Cutter suction dredger side slope dredging one-time forming high-precision reamer process operation system

Abstract

The invention belongs to the technical field of dredging engineering, and relates to a cutter suction dredger side slope dredging one-time forming process operation system which comprises a dredging control system and a dredging machine tool. The dredging machine tool comprises a bridge system, a transverse moving system and a reamer system. The control system comprises a PLC master station, a PLC slave station, a DTPM server and an SCADA server. The PLC master station, the DTPM server and the SCADA server are connected. The control system software comprises a PLC control algorithm and a dredging table SCADA interface. The PLC control algorithm comprises a one-time forming high-precision reamer process algorithm module which is deployed on a PLC main station, and the function of slope excavation in a target construction area is achieved through the one-time forming high-precision reamer process algorithm module.

Description

Technical Field

[0001] This invention belongs to the field of dredging engineering technology, specifically relating to slope dredging technology using cutter suction dredgers. Background Technology

[0002] like Figure 9 The cutter suction dredger shown is an important dredging vessel, involved in both conventional dredging work and slope dredging technology.

[0003] Routine dredging work Conventional dredging work focuses on "quantity over quality," while engineering projects prioritize efficiency. Examples include Chinese patents CN109750699A (Automatic Control Method for Multi-Layer, Multi-Level Dredging of a Cutter Suction Dredger), CN109750703A (Automatic Control Method for Multi-Layer, Multi-Layer Dredging of a Cutter Suction Dredger), and CN109750700A (Automatic Controller for Bridge Lifting of a Cutter Suction Dredger). Cutter suction dredgers, with their conventional dredging control system and the subsystems controlled by this system—including the cutter head subsystem, mud pump subsystem, lateral winch system, bridge winch system, steel pile trolley system, and dredging pipeline gate valve subsystem—are used to cut the mud, suck in the mud-water mixture, transport it, and discharge it to the shore. The goal is to achieve maximum output by manually or automatically controlling parameters such as mud pump speed, cutter head speed, lateral speed, and cutting thickness. These are all existing, mature technologies.

[0004] Slope dredging technology Slope dredging using cutter suction dredgers presents unique construction conditions. The goal is not high output.

[0005] The functional goal of slope dredging is to widen waterways and to modify the terrain according to specific requirements. It relies on highly qualified and experienced personnel, and the manual operation is extremely complicated. The corresponding construction process is called manual slope dredging.

[0006] The theoretical slope construction section under ideal conditions, such as Figure 1 As shown in the figure, the small ball represents the cutter head, the trapezoid formed by the ABDC broken line segments represents the channel section, and the arrow indicates the cutter head movement trajectory during construction.

[0007] Currently, slope dredging construction relies entirely on manual operation by personnel on dredging vessels. During manual slope dredging operations, industry operators face various challenges... Figure 1 When performing the target task (ideally), the movement of the bridge winch and the traverse winch are often controlled alternately and individually, thus forming a stepped cutting trajectory. After the cutting is completed, natural collapse occurs, resulting in a shape close to the target task (i.e., the ideal cutting effect), such as... Figure 3 As shown.

[0008] Figure 2The small and medium-sized spheres represent the cutter head, the ABDC broken line segment represents the channel section, and the arrows indicate the cutter head's movement trajectory during construction. The diagram illustrates N steps ( Figure 2 (Illustration: N=2 steps) After a collapse, a slope similar to CD is formed. Within one step's excavation cycle, the lateral movement distance ΔX, the vertical movement distance of the bridge frame ΔY, and V... S V represents the speed of the transverse winch. L This indicates the operating speed of the bridge winch.

