JPH0119011B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic dredging device for a pump-type dredger, and in particular, it compares and calculates a set value that matches the conditions of a dredging location with a detected value detected during actual dredging work, and based on the result. The present invention relates to an automatic dredging device for a pump dredger that can save labor and simplify dredging work by automatically controlling dredging equipment.

In general, the conditions of the site to be dredged (soil quality,
The soil thickness, etc.) varies widely and constantly changes, so in order to perform dredging work while ensuring the optimum amount of soil to be lifted, it is necessary to control the dredging equipment in accordance with the conditions of the dredging location. . Previously, dredging work was carried out based on the judgment of experienced operators, but it was difficult to control equipment to achieve the optimal dredging conditions that matched the conditions. In order to improve dredging efficiency, automatic control devices have been adopted in recent years.

Conventionally, as a pump dredger a equipped with this type of automatic control device, the one shown in FIG. 1 is known. This dredger a has a cutter c on its bow b for excavating earth and sand at the bottom of the water, and a rudder d that can be looked up.
In addition, the stern part e is provided with a pair of stake-like spuds g and h, one of which is driven into the water bottom and serves as a swing center f for swinging the bow part b, which has a rudder d. Also, this dredger a
is equipped with a gyro compass i for detecting its turning angle θ, and this gyro compass i has the following characteristics:
Automatic deceleration (not shown) that gradually decelerates the swing speed from swing speed deceleration start positions m and n, which are set to stop the cutter c at the right and left cutoff positions k and l, which are preset as the dredging range, that is, the trench width j. equipment is provided. Furthermore, this dredger a is provided with a dredging pump q that sucks up earth and sand excavated by the cutter c onto the ship via a dredging pipe p. Therefore, the right and left offset positions k, l
A cutter c equipped with a rada d that is swung between
excavates the water bottom while moving along the swing trajectory of the dredger a, and the excavated soil is sucked onto the ship by the dredger pump q. The cutter motor that drives the dredging pump q, dredging pipe p, and cutter c compares and calculates the detected value with a preset value, and the swing speed of the dredger a during swing dredging is determined based on the result. An automatic control device (not shown) was connected to control the elevation and elevation movements of the rudder d.

However, the conventional automatic control device for a pump type dredger has the following problems.

(1) Regarding the above automatic control device, if an abnormality occurs during swing dredging work, that is, if smooth dredging work cannot be performed due to unexpected changes in the conditions of the dredging site, etc., first the dredger a. If the swing speed does not recover even after changing the swing speed, stop the swing, move the rudder d upward as shown in Figure 2, temporarily interrupt the excavation work with the cutter c, and after a certain period of time, remove the cause of the abnormality. Once the problem was resolved, the rudder d was moved downward and the excavation work resumed. but,
Generally, the elevating operation speed of Ladder D is very slow compared to its swing operation speed, and the elevating operation time and waiting time of Ladder D that are spent when dredging work is interrupted are a large proportion of the swing dredging time, which reduces dredging efficiency. It was drastically reduced.

(2) The above automatic control device is intended only for swing dredging work, and as shown in Figure 3,
It is not possible to perform deep excavation sequentially along a set slope, and when performing such work,
The automatic dredging had to be temporarily interrupted at the cut-off position k, and the driver had to lower the cutter c to a predetermined depth, making it impossible to improve dredging efficiency and completely automate the work.

(3) Conventionally, as shown in Fig. 1, the cutter was calculated from the angle signal of the gyro compass i, which detects only the horizontal direction, and the length L on the plane from the spout g, which is the swing center f, to the cutter c. The swing of the rudder d was controlled to be stopped when the position of the rudder c coincided with the right or left offset positions k and l, but during actual dredging work, as shown in Figure 4, dredger a In some cases, the hull may be left in a tilted state due to trimming or heeling of the spout itself, or the spud g is tilted incorrectly and driven into the water bottom r, and in this case, the actual position of the spout c is as shown in the diagram. As a result, the dredging could not reach the cut-off positions k and l, leaving unexcavated material and making it impossible to perform highly accurate dredging work.

