log. In contrast, at the timing of time 3, the area of the operation log is "D", and the area of the automatic operation is "C", so that the area of the operation log precedes. That is, even though the cutter 54 being used is still located in area C, the area of the operation log being used has switched from "C" to "D". Such an event may occur, for example, when the size of area C when the operation log being used was recorded is smaller than the size of area C at the current construction site. As in this example, if it is determined that the area in the operation log precedes the area in the automated driving mode (YES), the process proceeds to S120; if it is determined that the area in the automated driving mode precedes the area in the operation log (NO), the process proceeds to S130.

S120 (calculate control data from operation log before the preceding): The calculation management means 24 calculates control data from the operation log before the area precedes, not from the operation log in which the area is determined to be preceded in S110. For example, as shown in FIG. 7, at time 3, the area of the operation log has switched from "C" to "D", but the area of the automatic operation is still area "C", so the control data, here the notch position, is calculated using the operation log corresponding to area "C" before the area of the operation log precedes. Since the notch position of the operation log corresponding to area "C" is "5" as shown in times 1 and 2, in the automatic operation at time 3, the notch position remains "5" unchanged from times 1 and 2. Then, in the example of FIG. 7, at the timing of time 5, the cutter 54 being worked on moves to area D, so the area of the automatic operation switches from "C" to "D", and the area of the operation log and the area of the automatic operation match again.

S130 (calculate control data from operation log corresponding to area under construction): This step is reached when the area of automatic operation precedes the area in the operation log, which is an event that can occur in normal processing by the calculation management means 24 in automatic control mode, as described in S90 above. In other words, when the calculation management means 24 determines that the area in which the cutter 54 is currently located has changed, it changes the operation log to be used from that of the area before the change to that of the area after the change, so this is an event that occurs immediately after the change. Therefore, in this step, normal processing is performed to calculate control data from the operation log corresponding to the changed area under construction, and the process returns to S100 above.

S140 (Continue operation using control data calculated from operation log): For example, as in times 1, 2, 5, and 6 in Figure 7, the area of the operation log and the area of automatic operation match, so automatic operation using the control data calculated from the operation log corresponding to the matching area is continued as is.
Here, the calculation of the control data by the calculation management means 24 in the above S90, S120, S130, and S140 may be corrected to suppress the influence of external factors. That is, the control data may be calculated taking into consideration the difference in the soil quality of the dredged soil, the difference in the thickness of the dredged soil, the difference in the driving position of the swing wire 58 relative to the pump dredger 36, etc., between when the operation log is recorded (in the learning mode) and when automatic operation is performed (in the automatic control mode), and so on, to suppress the influence of these factors. The control data may also be calculated taking into consideration the influence of waves and wind during automatic operation.

Furthermore, it is preferable that the calculation of the control data by the calculation management means 24 and the transmission to the control means 28 are performed at a timing that takes into account the response delay of machines such as the ladder winch 44 and the swing winch 60. In other words, since there is a time lag between when the control data is transmitted from the calculation management means 24 to the control means 28 and when the control contents by the control data are actually reflected in the depth and position of the cutter 54, it is preferable to transmit the control data at a timing that takes this time lag into consideration in advance. Figure 8 shows how the errors in automatic operation are improved by the above-mentioned corrections and timing adjustments in a test of the dredging construction management system 10, with Figure 8(a) showing the state before improvement and Figure 8(b) showing the state after improvement. In Figure 8, the up-down direction corresponds to the depth, the left-right direction corresponds to the width direction of the recessed passage 66, the dashed line shows the designed dredging depth, and the solid line shows the dredging depth in automatic operation. As shown, in Figure 8(a), there is a delay on both the left and right slopes, and the end of the left slope is also significantly misaligned, whereas in Figure 8(b), the delay on the left slope is almost completely eliminated, the misalignment of the end of the left slope is also eliminated, and the delay on the right slope has also been improved.

S150 (Dredging area determination): The calculation management means 24 determines whether all areas have been dredged. That is, it determines whether all 10 areas A to J as shown in FIG. 5 have been dredged along the swing direction selected in S80 above. If it is determined that all areas have been dredged (YES), the explanation of the automatic dredging operation by the dredging construction management system 10 ends here. If it is determined that all areas have not been dredged yet (NO), the process returns to S100 above and dredging work continues until all areas have been dredged. Note that although the automatic operation for one swing has been described here, if the pump dredger 36 is moved forward to swing again, the process returns to S70 above and dredging work continues.