[0009] Figure 2 The stepped cutting of soil layers shown in the diagram utilizes the natural collapse of the soil layers to form the desired slope shape. This construction method is known as manual slope dredging. However, during the manual slope dredging process, many factors affect the construction efficiency and the final slope surface quality and finishing accuracy: In manual control, due to the inability to accurately coordinate the bridge winch and the traverse winch, a construction method similar to a stepped cutting pattern is often adopted. This involves slowly cutting through the soil layers, utilizing the natural collapse of the soil to form the desired slope shape (the process is as follows). Figure 3 (As shown). Since slope construction is mostly precision work requiring high accuracy, to prevent over-excavation, manual dredging typically employs multiple excavations, gradually approaching the target area, which further reduces the efficiency of slope dredging. During manual slope dredging, such as... Figure 2 The lateral movement distance ΔX and the vertical movement distance ΔY of the bridge frame shown are controlled by the individual ability and quality of the construction worker, requiring a very high level of construction skills and concentration from the operator. It is difficult for the length, width, and height of each excavated step to be consistent, affecting the effectiveness of the natural collapse process. Furthermore, due to the rotation of different operators, it is difficult to completely eliminate differences in results caused by different operators. Finally, due to soil and hydrological factors, natural collapse after stepped excavation is unpredictable and uncontrollable; therefore, the final slope often differs significantly from the desired ideal slope.

[0010] During manual slope dredging, various malfunctions such as cutterhead slippage, collapse, and obstruction often occur. When these malfunctions happen, operators often struggle to respond promptly, leading to low efficiency or equipment damage. Cutterhead slippage refers to the phenomenon where the cutter fails to penetrate the soil and slips on the working surface. Collapse refers to the subsidence of the soil cut surface under the impact of gravity and water flow. In manual slope dredging, this natural collapse is necessary for the process to continue, and the effectiveness of the collapse depends on the overall operational control of the workers. Obstruction occurs when soil collapses and presses down on the cutterhead during dredging, often resulting in increased cutterhead torque and increased vacuum in the dredging pump. These adverse factors further challenge the operator's work and affect project safety. Summary of the Invention

[0011] One of the inventive objectives of this application is to disclose for the first time a high-precision cutterhead dredging system for slope dredging using a cutter suction dredger, achieving one-time forming. This system enables coordinated control of the bridge winch and the lateral winch, achieving precise control of their linkage, overcoming landslides, and realizing one-time slope construction, avoiding multiple construction steps. Compared to existing manual slope construction techniques, this invention provides a smoother slope surface, approaching the ideal slope.

[0012] The technical solution of the system of this invention: A one-step process operation system for slope dredging using a cutter suction dredger includes a dredging control system and dredging equipment; The dredging equipment includes a bridge system, a lateral movement system, and a cutterhead system; Its features are, The control system includes a PLC master station, a PLC slave station, a DTPM server, and a SCADA server, which are connected together. The control system also includes a PLC control algorithm and a dredging platform SCADA interface. The PLC control algorithm includes a one-time forming high-precision auger process algorithm module, which is deployed on the PLC master station. The one-time forming high-precision auger process algorithm module realizes the slope excavation function in the target construction area. The construction coordinate system is deployed on the DTPM server, which calculates the cutter coordinates and provides them to the one-time forming high-precision cutter process algorithm module. The SCADA interface of the dredging platform is a human-machine interface used to set parameters or display construction data. Set via SCADA interface on the dredging platform , , , Coordinate values ​​are used to determine the target construction area, thereby setting the initial mud surface CD and the target mud surface C'D'. Using the SCADA interface on the dredging platform, the number of excavations N, i.e. the number of slope excavation operations, is set to complete the target construction area. Set the bridge speed via the SCADA interface on the dredging platform. or lateral speed ; Set the speed ratio via the SCADA interface on the dredging platform. The ratio of the cable tray speed under no-load conditions to the cable tray speed under slope excavation conditions is set as the speed multiplier. The above settings are transmitted to the PLC master station via the SCADA server.