(4) In the above automatic deceleration device, as shown in Figures 1 and 5, when the rudder d reaches the swing speed deceleration start positions m and n, a deceleration signal is issued regardless of the swing speed at that time. Deceleration had begun. Therefore, the rate of speed change over a certain distance (between cut-off positions k, l and deceleration start positions m, n shown in Figure 1) changes depending on the swing speed immediately before reaching deceleration start positions m, n. As a result, the thickness of the soil excavated by the cutter c is not constant, resulting in large fluctuations in the suction negative pressure of the dredging pump q, which deteriorates dredging efficiency.

A related technology is a dredger that automatically controls the swing speed of a swing winch, as well as the cutter rotation speed, in order to maintain the suction pump's suction negative pressure appropriately and work efficiently. ``Swing winch control system'' (Special Publication No. 52-8584), the rudder angle is optimized to reduce over-digging, and the main pump rotation speed and swing speed are automatically controlled to improve soil drainage efficiency. An ``automatic control system for dredgers'' (Japanese Patent Application Laid-open No. 120391/1983) has been proposed to improve this.

By the way, based on suction negative pressure,
This method controls the swing speed and further the cutter rotation speed so that the detected suction negative pressure is maintained at the set value, and can be applied to problem (1) above, but it is difficult to handle muddy water during dredging work. The flow rate and mud content are also important, and there are operating limits for the cutter itself, so the control content is considered to be rough. Furthermore, the problems (2) to (4) above could not be solved.

On the other hand, in relation to the problem (1) above, a larger number of detection targets are used compared to the above to improve the sediment discharge efficiency, but even with this proposal,
There is no consideration given to the mud content and the operating limits of the swing winch, and it is considered that the control is insufficient. Furthermore, although an effective means of solving the problem (2) above is provided, it is considered that the control in actual deep dredging work, that is, the control against unexpected changes in the conditions of the dredging site, is insufficient. It will be done. The cutter torque, which is the load applied to the cutter during deep dredging, has a close relationship with ladder lowering control, swing speed control, dredged soil thickness, etc. Therefore, in an emergency, controlling only the swing speed and main pump speed is insufficient.
Radar control also needs to be taken into consideration. In this respect, the rudder is raised independently of automatic control, which is an inefficient operation.
It is considered that sufficient dredging control cannot be performed. Furthermore, the above problem (4) could not be solved. It is believed that problem (3) above can be solved.

The present invention has been devised in view of the above-mentioned problems in order to solve them all at once and effectively.

The purpose of the present invention is to save labor in dredging work by comparing and calculating set values that match the conditions of the dredging site with detected values detected during actual dredging work, and automatically controlling dredging equipment based on the results. Another object of the present invention is to provide an automatic dredging device for a pump dredger that can be simplified, and can improve dredging efficiency and dredging accuracy as much as possible.

In order to achieve the above object, the present invention is a pump that excavates underwater soil etc. with a cutter provided on the rudder at the bow while swinging the hull with a swing winch, and dredges the excavated soil with a dredging pump via a dredging pipe. In a type dredger, the suction negative pressure and discharge pressure of the dredging pump, the flow rate of muddy water in the dredging pipe, the mud content of the muddy water, the cutter load applied to the cutter, the swing load of the hull, and the horizontal direction and depth of the cutter are determined. The detector to detect, the setting value that matches the conditions of the dredging location corresponding to these detected values, and the setting device in which the moving range of the cutter is set, and these setting values and the detected value are compared and calculated, and the detected value is detected. To control the swing winch to control the swing speed at a constant acceleration up to the cut-off position according to the horizontal direction and depth of the cutter, and to maintain or restore each detected value to the set value during swing dredging and deep excavation dredging. an automatic suction load control device to control the suction negative pressure of the dredging pump, the swing speed of the hull, the rotation speed of the cutter, and the descent stop of the rudder; and a calculation device that controls the swing winch, rudder winch, and cutter motor. It is prepared.