Here, the dredging construction management system 10 according to the embodiment of the present invention and the pump dredger ship 36 to which the dredging construction management system 10 is applied are not limited to the configurations shown in Figures 1 to 8, and may have other configurations. For example, the position measurement means 12 may be a measurement device other than GNSS as long as it can measure the position of the pump dredger ship 36, and the depth measurement means 16 may be a measurement device other than multi-beam sonar as long as it can measure the current water bottom depth of the construction range. In addition, the multiple sensors 14 are not limited to the configuration of a draft gauge 14A and an inclinometer 14B, and may include other measurement devices as long as they measure the attitude of the pump dredger ship 36. Furthermore, the calculation management means 24 and the control means 28 are not divided by the hardware (including software) that actually constitutes them, but are divided by function for convenience of explanation. Therefore, the functions of the calculation management means 24 and the control means 28 described above may be realized by one piece of hardware, or by two or more pieces of hardware. The specific functions assigned to each piece of hardware and the data contents communicated between the hardware are set arbitrarily within the scope of the functions of the calculation management means 24 and the control means 28.

The display means 26 may be configured to have two or more display screens, and the same display means 26 may switch between multiple types of display screens. Alternatively, a number of display means 26 corresponding to the types of display screens may be installed, and different display screens may be displayed for each display means 26. Furthermore, the display means 26 may display other screens in addition to the management screen 82 shown in FIG. 6. For example, the display means 26 may display various depth information managed by the calculation management means 24, i.e., the bottom depth before construction, the design dredging depth, the cutter management depth, and the current bottom depth, in three dimensions together with an image display of the pump dredger 36, while changing the color according to the depth. Also, an image display of the cross section of the recessed passage 66 as shown in FIG. 8 may be displayed with the design dredging depth and the current bottom depth. Furthermore, the recessed passage 66 constructed on the bottom of the water using the dredging construction management system 10 according to the embodiment of the present invention is not limited to a recessed passage 66 having slopes 68, 74 on both ends as shown in FIG. 5, but may be a recessed passage 66 having a slope on only one side end.

Now, according to the embodiment of the present invention configured as described above, it is possible to obtain the following effects. That is, the dredging construction management system 10 according to the embodiment of the present invention includes a position measurement means 12, a tide gauge 18, multiple sensors 14, a calculation management means 24, and a control means 28, as shown in Figures 1 to 3. The position measurement means 12 measures the position (planar position) of the pump dredger 36, the tide gauge 18 measures the tide level near the construction area, and the multiple sensors 14 measure the attitude of the pump dredger 36. These measurements are continuously performed during construction, so that the latest situation is always reflected in each measurement result.

The calculation management means 24 performs calculations and manages information necessary for the operation of the system 10, and as one of the calculations, calculates the position (planar position) and depth of the cutter 54 based on the measurement results of the position measurement means 12, the tide gauge 18, and the multiple sensors 14. At this time, the position of the cutter 54 is calculated by taking into account the position of the pump dredger 36 measured by the position measurement means 12, the size of each part of the pump dredger 36 (hull, ladder 42, etc.) previously set in the calculation management means 24, and the attitude of the pump dredger 36 measured by the multiple sensors 14. In addition, the depth of the cutter 54 is calculated from the tide level near the construction area measured by the tide gauge 18, the attitude of the pump dredger 36, the size of the ladder 42 of the pump dredger 36, etc. By continuously calculating the position and depth of the cutter 54 in this way during construction, the current position and depth of the cutter 54 can be grasped in real time.

The control means 28 controls the ladder winch 44 mounted on the pump dredger 36 to swing the ladder 42 up and down, thereby changing the inclination angle (swing angle) of the ladder 42 and adjusting the depth of the cutter 54 provided at the tip of the ladder 42. Furthermore, the control means 28 controls the swing winch 60 mounted on the pump dredger 36 to wind and unwind two swing wires 58 stretched from near the tip of the ladder 42 to both sides in the width direction of the recessed channel 66, thereby swinging the hull together with the ladder 42 around the spud 56 and adjusting the position of the cutter 54 in the width direction of the recessed channel. At this time, the control means 28 controls both the ladder winch 44 and the swing winch 60 based on the control data received from the calculation management means 24.

That is, the calculation management means 24 calculates and transmits control data used by the control means 28 to control the ladder winch 44 and the swing winch 60. For this purpose, the calculation management means 24 is configured to be switchable between a learning mode and an automatic control mode. In the learning mode, the calculation management means 24 records an operation log related to the operation of the ladder winch 44 and the swing winch 60 during manual dredging work in which the ladder winch 44 related to depth adjustment and the swing winch 60 related to swing adjustment are manually operated by an operator. For this reason, an operation log is usually recorded when a skilled operator with a wealth of experience and excellent skills manually operates as described above. In addition, in the automatic control mode, the calculation management means 24 calculates control data to be transmitted to the control means 28 based on the operation log recorded in the learning mode so that dredging is performed according to a preset design dredging depth.