[0013] The algorithm technical solution of this invention: An algorithm for a high-precision cutterhead process for one-time slope dredging using a cutter suction dredger includes: Step 1: Definition and Parameter Settings Step 1.1 Set up the construction coordinate system , , , Coordinate values ​​are used to determine the target construction area, thereby setting the initial mud surface CD and the target mud surface C'D'. Step 1.2 To complete the target construction area in Step 1.1, set the number of excavations N, which is the number of slope excavation operations. The average cutter step distance ΔC and ΔD are calculated from the number of excavations N. Step 1.3 Set the cable tray speed or lateral speed To control the cutterhead's movement trajectory on the construction surface to be a line segment with a specific slope, the speed of the cable tray is controlled. Lateral speed It exhibits a specific slope, i.e., lateral velocity. / Cable tray speed The slope is determined by the average step distances ΔC and ΔD; the upper edge is determined based on these values. , bottom edge , The coordinates of multiple location points are used to obtain the corresponding specific slope (slope calculation). Step 1.4 Set the speed ratio The ratio of the bridge frame speed (lateral movement speed) under no-load conditions to the bridge frame speed (lateral movement speed) under slope excavation conditions is set as the speed multiplier. Step 2 Algorithm Module If we consider the auger as a rotating circle, when its center moves from a point M in space to another point M', the trajectory of the center MM' is much larger than the diameter d of the auger. In N excavations of the slope, the slope Ki corresponds to each excavation; the bridge speed. Lateral speed The ratio of the two is the slope Ki; In each slope excavation, the cutter cuts the space into cylindrical shapes P, P', Q', and Q, which, when projected onto the channel section, form a parallelogram with a slope of Ki; when the cutter's slope K in the next (i+1) run... i+1 After modification, parallelograms with different slopes can be cut out. Multiple parallelograms (i.e., excavation through multiple steps) can be superimposed to form a trapezoidal target area. , , , The initial slope (CD) of this trapezoid can be regarded as the initial slope of construction, and the final slope is the target slope (C'D').

[0014] In step 1.2, , , The diameter is the reamer. In step 1.3, when and Set cable tray speed Automatically calculate the corresponding lateral speed ,when or Set the lateral speed Automatic calculation of cable tray speed In step 2, the cutter suction dredger controls the transverse winch and the bridge winch via PLC, and the two work together to perform the slope excavation process to cut parallelograms with different slopes. After multiple parallelograms (i.e., excavation in multiple steps) are superimposed, a trapezoidal target area can be formed. , , , ), Specific process: Step 2.1 Calculate control parameters S2.1.1 Assume the value is set to coordinates. , , , Number of excavations cable tray speed Non-drilling speed ratio ; S 2.1.2 PLC calculation of the reamer at the upper edge , bottom edge , Average step distance ΔC, ΔD: S2.1.3 PLC Calculation , Coordinates of all points: but In loop calculations, it is determined that , ; The coordinates can be obtained similarly; in for Projection on the X-axis, for Projection on the Y-axis; S2.1.4 PLC calculates the transverse speed of the cable tray. or cable tray speed Where N represents the velocity of the Nth iteration: The cutting slope of each layer; Step 2.2 Loop Control Flow S2.2.1 The cutter moves to the starting point. This relocation process does not involve slope construction; it only involves adjusting the spatial position of the cutter head. Locate the starting point = Move the cutter from its current position at a lateral speed Cable tray speed Move separately to the program start point ; S2.2.2 Slope Construction From the starting point Run to the target point This process involves slope construction: Locate target point = Move the reamer from the starting point With bridge speed Lateral speed Coordinated movement to the target point ; S2.2.3 No-load return Return to the target point : Locate target point = Move the reamer from the starting point With lateral speed Cable tray speed Coordinated movement to the target point This process involves no construction and allows for rapid arrival at the target location. S2.2.4 Slope excavation horizontal operation process to new starting point: From the starting point Ci of the upper slope circulating cutterhead, move to the current target point Ci+1: Locate target point Move the reamer from the starting point With lateral speed Cable tray speed Coordinated movement to the target point Construction is carried out during this process; S2.2.5 slope construction, proceed to target point Di: Locate target point Move the reamer from the starting point With bridge speed Lateral speed Coordinated movement to the target point This process involves slope construction; S2.2.6 Determine whether the final target point has been reached. , If not, then jump to S2.2.3 to return to the target point without load. , Execute the loop; If yes, then the final destination has been reached. The automatic slope construction process has ended.

[0015] In step 2 of the algorithm design, "the center trajectory MM' is much larger than the cutter diameter d" means that the center trajectory MM' is greater than or equal to three times the cutter diameter d. Attached Figure Description

[0016] Figure 1 The theoretical slope construction section under ideal conditions.

[0017] Figure 2 Schematic diagram of manual slope construction operation; the diagram illustrates a slope similar to CD formed after N steps collapse. Within the excavation cycle of one step, the lateral movement distance ΔX, the vertical movement distance of the bridge frame ΔY, and V are all shown. S V represents the speed of the transverse winch. L This indicates the operating speed of the bridge winch.