Next, a preferred embodiment of an automatic dredging device for a pump dredger according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 6 and 7, the bow 2 of the pump dredger 1 has a cutter 4 at its tip for excavating the water bottom 3, and a rudder winch 5 installed on the ship connects the dredger 1 with a wire rope 6. A ladder 7 that can be looked up is provided. At the base end of this ladder 7,
A cutter motor 8 for driving the cutter 4 is provided. Further, wire ropes 9, 9 are strung diagonally forward from the bow part 2, and the tips are fixed to the water bottom 3 by an anchor (not shown), and the base ends are attached to swing winches 10, 10 on the ship. is wrapped around. These swing winches 10, 10 and cutter motor 8 are provided with ammeters 11, 11, 12 to detect the load applied thereto as a current value. On the other hand, the stern section 13 is provided with a pair of stake-like spuds 15 and 16, one of which is driven into the water bottom 3 and serves as a swing center 14 for swinging the bow section 2 equipped with the rudder 7. Further, on board the pump dredger 1, there is installed a cutter trajectory display device 17 for measuring the amount of inclination of the dredger 1, the horizontal direction of the cutter 4, and its depth. Hori width 1
8 as right and left cutoff positions 19, 20, swing speed deceleration start positions 21, 22 and dredging depth 2
3. Therefore, while the rudder 7 is detecting the position of the cutter 4 by the cutter trajectory display device 17, the ropes 9, 9 stretched from the dredger 1 are connected to each swing winch 1.
0 and 10, it is swung within the range of right and left offset positions 19 and 20 and at a predetermined dredging depth 23.

By the way, the dredger 1 includes a dredging pump 24 that sucks up earth and sand excavated by the cutter 4 that excavates the water bottom 3 while being swung onto the ship and drains it.
The dredging pump 24 is provided with a dredging pipe 25 extending from the tip of the rudder 7 to the stern 13 for transferring and draining earth and sand. This dredged pipe 2
A pressure gauge 26 for detecting the suction negative pressure of the dredging pump 24 and an automatic suction negative pressure control device 27 for controlling the suction negative pressure are provided on the upstream side of the dredging pump 24 of No. 5, and on the downstream side thereof, Dredging pipe 25
A mud content meter 28 for detecting the mud content of the earth and sand transferred therein, a pressure gauge 29 for detecting the discharge pressure of the dredging pump 24, and a current meter 30 for detecting the flow velocity inside the dredging pipe 25 are provided. As shown in FIG. 8, these pressure gauges 26, 29, flow rate meter 30, mud content meter 28, the cutter locus display device 17, cutter motor ammeter 12, swing winch motor ammeter 11, 1
1 is connected to an arithmetic unit 31 for inputting various detection values detected by these.

On the other hand, as shown in the drawing, a setting device 32 is connected to the arithmetic device 31, in which various setting values that match the conditions of the dredging location are set in advance. In this setting device 32,
Pressure gauges 26, 29, flow rate meter 30, mud content meter 28,
Katsuta locus display device 17, Katsuta motor ammeter 1
2 and swing winch motor ammeter 11, 11
In correspondence with the various detected values, the upper and lower limits of the suction negative pressure, the upper limit of the discharge pressure, the lower limit of the flow rate, the upper and lower limits of the mud content, and the right and left offset positions 1 of the cutter 4.
9, 20, the swing speed deceleration start position 21,
22, dredging depth 23, load current upper limit value of the cutter motor 8 as a cutter load, and load current upper limit value of the swing winches 10, 10 as swing loads are set, and these set values are input to the calculation device 31. configured to do so.

This calculation device 31 compares and calculates these detected values and set values, and based on the calculation results, controls the swing speed at a constant acceleration up to the cutoff positions 19 and 20 according to the detected position of the cutter 4. In addition, a dredging pump 2 is used to maintain or restore each detected value to the set value during swing dredging and deep excavation dredging.
Suction negative pressure of 4, swing speed of hull 1, cutter 4
The number of rotations of the rudder 7 and the descent stop of the rudder 7 are controlled.

Therefore, during dredging work, the suction negative pressure of the dredging pump 24 and the swing speed of the rudder 7 are controlled by constantly feedbacking the detected value corresponding to unexpected fluctuations in the conditions of the dredging site, and by calculating the result of this and the set value. , a predetermined trench width 1 based on the rotation speed of the cutter 4
8 and depth 23 while swinging.

The operation of the above configuration will be described.

