JPH0325568B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Technical Field] The present invention relates to a dredger that excavates underwater soil, and particularly relates to a dredging control method for a dredger that adjusts the forward movement distance when moving to the next swing line. .

[Conventional technology]

This type of dredger is used to secure water depth for navigation channels, ports, etc. by scraping away the submerged soil of riverbeds, seabeds, etc., and to remove sludge and the like. Appropriately controlling the forward distance when switching swings is an important issue in fully utilizing the capabilities of a dredger and improving the efficiency of dredging work.

[Problem that the invention seeks to solve]

However, in conventional dredging operations, the amount of advance is determined by the operator's experience and intuition, such as by visually observing the amount of soil lifted by the bucket or by using data obtained from occasional surveying. It was difficult to control the advance according to the soil thickness. For this reason, there is a drawback that the dredging work cannot be carried out efficiently because the water depth of the dredging area is not accurately known.

The present invention has been made to eliminate the above-mentioned drawbacks, and provides dredging control for a dredger that accurately knows the water depth in advance and adjusts the forward movement distance when moving to the next swing line, thereby efficiently performing the work. The purpose is to provide a method.

[Means for solving problems]

The present invention provides a dredger that performs dredging work through swing motions, in which the water depth of the dredging area is memorized in advance or the water depth is measured and stored along the swing line during the swing motion, and the next step is performed based on this stored data. The forward motion distance when shifting to the swing line is adjusted so that the most efficient swing operation can be achieved.

[Effect]

Therefore, by taking the above measures,
Since the water depth is accurately predicted in advance and the forward movement distance is adjusted when moving to the next swing line, it is possible to perform soil lifting control that fully utilizes the capabilities of the dredger during swing operations, allowing for efficient dredging work. You can proceed.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 5. First, in a bucket dredger with a bucket rudder, as shown in Figs. The rudder 2 is installed so that the tip of the rudder 2 is in contact with the bottom 3 of the water. 4 is a bucket drive source, and 5 is a rudder support. Although not shown in the drawings, the rudder 2 is provided with a rudder lifting device on the bow side, and is configured to be able to move up and down by suspending a relatively forward end side of the rudder 2. Therefore, with such a configuration, by driving the bucket drive source 4, the tumbler shaft 2b is rotated, and the bucket shaft 2a is rotated accordingly, and the bucket shaft 2a at the lowest end of the rudder removes the earth and sand on the water bottom 3. etc. will be removed and dredged.

In addition, in this dredger, wires or chains 6A1 to 6A3, 6B are anchored in three directions from the bow side A and the stern side B of the hull 1, respectively.
1 to 6B3 are strung, each chain etc. 6A1 on board the ship.
~6A3, 6B1~6B3 each have a winch 7...
It is wound so that it can be wound up or unwound. In these chains, 6A1 is designated as the bow left line, 6A2 is the head line, 6A3 is the bow right line, 6B1 is the stern left line, 6B2 is the stern line, and 6B3 is the stern right line. Therefore,
The bucket dredger has 6 lines stretched in each direction.
It is reliably positioned at a predetermined position by A1 to 6A3 and 6B1 to 6B3. Usually, when the hull 1 is moved during dredging, the bow left line 6A1 and the stern left line 6B1 are fed out while the lines 6A3,
The rudder 2 is moved along the swing line 8 shown in FIG. 3 by winding the 6B3.
The bucket 2a... dredges the earth and sand on the water bottom 3, and further, the stun line 6B2 and the like are fed out while the head line 6A2 and the like are wound up to perform a forward movement, and the water bottom 3 is dredged along the advance line 9 shown in FIG. As shown in FIG. 3, the dredger dredges the earth and sand over the section 10 while repeating swing motions and forward motions while tracing an arcuate trajectory. During this time, the earth and sand in the bucket 2a is loaded onto, for example, an earth carrier and transported by the belt conveyor 11 in the center of the hull 1.

By the way, the bucket dredger has the characteristic of being able to dredge even relatively hard soil, but this has been a cause of obstacles to automation of dredging work and a decrease in efficiency of dredging work. .

Therefore, in the present invention, in the above-described dredger, the water depth within the dredging area is known in advance from a nautical chart or the like and the water depth data is stored in the storage section, or the water depth can be determined during the swing operation using a configuration as shown in FIG. 4, for example. Measure and store the water depth data,
The distance of the forward movement is adjusted based on this stored data. Hereinafter, the latter water depth measuring means during the swing operation will be explained in particular with reference to FIGS. 4 and 5. First, in Fig. 4, 21 is a central arithmetic control processing unit (hereinafter referred to as CPU).
From now on, the address/data bus 22,
A control line 23 and the like are led out. This bus 22 includes a storage section 24 consisting of ROM (read only memory) and RAM (random access memory).
In addition, I/O ports 25, 26, etc. are connected. A display section 27 is connected to this I/O port 25 and displays predetermined data etc. by controlling it via a control line 23. Further, a sonar 28, a rudder depth measuring means 29, a tide level measuring means 30, a route position measuring means 31, etc. are connected to the other I/O port 26 side. This sonar 28 is attached to the bottom of the hull 1, for example, and transmits ultrasonic waves, and obtains data on the water depth of the soil before earth and sand is excavated by the rudder 2 during the swing operation from the distance and transmission angle obtained from the transmission and reception time. obtain. The rudder depth measuring means 29 is used as a substitute for or supplement to the sonar 28, although it is not particularly necessary. The tide level measuring means 30 obtains tide level data by communicating with land using, for example, a telemeter. The route position measuring means 31 uses, for example, a radio rangefinder or the like to index two points on land and calculates the position by trigonometry.