[0018] Figure 3 The process and phenomena of slope dredging are equivalent to Figure 2 The physical evolution of the slope during the operation.

[0019] Figure 4 The system of this invention selects points C to D as the construction scenario.

[0020] Figure 5 The comparison algorithm selected the construction scenario from point A to point B.

[0021] Figure 6 The angle between the working surface and the horizontal plane in the channel section when viewed from the cutterhead direction is defined.

[0022] Figure 7 A schematic diagram of the system principle of this invention.

[0023] Figure 8 A schematic diagram of the core algorithm flow in the system of this invention.

[0024] Figure 9 The cutter suction dredger deployed by the system of this invention.

[0025] Figure 10 A schematic diagram of the system of this invention.

[0026] Figure 11 Compare with a traditional system diagram. Detailed Implementation

[0027] The present invention relates to a cutter suction dredger slope dredging one-time forming process operation system deployed in... Figure 9 The cutter suction dredger is equipped with conventional dredging equipment. Cable tray system, drive chain (power grid - transformer - frequency converter - motor - cable tray winch VL) Transverse movement system, drive chain (power grid - transformer - frequency converter - motor - transverse winch VL) Cutter system, drive chain (power grid - transformer - frequency converter - motor - clutch - cutter). like Figure 9 , Figure 10 As shown, the present invention relates to a one-step forming process operation system for slope dredging using a cutter suction dredger, comprising a dredging control system and dredging equipment; the dredging control system includes control system hardware and control system software. The dredging equipment includes a bridge system, a lateral movement system, and a cutterhead system; The control system hardware includes a network, a PLC master station, PLC slave stations (i.e., the inputs and outputs of the PLC master station), sensors, switches, a DTPM server, and a SCADA server, with the PLC master station, DTPM server, and SCADA server connected together. The control system software includes a PLC control algorithm and a dredging platform SCADA interface. The PLC control algorithm includes a one-time forming high-precision auger process algorithm module, which is deployed on the PLC master station. The one-time forming high-precision auger process algorithm module realizes the slope excavation function in the target construction area. The construction coordinate system is deployed on the DTPM server, which calculates the cutter coordinates and provides them to the one-time forming high-precision cutter process algorithm module. The SCADA interface of the dredging platform is a human-machine interface used to set parameters or display construction data. Set via SCADA interface on the dredging platform , , , Coordinate values ​​are used to determine the target construction area, thereby setting the initial mud surface CD and the target mud surface C'D'. Using the SCADA interface on the dredging platform, the number of excavations N, i.e. the number of slope excavation operations, is set to complete the target construction area. Set the bridge speed via the SCADA interface on the dredging platform. or lateral speed ; Set the speed ratio via the SCADA interface on the dredging platform. The ratio of the cable tray speed under no-load conditions to the cable tray speed under slope excavation conditions is set as the speed multiplier. The above settings are transmitted to the PLC master station via the SCADA server.

[0028] The one-time forming high-precision cutter process algorithm module realizes the slope excavation function in the target construction area: the cutter of the dredging equipment is regarded as a rotating circle. When its center moves from a point M in space to another point M', the trajectory of the center MM' is much larger than the cutter diameter d. During each slope excavation operation, the cutter cuts spaces in the shape of cylinders P, P', Q', and Q, which, when projected onto the channel section, form a parallelogram with a slope of Ki. When the cutter's slope K is used in the next (i+1) run... i+1 After modification, parallelograms with different slopes can be cut out, and multiple parallelograms can be superimposed to form a trapezoidal target area. , , , The initial slope CD of this trapezoid can be regarded as the initial slope of construction, and the final slope is the target slope C'D'.

[0029] The algorithm module for the one-time high-precision reamer process, algorithm principle: Part 1: Provided via SCADA Server , , , The coordinates and number of excavations N are calculated by the PLC master station, and the cutter head is located at the upper edge. , bottom edge , The average step distance ΔC, ΔD; Part Two: Provided via SCADA Server , The coordinates, and the average step distances ΔC and ΔD mentioned in Part 1, are calculated by the PLC master station. , The coordinates of all points at position; Part Three: Calculated using Part Two , The coordinates are calculated by the PLC master station to determine the slope of the i-th excavation. ; The slope of the i-th excavation calculated in Part III The PLC master station calculates the i-th excavation. ; Based on the parameters set by SCADA and the data calculated by the PLC master station, the PLC slave station transmits the commands to the frequency converter to control the cable tray speed. Lateral speed .

