JPH03453B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a swing speed lower limit monitoring device for a cutter dredger.

Cutting suction dredgers have not been automated to improve dredging efficiency, and the operation of the cutting head, especially during dredging, relies on the operator's sense of operation.

The factors that determine the dredging efficiency during dredging are the mud content in the dredged pipe, the swing speed, and the locus pattern of the cutter head on the dredged cross section. The mud content is monitored, and if the mud content increases, the swing speed is lowered, and if the mud content decreases, the swing speed is increased.

During the dredging operation as described above, if the operator has to reduce the swing speed below a certain value, he or she manually performs the following steps to improve dredging efficiency.

By hoisting the rudder, the thickness of the dredged soil is thinned and the mud content is lowered.

When the mud content falls below a certain value, hoisting of the rudder is stopped and the mud content is monitored to see if it increases again.

If the mud content does not seem to increase, lower the ladder gradually until it reaches the original thickness of the dredged soil.

As mentioned above, if the above operations are carried out, the swing speed will be maintained at the minimum depending on the mud content, and the overall dredging efficiency will be better than the operation without hoisting the rudder.

However, these manual operations have the following drawbacks.

○A Requires operator skill.

○B Since dredging is manual, there is always a delay in dredging and the efficiency of dredging is lower than that of automatic dredging. Moreover, in the case of manual operation, operator fatigue is high due to constant monitoring.

Therefore, in order to improve the efficiency of dredging work by dredging vessels, automation of dredging operations is required, and in particular, it is necessary to organize the manual operation method currently performed by operators and control it with a microcomputer/minicomputer. Rate/swing speed needs to be monitored with the highest priority for dredging efficiency, and swing speed lower limit monitoring is required to constantly monitor swing speed during a series of automatic operations and take appropriate measures.

Therefore, the object of the present invention is to provide a swing speed lower limit monitoring device for a cutter dredger that meets this need.

Embodiments of the present invention will be described in detail below with reference to the drawings.

As shown in the figure, the device according to the present invention includes a cutter head trajectory monitoring panel 1, an automatic swing control panel 2, a swing winch motor control panel 3, a swing speed lower limit monitoring control panel 4, a calculation panel 6 for swing speed detection, and a rudder winch control panel. Consists of 5. In the figure, 7 is a swing winch on the port side, 8 is a DC motor for driving the winch 7, 9 is a DC generator for driving the motor 8, and 10 and 11 are control gates installed in the swing winch control panel 3. A pulse generator and a rectifier, 12 a ladder winch, and 13 a ladder winch drive motor.

In the figure, only the port side of the swing winch motor control panel 3, the swing winch 7, the swing winch drive motor 8, and the generator 9 are shown, and the starboard side is omitted.

For example, the cut head trajectory monitoring board 1 is
105430 may be used, and the planned dredging course, dredging width, dredging depth, etc. can be set using the operation panel and input to the calculator, and the gyroscope placed in each part of the dredger can be used. Signals from the compass, rudder inclination angle transmitter, swamp transmitter, spud position transmitter, tide level transmitter, etc. are input to the above computing unit, and the computing unit calculates the excavation course, width, depth, and relative current position of the cutter head relative to the excavation course, width, depth, etc. is calculated in real time and displayed as an image on a CRT display device. In the figure, only the CRT display device section is shown as the cutter head locus monitoring panel 1.

The actual cutter head position, depth, and swing speed are transmitted from the cutter head locus monitoring panel 1 to the swing speed lower limit monitoring control panel 4.

The swing speed detection calculation panel 6 inputs the hull specifications from the gyro compass G, ship position indicator A, trim/heel indicator H, etc., calculates the actual swing speed at the cutter head position, and monitors and controls the swing speed lower limit. Tell it to board 4.

The swing speed lower limit monitoring control panel 4 works only on the method of adjusting the swing speed, that is, the take-up side of the swing winch, and controls the ladder winch control panel 5 to perform automatic monitoring and control in the swing speed lower limit range.

During normal operation, this device automatically outputs a speed command to the swing winch motor control panel 3 so that the mud content in the dredging pipe of the dredger is always at the set value by the automatic swing control panel 2. . If the mud content increases during such dredging operations and it becomes necessary to lower the swing speed, the swing speed lower limit monitoring control panel 4
The cutter head swing speed data obtained from the swing speed detection calculation panel 6 is sent to the first speed comparator (No. 1) of the swing speed lower limit monitoring control panel 4.
Compare the lower limit value of the swing speed with the setting value of the first speed (SPEED) setting device, which has been set (SET) by the SPEED COMPARATOR (for starting rudder hoisting), and if the swing speed falls below the set value, A timer (TIMER) outputs a hoisting command to the rudder winch control panel 5 after a set time.