First, in swing dredging, as shown in FIGS. 6 and 7, the anchor is cast and wire ropes 9, 9 are stretched, and the spud 15 is driven into the water bottom 3 to form the swing center 14, and then the cutter 4 is set at a predetermined position. Dredging depth 23
Preparation for dredging is completed by setting the setting values suitable for the dredging location in advance. The dredging work is carried out by excavating earth and sand while swinging the cutter 4 between the right and left cut positions 19 and 20, which are the trench width 18, and sucking up the earth and sand onto the ship using the dredging pump 24. In this case, for example, when dredging is performed by swinging from left to right in the figure, the speed when the position of the cutter 4 reaches the swing speed deceleration start position 21 on the right side is 100 as shown by the solid line in Figure 9. %, the swing speed is decelerated by a constant acceleration from the position 21, and the cutter 4 stops at the right cutting position 19. On the other hand, if the swing speed when reaching the deceleration start position 21 has not reached 100% as shown by the broken line in the figure, the swing speed will continue through that position 21 at the same speed, and the swing speed will change from that speed to the 100% speed. The swing speed is decelerated by a constant acceleration from a position (A in the figure) where the speeds are the same when decelerated by the acceleration, and the cutter 4 stops at the right cutting position 19. At this time, the rotation speed of the cutter 4 is controlled to maintain a uniform excavated soil thickness in order to prevent the suction negative pressure from fluctuating due to changes in the induced excavated soil thickness due to changes in swing speed. It turns out. As shown in FIG. 8, this series of operations is based on the load current value corresponding to the position of the cutter 4 detected by the cutter locus display device 17 and the swing speed detected by the swing winch motor ammeters 11, 11. The calculation device 31 processes the offset positions 19, 20 and the deceleration start positions 21, 22 set in the setting device 32, and controls the swing winches 10, 10 and the cutter motor 8. Therefore, the offset position 1
9, 20 and the deceleration start positions 21, 22 can be made uniform regardless of the swing speed when the deceleration start positions 21, 22 are reached, and the cutter can be adjusted accordingly. By controlling the rotation speed of the dredging pump 24, the thickness of the excavated earth and sand can be kept constant, and the suction negative pressure of the dredging pump 24 can be kept constant, so that dredging can be carried out smoothly and with high efficiency. The positional deviation of the cutter 4 due to the inclination of the dredger 1 can be detected by the cutter trajectory display device 17 and corrected by calculation processing by the arithmetic unit 31.
It is possible to perform dredging work with high precision without leaving unexcavated areas due to misalignment. The above control is the same when swing dredging is performed from right to left.

By the way, as shown in FIGS. 6 and 7, the swing dredging work between the right and left swing speed deceleration start positions 21 and 22 is performed by the dredging pump 24 detected by various detection devices as shown in FIG. Suction negative pressure, discharge pressure, flow velocity in dredging pipe 25, mud content, load current value of cutter motor 8 as cutter load applied to cutter 4, swing winches 10, 10 as swing load for swinging the hull.
The load current value and the corresponding setting value are compared and calculated by the calculation device 31, and based on the results, the suction negative pressure of the dredging pump 24, the swing speed of the rudder 7, and the rotation speed of the cutter 4 are controlled. To do this. For example, if the suction negative pressure detected by the pressure gauge 26 increases due to sudden soil thickness during dredging and reaches the suction negative pressure upper limit, automatic suction negative pressure control is performed to reduce the soil thickness. The device 27 is opened and at the same time the swing speed is reduced to a predetermined speed. Even in this state, if the suction negative pressure does not recover to the set value range, the swing speed is further reduced after an appropriate period of time has elapsed. If the suction negative pressure returns to within the set value range during this deceleration, the subsequent dredging work is continued under control at the swing speed at that time. Further, when the soil thickness decreases and the suction negative pressure becomes low and reaches the suction negative pressure lower limit value, the automatic suction negative pressure control device 27 is closed. If the suction negative pressure does not recover to the set value range even after several seconds, the swing speed is gradually increased in order to recover the working thickness to the optimum value for dredging. If the suction negative pressure returns to within the set value range during this speed increase, the subsequent dredging work is continued under control at the swing speed at that time. Further, for example, when precipitation occurs in the dredging pipe 25 and the flow velocity detected by the current meter 30 decreases and reaches the lower limit of the flow velocity, the discharge pressure detected by the pressure gauge 29 increases and the discharge pressure When the upper limit is reached, the same control as when the suction negative pressure reaches the upper limit is performed. Furthermore, fluctuations in suction negative pressure of the dredging pump 24 and soil quality,
When the mud content detected by the mud content meter 28 increases due to changes in soil thickness and reaches the upper limit of mud content, the swing speed is slowed down to reduce this and return to the set value range. dredging work will continue at that speed. When the mud content rate further decreases and reaches the lower limit of the mud content rate, the swing speed is increased, and when it returns to the set value range, the dredging work is continued at that speed. Furthermore, if the current value as a cutter load detected by the cutter motor ammeter 12 increases due to a sudden change in soil quality and reaches the load current upper limit value, the mud content ratio will reach the upper limit value. Perform the same control as when Furthermore, when the current value as a swing load detected by the swing winch motor ammeters 11, 11 increases and reaches the load current upper limit value, the swing speed is controlled to be reduced.