[0030] , , The diameter is the reamer. when and Set cable tray speed Automatically calculate the corresponding lateral speed ,when or Set the lateral speed Automatic calculation of cable tray speed .

[0031] The algorithm module for one-time high-precision reamer forming process, and its specific algorithm process: The cutter suction dredger controls the transverse winch and bridge winch via a PLC master station, coordinating them to perform slope excavation to cut parallelograms with different slopes. Multiple parallelograms, i.e., multiple excavation steps, are superimposed to form a trapezoidal target area. , , , .

[0032] The core algorithm of the automatic slope protection system of this invention aims to widen waterways, precisely modify terrain, and eliminate the need for cumbersome manual operations.

[0033] Since the controllers do not perform optimization operations for conventional dredging output, they only need to initialize the state of each controlled device to adapt to the construction soil and construction environment, such as initializing: underwater pump speed, pump speed in compartment #1, pump speed in compartment #2, cutter speed, transverse winch speed, and bridge winch speed, thereby performing conventional dredging along with the slope dredging technology of this invention. This part belongs to mature technology in this field, but this conventional dredging process is not part of the one-time forming high-precision cutter process algorithm module (core algorithm) of this invention.

[0034] The application of this invention system enables coordinated control of the bridge winch and the traverse winch, achieving precise control of their linkage. This overcomes landslides and allows for one-time slope construction, avoiding multiple construction steps. Compared to existing manual slope construction techniques, this algorithm produces a smoother slope surface, approaching the ideal slope.

[0035] To better understand the system of this invention, the algorithm design principles are introduced below: I. Assumptions and Analysis: Assume the algorithm uses the construction process from point A to point B. Figure 5 As shown by the green arrow, the combined effects of gravity, lateral tension, and the rotational force of the cutter head make the cutter prone to rolling. This construction method is not the optimal choice.

[0036] Assume the algorithm uses the construction process from point B to point A. Figure 5 As shown by the red arrow, this construction method can easily create cavities under the slope, leading to landslides. This construction method is not the optimal choice.

[0037] Assume the algorithm uses the construction process from point D to point C. Figure 4 As shown, this can easily create cavities under the slope, leading to collapse. This construction method is not the optimal choice.

[0038] After comparison and consideration, the algorithm strategy of this invention prioritizes the construction scheme from point C to point D to minimize the occurrence of cutter head and landslides. The embodiment uses point C to point D as the construction scenario. In application, the PLC controls the transverse winch and the bridge winch, coordinating both to execute the slope excavation process. Specifically, the algorithm of this invention selects a clockwise rotation operation mode for the cutter head, assuming the trajectory is the running trajectory of the cutter head's center point coordinates. The construction process adopts a top-down excavation method from point C to point D. Figure 4 The green arrow points from point C to point D.

[0039] Further explanation: Looking at the channel section from the cutter head, define the counterclockwise angle between the working face and the horizontal plane as α. When α < 90°, the downward trajectory is defined as A→B. When α > 90°, the downward trajectory is defined as C→D. For example... Figure 6 As shown.

[0040] Further explanation: Figure 4As shown, X is the projection length of the vector CC' from the initial slope starting point C to the final slope starting point C' along the X-axis. When X is less than three times the cutter diameter d, the slope to be cut can be considered "thin," meaning fewer construction steps are required to cut from the current mud surface to the target mud surface, which is suitable for the algorithm of this invention. If X is greater than three times the cutter diameter d, the slope to be cut can be considered "thick," meaning a long, gentle slope. In this case, other algorithms should be used for large-scale excavation first, followed by the application of this algorithm to refine the slope, achieving the goal of one-time slope construction (to be disclosed in a subsequent patent application).