That is, the calculation management means 24 calculates control data from the recorded operation log so that the movement of the cutter 54 during manual dredging work as described above is reproduced. Moreover, the calculation management means 24 adjusts the control data so that dredging is performed according to the designed dredging depth while checking the position and depth of the cutter 54 calculated as described above. As a result, during dredging work, dredging can be performed according to the designed dredging depth while reproducing the movement of the cutter 54 operated by an experienced operator, so that pump dredging can be performed stably and with high precision regardless of the skill and experience of the operator using the system 10. Furthermore, the operator is freed from delicate operations that require concentration, such as operating the swing speed and ladder depth, and the burden on the operator during work can be significantly reduced.

In addition, as shown in FIG. 5, in the dredging construction management system 10 according to an embodiment of the present invention, the calculation management means 24 virtually divides the recessed channel 66 constructed in the bottom of the water into a number of areas (A-J) along the width direction of the recessed channel 66, for example, based on the position where the shape changes. Then, when recording an operation log in the learning mode, the calculation management means 24 records an operation log for each divided area, and when calculating control data in the automatic control mode, calculates the control data for each divided area. This allows recording and calculation to be performed in a way that reflects the unique features of each area, such as the shape, thereby making it possible to improve the accuracy of pump dredging during construction.

In addition, the dredging construction management system 10 according to the embodiment of the present invention uses the following positions as the division positions when the calculation management means 24 divides the recessed path 66 having slopes 68, 74 at both ends into multiple areas. That is, the calculation management means 24 uses at least the position S1 of the toe 70 of the slope 68 at one end of the recessed path 66, the position S3 of the toe 72 of the slope 68 at one end of the recessed path 66, the position S7 of the toe 78 of the slope 74 at the other end of the recessed path 66, and the position S9 of the toe 76 of the slope 74 at the other end of the recessed path 66 as the division positions into multiple areas. This allows the recessed path 66 to be divided into multiple areas at a position where the shape in the width direction changes significantly, making it possible to accurately reproduce the shape of each area during construction.

Furthermore, the dredging construction management system 10 according to an embodiment of the present invention records at least one of the following as an operation log recorded by the calculation management means 24 in learning mode: the ladder winch 44 raise command, ladder winch 44 lower command, ladder winch 44 speed setting, swing direction, swing speed setting, swing winch 60 tension setting, and swing winch 60 rotation speed. By recording such various operation elements, more detailed movements can be reproduced in automatic control mode, making it possible to further improve construction accuracy.

In addition, the dredging construction management system 10 according to the embodiment of the present invention may correct the position and depth deviation of the cutter 54 caused by the difference in conditions mainly due to external factors between the time of recording and the time of construction when the calculation management means 24 performs dredging in the automatic control mode based on the operation log recorded in the learning mode. That is, the calculation management means 24 calculates the control data by taking into account at least one of the following: the difference in soil quality of the dredged soil between the learning mode and the automatic control mode, the difference in the dredged soil thickness between the learning mode and the automatic control mode, the difference in the driving position of the swing wire 58 connected to the swing winch 60 relative to the pump dredger ship 36 between the learning mode and the automatic control mode, and the influence of waves and/or wind in the automatic control mode. As a result, the calculation management means 24 can calculate the control data to correct the position and depth deviation of the cutter 54 caused by external factors, thereby further improving the construction accuracy of the pump dredging.

Furthermore, the dredging construction management system 10 according to the embodiment of the present invention may transmit the control data to the control means 28 at a timing that takes into account the time lag from when the calculation management means 24 transmits the control data to the control means 28 until the control contents are actually reflected in the depth and position of the cutter 54. This makes it possible to suppress the influence of the time lag mainly caused by the response delay of the machine, thereby improving the construction accuracy of the pump dredging. Moreover, as described in relation to S100 and S110 in FIG. 4, it also corresponds to the difference between the area of the operation log currently used for calculating the control data and the area where the cutter 54 is currently located during automatic operation, so that it is possible to flexibly respond to changes in the starting position of dredging, and to cutting off and restarting dredging work in the middle.
In addition, the dredging construction management method of the embodiment of the present invention can achieve the same effects as the dredging construction management system 10 by being executed by the dredging construction management system 10 of the embodiment of the present invention described above.