Next, the operation for acquiring water depth data will be explained with reference to the fifth section. The CPU 21 connects the sonar 2 via the control line 23 and the I/O port 26.
9 and obtain distance data Ri(i
= 1, 2, ...) and transmission angle data θi, the sonar water depth calculation means 32 obtains water depth data before earth and sand excavation during swing operation, and further data is received from the rudder depth measurement means 29 to perform ladder correction. The means 33 performs water depth correction based on the difference between the water depth position determined by the sonar 28 and the earth and sand excavation position by the ladder 2. And ladder correction means 3
3. Tide level correction means 3
Here, the tide level data from the tide level measuring means 30 is added and subtracted from the data after ladder correction to obtain water depth data Di from the construction standard water level. Then, this water depth data Di is stored in the storage unit 24 using the position data xi converted into area coordinates obtained by the route position measuring means 31 as an address.
It is stored as water depth data Di(xi).

The water depth data acquisition operation as described above is performed sequentially during the swing operation, and is sequentially stored in the storage unit 24 based on the address determined by the output of the route position measuring means 31 each time. When the dredging work is completed along a certain swing line 8 by the swing operation, the winch 7 winds up the head line 6A2 and starts the forward movement in order to move to the next swing line 8. Determine the forward distance by reading the water depth data Di(x) already stored in the storage unit 24 during the swing operation,
This determined forward distance signal is given to, for example, a winch drive control system (not shown), etc.
Winding control of the winch 7 corresponding to A2 is performed.

Using the water depth data Di(xi) thus measured, the amount of advance Ls can be determined, for example, by the following calculation formula (see FIG. 6).

Ls=Vs/{Smax(Dmin(y)−Ds)} Here, Vs, Smax, Dmin(y), and Ds are the set value for the amount of dredged soil per unit time, the maximum swing speed, and the deepest point during swing operation, respectively. water depth, which is the target dredging depth. This is an example of determining the amount of advance so that the position with the thinnest dredged soil can be swung at the maximum swing speed Smax within the range of swing width W. For example, instead of the maximum swing speed Smax in the above formula, the standard swing speed Save is used. , deepest water depth Dmin
Average water depth Dave at swing width W instead of (y)
If (y) is used, the amount of advance is determined so that the swing is performed at the standard swing speed at the position of the average soil thickness during the swing.

Therefore, according to the embodiment described above, since the forward movement distance is adjusted depending on the water depth, for example, the swing can be controlled to apply an appropriate load to the bucket 2a of the rudder 2, and dredging work can be carried out. It becomes possible to proceed efficiently. In addition, when there are deep and shallow parts of the water, for example, the forward distance can be increased to dredge the deep part first, and then the shallow part can be dredged, or the reverse dredging control can be performed. In other words, it is possible to dredge according to the water depth.

Incidentally, in the above embodiment, the correction is performed by the ladder depth correction means 33, but if, for example, the radio wave transmission direction of the sonar 28 and the direction of the rudder 2 are the same, no correction is particularly necessary. Moreover, although the ladder 2 with a bucket was used in the above embodiment, a ladder with a hook may be used instead.

〔Effect of the invention〕

As detailed above, according to the present invention, the water depth of the dredging area is stored in advance, or the water depth is measured and stored during the swing operation, and the forward movement distance is adjusted based on this stored data. It is possible to provide a dredging control method for a dredger that can perform dredging by applying an appropriate load and can efficiently proceed with dredging work.

[Brief explanation of the drawing]

Figures 1 to 5 are shown to explain one embodiment of the present invention, and Figure 1 is a schematic diagram showing a dredging state, Figure 2 is a plan view during dredging, and Figure 3 is a diagram showing a dredging state. 4 is a schematic block diagram for realizing the method of the present invention, FIG. 5 is an explanatory diagram of the operation of forward distance control, and FIG. 6 is an explanation for determining the amount of advance. It is a diagram. 1... Hull, 2... Rudder, 2a... Bucket, 4... Bucket drive source, 6A1 to 6A3, 6
B1-6B3...Line of chain etc., 7...Winch, 21...CPU, 24...Storage unit, 28...
Sonar, 29... Rudder depth measuring means, 30...
Tide level measuring means, 31... Channel position measuring means.

Claims (1)

[Claims] 1. In a dredger that performs dredging work by swinging motion, the water depth of the dredging area is memorized in advance, or the water depth is measured and memorized along the swing line during the swing motion, and the next swing line is determined based on this memorized data. A dredging control method for a dredger, characterized by adjusting a forward movement distance when transitioning to.