[0041] II. Algorithm Module for One-Step High-Precision Cutter Drilling Process of Slope Dredging by Cutter Suction Dredger ( Figure 8 (as shown) Step 1: Definition and Parameter Settings Step 1.1 Set up the construction coordinate system , , , Coordinate values ​​are used to determine the target construction area, thereby setting the initial mud surface CD and the target mud surface C'D' (see...). Figure 4 , Figure 7 ).

[0042] Step 1.2 To complete the target construction area in Step 1.1, set the number of excavation operations N, i.e., the number of slope excavation operations. Calculate the average cutterhead step distances ΔC and ΔD from the number of excavation operations N. (Limitation) , , The diameter is the reamer. Step 1.3 Set the cable tray speed or lateral speed To control the cutterhead's movement trajectory on the construction surface to be a line segment with a specific slope, the speed of the cable tray is controlled. Lateral speed It exhibits a specific slope, i.e., lateral velocity. / Cable tray speed The slope is determined based on the average step distances ΔC and ΔD. , bottom edge , Given multiple location coordinates, a specific slope is obtained based on these coordinates. Specifically, when... and Set cable tray speed Automatically calculate the corresponding lateral speed ,when or Set the lateral speed Automatic calculation of cable tray speed ,like Figure 6 As shown; Step 1.4 Set the speed ratio The ratio of the bridge frame speed (lateral movement speed) under no-load conditions to the bridge frame speed (lateral movement speed) under slope excavation conditions is set as the speed multiplier. The area from point C to point D at a higher elevation represents the excavation phase, indicated by the green arrows in the diagram; the area from point D to point C at a lower elevation represents the idle phase (i.e., non-excavation phase), indicated by the red arrows in the diagram. Figure 4 As shown.

[0043] Step 2 Algorithm Design In this algorithm design, the reamer is regarded as a rotating circle. When its center moves from a point M in space to another point M' (the trajectory of the center MM' is much larger than the diameter d of the reamer, that is, the trajectory of the center MM' should usually be greater than or equal to three times the diameter d of the reamer); In the Nth excavation of the slope, the slope Ki corresponding to each excavation is as follows: Figure 7 As shown. Cable tray speed. Lateral speed The ratio of the two is the slope Ki.

[0044] In each slope excavation, the cutter cuts the space into cylindrical shapes P, P', Q', and Q, which, when projected onto the channel section, form a parallelogram with a slope of Ki; when the cutter's slope K in the next (i+1) run... i+1 After modification, parallelograms with different slopes can be cut out. Multiple parallelograms (i.e., excavation through multiple steps) can be superimposed to form a trapezoidal target area. , , , The initial slope (CD) of this trapezoid can be regarded as the initial slope of construction, and the final slope is the target slope (C'D').

[0045] In step 2, the PLC controls the transverse winch and the bridge winch, coordinating them to execute the slope excavation process to cut parallelograms with different slopes. Multiple parallelograms (i.e., excavation in multiple steps) are then superimposed to form a trapezoidal target area. , , , ), Specific process: Step 2.1 Calculate control parameters S2.1.1 Assume the value is set to coordinates. , , , Number of excavations cable tray speed Non-drilling speed ratio .

[0046] S 2.1.2 PLC calculation of the reamer at the upper edge , bottom edge , Average step distance ΔC, ΔD: S2.1.3 PLC Calculation , Coordinates of all points: but In loop calculations, it is determined that , .

[0047] The coordinates can be obtained similarly.

[0048] in for Projection on the X-axis, for If points C and C' are at the same height when projected onto the Y-axis, then A value of 0 indicates a special case for this algorithm.

[0049] S2.1.4 PLC calculates the transverse speed of the cable tray. or cable tray speed Where N represents the velocity of the Nth iteration: The cutting slope of each layer; Step 2.2 Loop Control Flow S2.2.1 The cutter moves to the starting point. This relocation process does not involve slope construction; it only involves adjusting the spatial position of the cutter head. Locate the starting point = Move the cutter from its current position at a lateral speed Cable tray speed Move separately to the program start point .

[0050] S2.2.2 Slope Construction From the starting point Run to the target point This process involves slope construction: Locate target point = Move the reamer from the starting point With bridge speed Lateral speed Coordinated movement to the target point .