10: Dredging construction management system, 12: Position measurement means, 14: Multiple sensors, 18: Tide gauge, 24: Calculation management means, 28: Control means, 36: Pump dredger, 42: Ladder, 44: Ladder winch, 54: Cutter, 56 (56A, 56B): Spud, 58: Swing wire, 60: Swing winch, 66: Concave, 68: Slope at one end, 70: Shoulder, 72: Toe, 74: Slope at the other end, 76: Shoulder, 78: Toe, S1 to S9: Division positions, A to J: Areas

Claims (6)

A dredging construction management system for a pump dredger, in which a ladder attached to the bow so as to be swingable in the vertical direction is swung together with the hull in the width direction of the recessed passage around a spud attached to the stern, to construct a recessed passage on the bottom of the water, at least one side end of which is formed by a slope, and soil is excavated from the bottom of the water with a cutter attached to the tip of the ladder, and the excavated soil is sucked in and pumped out by a pump,
A position measuring means for measuring the position of the pump dredger;
A tide gauge that measures the tide level near the construction area;
A plurality of sensors for measuring the attitude of the pump dredger;
A calculation and management means for performing calculations and managing information required for the operation of the system, including calculating the position and depth of the cutter based on the measurement results of the position measurement means, the tide gauge, and the multiple sensors;
and a control means for controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data received from the calculation management means, thereby adjusting the depth and width direction position of the cutter,
The calculation management means is configured to be switchable between a learning mode in which an operation log relating to the operation of the ladder winch and the swing winch is recorded during manual dredging work in which the ladder winch and the swing winch are manually operated, and an automatic control mode in which the control data is calculated based on the operation log while reproducing the movement of the cutter during the manual dredging work so that dredging is performed according to the design dredging depth .
the calculation management means virtually divides the recessed path into a plurality of areas along the width direction, records the operation log for each of the areas in the learning mode, and calculates the control data for each of the areas in the automatic control mode;
The dredging construction management system is characterized in that, when recording the operation log in the learning mode, the calculation management means simultaneously records the area in which the cutter is located, thereby recording the operation log linked to each area, and when calculating the control data in the automatic control mode, at the timing when it is determined that the area in which the cutter is currently located has changed, the operation log used to calculate the control data is changed from that of the area before the switch to that of the area after the switch . The dredging construction management system according to claim 1 , characterized in that the calculation management means uses at least the toe position of the slope of the depression road and the toe position of the slope of the depression road as division positions of the multiple areas. The dredging construction management system of claim 1 or 2, characterized in that the calculation management means records at least one of the following as the operation log: the ladder winch up command, the ladder winch down command, the ladder winch speed setting, the swing direction, the swing speed setting, the swing winch tension setting, and the swing winch rotational speed. The dredging construction management system of any one of claims 1 to 3, characterized in that the calculation management means calculates the control data by taking into account at least one of the following: a difference in soil quality of the dredged soil between the learning mode and the automatic control mode, a difference in excavation depth between the learning mode and the automatic control mode, a difference in the driving position of the swing wire connected to the swing winch relative to the pump dredger ship between the learning mode and the automatic control mode, and the influence of waves and/or wind during the automatic control mode. A dredging construction management system as described in any one of claims 1 to 4, characterized in that the calculation management means transmits the control data to the control means at a timing taking into account the time lag between transmitting the control data and the control data being reflected in the depth and position of the cutter. A dredging construction management method for a pump dredger, in which a ladder attached to the bow so as to be swingable in the vertical direction is swung together with the hull in the width direction of the concave passage around a spud attached to the stern, to construct a concave passage on the bottom of the water, and soil is excavated from the bottom of the water with a cutter attached to the tip of the ladder, and the excavated soil is sucked in and pumped out by a pump, is provided,
Measuring the position of the pump dredger, the tide level in the vicinity of the construction area, and the attitude of the pump dredger;
calculating a position and depth of the cutter based on the measurement results;
Based on the control data, a ladder winch for swinging the ladder and a swing winch for swinging the ladder are controlled to adjust the depth and the width direction position of the cutter;
virtually dividing the recessed path into a plurality of areas along the width direction;
During manual dredging work in which the ladder winch and the swing winch are manually operated, an operation log related to the operation of the ladder winch and the swing winch is recorded for each area;
Calculating the control data for each area based on the operation log so as to dredge according to a design dredging depth while reproducing the movement of the cutter during the manual dredging operation ;
When recording the operation log, the area in which the cutter is located is simultaneously recorded, thereby recording the operation log in association with each area;
A dredging construction management method characterized in that, when calculating the control data, when it is determined that the area in which the cutter is currently located has changed, the operation log used to calculate the control data is changed from that of the area before the change to that of the area after the change .

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