By the way, in the swing dredging work as described above, the thickness of the excavated soil is changed depending on the quality of the dredged soil,
In order to keep the suction negative pressure constant and perform optimal dredging, the rotation speed of the cutter 4 is controlled according to a predetermined procedure in response to changes in the swing speed.

The automatic dredging device according to the present invention can carry out swing dredging work by the above-described control, and by eliminating the elevating motion of the rudder 7 from the control, waste is wasted due to interruption of dredging work when an abnormality occurs. Dredging time can be reduced as much as possible, and dredging work can be performed with high efficiency. In addition, since the rotation speed of the cutter 4 is controlled in accordance with changes in the swing speed, the thickness of the soil excavated by the cutter 4 can be changed depending on the quality of the dredged soil, and the suction negative pressure of the dredging pump 24 can be maintained constant. dredging work can be carried out under optimal conditions.

Next, the dredging depth 2 set in the setting device 32 in advance
3 and the right and left offset positions 1 at its depth 23
When performing dredging work along the slope calculated by the calculation device 31 from 9 and 20, the 10th
As shown in the figure, while performing swing dredging, the cutter 4 is gradually lowered at the right or left off-cutting positions 19, 20 to perform dredging. The movement of the cutter 4 along the calculated slope is detected by the cutter locus display device 17 and by the swing winch 1.
0, 10 and the rudder winch 5 are controlled. The dredging work associated with this movement will be controlled as follows.

When the suction negative pressure or discharge pressure reaches their upper limits, or when the flow rate reaches their lower limits, the automatic suction negative pressure control device 27 is opened, and the swing winches 10, 10 and ladder winch 5 are opened. and the operation of the rudder 7 is stopped. Thereafter, when each detected value returns to the set value range, the automatic suction negative pressure control device 27 is closed, and the control of each winch 10, 10, 5 is restarted to perform dredging. In addition, mud content rate, Katsuta motor 8
When the load current value of and the load current value of the swing winches 10, 10 reach their upper limit values,
Swing winch 10, 10 and ladder winch 5
and the operation of the rudder 7 is stopped. after that,
When each detected value has recovered to the set value range, each winch 10, 10, 5 is controlled, and dredging is carried out while moving the cutter 4. Therefore, when performing dredging work on such a slope, it is possible to eliminate the conventional interruption of work and operation of the rudder 7 by a driver, and it is possible to further improve dredging efficiency and automation of dredging work.

As described above, since swing dredging and dredging along a set slope can be automatically controlled, the driver can be freed from controlling complicated dredging equipment, reducing fatigue and saving labor. In addition, even an inexperienced driver can perform dredging work equivalent to that of an experienced driver, making it easier to secure personnel for dredging work.

In the above embodiment, the load current values of the cutter motor 8 and the swing winches 10, 10 that drive the cutter load and swing load are detected, but the present invention is not limited to these, and other detection methods such as an earth pressure meter can be used. Of course, these loads may be detected by the device. Furthermore, it goes without saying that a dredger equipped with a plurality of dredging pumps can be similarly controlled.