[0051] S2.2.3 No-load return Return to the target point : Locate target point = Move the reamer from the starting point With lateral speed Cable tray speed Coordinated movement to the target point This process involves no construction and allows for rapid arrival at the target location.

[0052] S2.2.4 Slope excavation horizontal operation process to new starting point: From the starting point Ci of the upper slope circulating cutterhead, move to the current target point Ci+1: Locate target point Move the reamer from the starting point With lateral speed Cable tray speed Coordinated movement to the target point Construction is carried out during this process.

[0053] S2.2.5 slope construction, proceed to target point Di: Locate target point Move the reamer from the starting point With bridge speed Lateral speed Coordinated movement to the target point This process involves slope construction.

[0054] S2.2.6 Determine whether the final target point has been reached. , If not, then jump to S2.2.3 to return to the target point without load. , Execute the loop.

[0055] If yes, then the final destination has been reached. The automatic slope construction process has ended.

[0056] The algorithm of this invention is described by the trajectory of the cutter head. The application of this system enables coordinated control of the cable tray winch and the traverse winch, achieving precise control of their linkage and enabling one-time slope construction, avoiding multiple construction steps.

[0057] Figure 10 The system of the present invention shown embodies a fully automatic slope control process, emphasizing that the position closed loop is executed by the PLC: A complete closed-loop position control system is formed by PLC → actuator → sensor feedback → PLC. Since the position loop's decision-making and processing are entirely handled by the PLC, the accuracy, timeliness, and precise collaborative operation of multiple devices throughout the entire control loop are guaranteed.

[0058] Operators set the construction parameters via the dredging platform touchscreen. As long as the system does not experience any risks or malfunctions, the operators and the display interface do not participate in the control process; they are only used for monitoring.

[0059] In contrast, such as Figure 11 As shown, operators can use the cutterhead status displayed on the dredging platform interface in real time, as well as their personal experience, to make real-time judgments on risks and malfunctions and control the construction operations, ultimately controlling the cutterhead to reach the target construction position.

[0060] The traditional slope dredging process described above consists of the operator → control handle → PLC → actuator → sensor feedback → PLC → display interface → operator, forming a... Position closed-loop control .

[0061] Since the position loop's judgment and processing rely entirely on manual intervention, it is impossible to guarantee the accuracy, timeliness, and accurate coordination of multiple devices in the entire control loop.

[0062] Note: The aforementioned risks and faults include construction faults such as cutter head collapse and cutter head blockage.

Claims

1. A one-step dredging process system for slopes using a cutter suction dredger, comprising a dredging control system and dredging equipment; The dredging equipment includes a bridge system, a lateral movement system, and a cutterhead system; Its features are, The control system includes a PLC master station, a PLC slave station, a DTPM server, and a SCADA server, which are connected together. The control system also includes a PLC control algorithm and a dredging platform SCADA interface. The PLC control algorithm includes a one-time forming high-precision auger process algorithm module, which is deployed on the PLC master station. The one-time forming high-precision auger process algorithm module realizes the slope excavation function in the target construction area. The construction coordinate system is deployed on the DTPM server, which calculates the cutter coordinates and provides them to the one-time forming high-precision cutter process algorithm module. The SCADA interface of the dredging platform is a human-machine interface used to set parameters or display construction data. Set via SCADA interface on the dredging platform , , , Coordinate values ​​are used to determine the target construction area, thereby setting the initial mud surface CD and the target mud surface C'D'. Using the SCADA interface on the dredging platform, the number of excavations N, i.e. the number of slope excavation operations, is set to complete the target construction area. Set the bridge speed via the SCADA interface on the dredging platform. or lateral speed ; Set the speed ratio via the SCADA interface on the dredging platform. The ratio of the cable tray speed under no-load conditions to the cable tray speed under slope excavation conditions is set as the speed multiplier. The above settings are transmitted to the PLC master station via the SCADA server.