By hoisting the rudder, the thickness of the dredged soil becomes thinner, and the swing speed is restored by the automatic swing control panel 2. At this time, the second speed comparator (No. 2 SPEED
COMPARATOR (for rudder hoisting stop)) is used to detect return of swing speed, that is, a set value larger than the first speed comparator is compared with the set value of the second speed (SPEED) setter, which has a built-in setting (SET). When the swing speed returns to the set value or higher, a rudder hoisting stop command is output to the rudder winch control panel 5 after the time set by the timer (TIMER).

Next, when the rudder is stopped when the thickness of the dredged soil is thin, the swing speed is further recovered by the automatic swing control panel 2 in the same manner as above.

Under this condition, the third speed comparator (No. 3 SPEED
COMPARATOR (for starting rudder lowering)) is used to reset the lower limit of swing speed monitoring, that is, a set value larger than the second speed comparator is built-in (SET).
The swing speed is compared with the set value of the third speed (SPEED) setting device, and if the swing speed recovers to the set value or higher, a rudder lowering command is output to the rudder winch control panel 5 after the time set by the timer (TIMER). do. Further, when the cutter head locus monitoring panel 1 lowers the rudder to the position where the cutter head should currently be, the rudder stops and the swing lower limit monitoring control ends.

The swing speed lower limit monitoring control panel 4 includes a cutter head locus monitoring panel 1 and a calculation panel 6 for swing speed detection.
A signal of the actual cutter head position and swing speed is constantly output from the swing speed lower limit monitoring control panel 4, and this output signal is monitored by the swing speed lower limit monitoring control panel 4.
The swing speed lower limit monitoring control panel 4 also controls the ladder winch control panel 5 in response to the swing speed output signal.
It commands and controls hoisting, stopping, and lowering. The cutter head trajectory of the cutter head trajectory monitoring panel 1 constantly monitors the pre-specified cutter trajectory and the current swing position, and the swing lower limit monitoring control of the swing speed lower limit monitoring control panel 4 is started.
We are also monitoring the end. That is, by monitoring the swing speed and controlling the ladder winch in this way, it is possible to significantly improve dredging efficiency (shorten dredging time).

In summary, the present invention provides a cutter head trajectory monitoring device that outputs the actual depth of the cutter head;
A first speed setting device in which a lower limit value of swing speed is set in a Katsuta dredger having a swing speed detection calculation device that calculates and outputs an actual swing speed, and a rudder winch control device that controls a ladder winch; a first speed comparator that outputs a rudder winch hoisting command to the ladder winch control device when the actual swing speed falls below a set value of the first speed setter; and the first speed setter. A second speed setting device is set to a setting value larger than the setting value of the second speed setting device, and when the actual swing speed exceeds the setting value of the second speed setting device, the rudder winch is controlled to issue a stop command to the ladder winch. a second speed comparator that outputs to the device; a third speed setter having a set value larger than the set value of the second speed setter; and a second speed setter that outputs the actual swing speed to the third speed setting and a third speed comparator that outputs a rudder winch hoisting command to the rudder winch control device when the speed exceeds the set value of the rudder winch.
The swing speed is constantly monitored, and if the swing speed decreases, the rudder winch is commanded to hoist, stop, and lower, making it possible to raise the dredging soil in total, so the operator must constantly monitor the swing lower limit operation. It is done automatically without any
Compared to manual operation, it is possible to respond more quickly, increasing the efficiency of dredging work.

[Brief explanation of the drawing]

The drawing is a circuit diagram showing an embodiment of the present invention. 1... Cut head locus monitoring panel, 2... Automatic swing control panel, 3... Swing winch motor control panel, 4... Swing speed lower limit monitoring control panel, 5...
...Rudder winch control panel, 6...Arithmetic panel for swing speed detection.

Claims (1)

[Claims] 1. In a katsuta dredger that has a cutter head trajectory monitoring device that outputs the actual depth of the cutter head, a swing speed detection calculation device that calculates and outputs the actual swing speed, and a rudder winch control device that controls the rudder winch, the swing speed a first speed setting device having a lower limit value set therein, and outputting a rudder winch hoisting command to the ladder winch control device when the actual swing speed falls below the setting value of the first speed setting device. a first speed comparator; a second speed setter having a set value larger than the set value of the first speed setter; and a second speed setter whose actual swing speed is the set value of the second speed setter. a second speed comparator that outputs a stop command for the rudder winch to the ladder winch control device when the rudder winch exceeds the limit; and a third speed setting device having a set value larger than the set value of the second speed setter. and a third speed comparator that outputs a lowering command of the ladder winch to the ladder winch control device when the actual swing speed exceeds the setting value of the third speed setting device. A swing speed lower limit monitoring device for Katsuta dredgers.