In summary, according to the present invention, the following excellent effects are achieved.

(1) In order to control abnormalities caused by unexpected changes in the conditions of the dredging site during swing dredging work, the dredging pump, swing winch, and cutter motor were controlled to eliminate the elevating motion of the rudder, thereby preventing dredging work from being interrupted. The wasted time can be reduced as much as possible, and dredging can be performed with high efficiency.

(2) In swing dredging work, by controlling the rotation speed of the cutter in accordance with the swing speed that is controlled and changed, the thickness of the soil excavated by the cutter can be changed according to the quality of the dredged soil, and the suction of the dredging pump is reduced. Negative pressure can be maintained constant, allowing dredging work to be carried out in optimal conditions.

(3) When carrying out dredging work on a set slope, the dredging pump, swing winch,
Since it is possible to perform deep excavation continuously by controlling the descent and stop of the rudder, it is possible to eliminate work interruptions and the need for the driver to raise the rudder, thereby further improving dredging efficiency and promoting work automation. Can be done.

(4) When automatically decelerating the swing speed from the swing speed deceleration start position to the cut-off position, no matter what the swing speed is when the deceleration start position is reached, the rate of speed change during that time. In addition, by controlling the rotational speed of the cutter accordingly, the thickness of the excavated soil can be kept constant, so the suction negative pressure of the dredging pump can be kept constant, allowing smooth and highly efficient dredging work. obtain.

(5) Swing dredging and dredging along a set slope can be automatically controlled, freeing the operator from controlling complex dredging equipment, reducing fatigue and saving labor, and reducing the burden on unskilled workers. Even a driver can perform dredging work equivalent to that of an experienced driver.

[Brief explanation of drawings]

Figure 1 is a plan view showing the swing dredging state of a conventional pump-type dredger, Figure 2 is a side view showing the elevating motion of the rudder when the swing dredging operation is interrupted, and Figure 3 is the side view of the swing dredger in its lean position. Figure 4 is a front view showing the excavation state, Figure 4 is a front view showing the inclination of the dredger due to the heel, Figure 5 is a graph showing the swing speed deceleration from the swing speed deceleration start position to the cut-off position, and Figure 6 is the front view showing the dredger's inclination due to the heel. A side view of the pump dredger according to the present invention, FIG. 7 is a plan view showing its swing dredging state, FIG. 8 is a system diagram showing the control system of the automatic dredging device of the pump dredger according to the present invention, and FIG. 9 is a graph showing the deceleration state of the swing speed from the swing speed deceleration start position to the cut-off position, No. 10
The figure is a schematic front view showing the inclined deep excavation state. In the diagram, 1 is a pump dredger, 2 is a bow, 4 is a cutter, 7 is a rudder, 11, 11, 12, 17, 2
6, 28, 29, and 30 are detectors, 24 is a dredging pump, 25 is a dredging pipe, 31 is a calculation device, and 32 is a setting device.

Claims (1)

[Claims] 1. In a pump-type dredger, the hull is swung by a swinging winch, soil, etc. at the bottom of the water is excavated with a cutter installed on the rudder at the bow, and the excavated soil is dredged by a dredging pump via a dredging pipe. pressure and discharge pressure, the flow velocity of the muddy water in the dredging pipe, the mud content of the muddy water, the cutter load applied to the cutter, the swing load of the hull, and the horizontal direction and depth of the cutter, and a detector for detecting these detected values. Compare and calculate the setting values that match the conditions of the corresponding dredging location and the moving range of the cutter with the setting device, and calculate the set value and the detected value, and set the position according to the horizontal direction and depth of the detected cutter. The suction negative pressure of the dredging pump and the hull are used to control the swing winch to control the swing speed with a constant acceleration up to the cutting position, and to maintain or restore each detected value to the set value during swing dredging and deep excavation dredging. A pump-type dredger, characterized in that it is equipped with an automatic suction load control device to control the swing speed of the cutter, the rotational speed of the cutter, and a lowering stop of the ladder, and a calculation device to control a swing winch, a rudder winch, and a cutter motor. automatic dredging equipment.