2. The one-step forming process operation system for slope dredging of a cutter suction dredger as described in claim 1, characterized in that, The one-time forming high-precision cutter process algorithm module realizes the slope excavation function in the target construction area: the cutter of the dredging equipment is regarded as a rotating circle. When its center moves from a point M in space to another point M', the trajectory of the center MM' is much larger than the cutter diameter d. During each slope excavation operation, the cutter cuts spaces in the shape of cylinders P, P', Q', and Q, which, when projected onto the channel section, form a parallelogram with a slope of Ki. When the cutter's slope K is used in the next (i+1) run... i+1 After modification, parallelograms with different slopes can be cut out, and multiple parallelograms can be superimposed to form a trapezoidal target area. , , , The initial slope CD of this trapezoid can be regarded as the initial slope of construction, and the final slope is the target slope C'D'.

3. The one-step forming process operation system for slope dredging of a cutter suction dredger as described in claim 2, characterized in that, The algorithm module for the one-time high-precision reamer process, algorithm principle: Part 1: Provided via SCADA Server , , , The coordinates and number of excavations N are calculated by the PLC master station, and the cutter head is located at the upper edge. , bottom edge , The average step distance ΔC, ΔD; Part Two: Provided via SCADA Server , The coordinates, and the average step distances ΔC and ΔD mentioned in Part 1, are calculated by the PLC master station. , The coordinates of all points at position; Part Three: Calculated using Part Two , The coordinates are calculated by the PLC master station to determine the slope of the i-th excavation. ; The slope of the i-th excavation calculated in Part III The PLC master station calculates the i-th excavation. ; Based on the parameters set by SCADA and the data calculated by the PLC master station, the PLC slave station transmits the commands to the frequency converter to control the cable tray speed. Lateral speed .

4. The one-step forming process operation system for slope dredging of a cutter suction dredger as described in claim 1, characterized in that, , , The diameter is the reamer.

5. The one-step forming process operation system for slope dredging of a cutter suction dredger as described in claim 1, characterized in that, when and Set cable tray speed Automatically calculate the corresponding lateral speed ,when or Set the lateral speed Automatically calculate cable tray speed .

6. The one-step forming process operation system for slope dredging of a cutter suction dredger as described in claim 3, characterized in that, The algorithm module for one-time high-precision reamer forming process, and its specific algorithm process: The cutter suction dredger controls the transverse winch and bridge winch via a PLC master station, coordinating them to perform slope excavation to cut parallelograms with different slopes. Multiple parallelograms, i.e., multiple excavation steps, are superimposed to form a trapezoidal target area. , , , Specific process: Step 2.1 Calculate control parameters S2.1.1 Assume the value is set to coordinates. , , , Number of excavations cable tray speed Non-drilling speed ratio ; S 2.1.2 PLC calculation of the reamer at the upper edge , bottom edge , Average step distance ΔC, ΔD: S2.1.3 PLC Calculation , Coordinates of all points: ， but , In loop calculations, it is determined that , ; The coordinates can be obtained similarly; in, for Projection on the X-axis, for Projection on the Y-axis; S2.1.4 PLC master station calculates the transverse speed of the cable tray. or cable tray speed Where N represents the velocity of the Nth iteration: , where is the cutting slope for each layer; Step 2.2 Loop Control Flow S2.2.1 The cutter moves to the starting point. This relocation process does not involve slope construction; it only involves adjusting the spatial position of the cutter head. Locate the starting point = Move the cutter from its current position at a lateral speed Cable tray speed Move separately to the program start point ; S2.2.2 Slope Construction From the starting point Run to the target point This process involves slope construction: Locate target point = Move the reamer from the starting point With bridge speed Lateral speed Coordinated movement to the target point ; S2.2.3 No-load return Return to the target point : Locate target point = Move the reamer from the starting point With lateral speed Cable tray speed Coordinated movement to the target point This process involves no construction and allows for rapid arrival at the target location. S2.2.4 Slope excavation horizontal operation process to new starting point: From the starting point Ci of the upper slope circulating cutterhead, move to the current target point Ci+1: Locate target point Move the reamer from the starting point With lateral speed Cable tray speed Coordinated movement to the target point Construction is carried out during this process; S2.2.5 slope construction, proceed to target point Di: Locate target point Move the reamer from the starting point With bridge speed Lateral speed Coordinated movement to the target point This process involves slope construction; S2.2.6 Determine whether the final target point has been reached. , If not, then jump to S2.2.3 to return to the target point without load. , Execute the loop; If yes, then the final destination has been reached. The automatic slope construction process has ended.

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