Automatic control system and control method for rake lip ground angle of trailing suction hopper dredger

Abstract

The invention relates to an automatic control system and method for the ground angle of a rake lip of a trailing suction hopper dredger, the system comprises a rake arm / rake head hydraulic cylinder sensor, a data collecting and processing unit and monitoring software, and the rake arm / rake head hydraulic cylinder sensor is used for obtaining rake arm posture and rake lip hydraulic cylinder stroke information; the data collecting and processing unit is used for collecting sensor data, calculating the actual value of the current ground angle of the rake lip in real time, judging the deviation between the actual value and the current target ground angle, and if the deviation exceeds a preset tolerance threshold value, generating a rake lip angle control output signal and transmitting the rake lip angle control output signal to the rake lip angle hydraulic executing mechanism. The current ground angle of the rake lip is adjusted to be the target ground angle in real time; and the monitoring software is used for visually displaying the system state and supporting parameter configuration and remote access. Under the conditions of different construction areas, different digging depths and different soil properties, the rake lip is always kept within a set angle range, so that the rake head can break soil more favorably, and the construction efficiency and the operation stability of a ship are effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of automated control technology for engineering vessels, and in particular relates to an automatic control system and control method for the ground angle of the drag lip of a trailing suction hopper dredger. Background Technology

[0002] As a core piece of equipment in modern dredging engineering, the efficiency of trailing suction hopper dredgers largely depends on the ability of their rake heads to break and excavate underwater soil layers. The rake lip, as the core component of the rake head's soil-breaking mechanism, directly determines the rake head's ability and efficiency in cutting into the mud layer through its ground angle. A reasonable rake lip ground angle can effectively improve soil-breaking efficiency, reduce energy consumption, and ensure the continuity and stability of dredging operations. Therefore, precise and dynamic control of the rake lip angle is a key technical aspect for achieving efficient dredging operations.

[0003] Currently, in actual operation, the angle of the drag suction hopper dredger relative to the ground is mostly adjusted manually. Operators need to judge and adjust the hydraulic system in real time based on experience and current working conditions to change the drag suction hopper's posture. However, the dredging environment is complex and variable, and the depth of the drag head entering the mud fluctuates frequently, causing the optimal angle of the drag suction hopper to change dynamically. Manual adjustment is not only slow to respond and has limited accuracy, but it is also difficult to continuously track the optimal angle, which can easily cause the drag suction hopper angle to deviate from the ideal value, thereby weakening the drag head's soil-breaking ability and reducing the vessel's production efficiency.

[0004] Furthermore, prolonged and intensive manual operation significantly increases the workload of crew members, hindering operational safety and automation. Current technology lacks a closed-loop control system capable of automatically sensing, calculating, and dynamically adjusting the rake lip's angle to the ground based on real-time operating conditions, making it difficult to meet the demands of modern dredging projects for high-efficiency, intelligent, and unmanned operations. Therefore, there is an urgent need to develop an automatic control system capable of automatically, accurately, and in real-time adjusting the rake lip's angle to the ground to overcome the inherent shortcomings of traditional manual adjustment methods and comprehensively improve the dredging performance and operational intelligence of trailing suction hopper dredgers. Summary of the Invention

[0005] To address the problems of slow response, low adjustment accuracy, and inability to dynamically track changes in working conditions caused by manual adjustment of the rake lip angle during dredging operations in existing trailing suction hopper dredgers, this invention proposes an automatic control system and method for the rake lip angle of a trailing suction hopper dredger. This system achieves high-precision real-time adjustment of the rake lip angle by constructing a closed-loop feedback control mechanism and combining multi-source sensor data fusion, thereby improving the soil breaking efficiency of the rake head and the overall dredging performance of the dredger.

[0006] The present invention is implemented as follows: an automatic control system for the ground angle of the rake lip of a trailing suction dredger, including a rake arm / rake head hydraulic cylinder sensor, a data acquisition and processing unit, and monitoring software; The rake arm / rake head hydraulic cylinder sensor is used to acquire rake arm posture and rake lip hydraulic cylinder stroke information. The signal output terminal of the rake arm / rake head hydraulic cylinder sensor is connected to the data acquisition and processing unit. The data acquisition and processing unit is used to collect data from the hydraulic cylinder sensors of the rake arm / rake head, calculate the actual value of the current ground angle of the rake lip in real time, and determine the deviation from the set current target ground angle. If the deviation exceeds the preset tolerance threshold, a rake lip angle control output signal is generated and transmitted to the rake lip angle hydraulic actuator to adjust the current ground angle of the rake lip to the target ground angle in real time, so that the rake lip is at the optimal digging angle. It is also used to receive parameter settings from the monitoring software and feed back relevant data of the current rake lip angle to the monitoring software in real time. The monitoring software and data acquisition and processing unit are connected in communication, used to visualize the system status and support parameter configuration and remote access.

[0007] In the above technical solution, preferably, the rake arm / rake head hydraulic cylinder sensor includes a horizontal angle sensor and a vertical angle sensor installed on the upper rake tube, a horizontal angle sensor and a vertical angle sensor installed on the lower rake tube, and a stroke sensor built into the rake lip hydraulic cylinder.

[0008] In the above technical solution, it is further preferred that the horizontal angle sensor and the vertical angle sensor on the upper rake pipe are located in the same watertight sensor box or underwater protective cover, and the output terminals of these two sensors are led out through a watertight junction box and connected to the data acquisition and processing unit via a shielded cable; the horizontal angle sensor and the vertical angle sensor on the lower rake pipe are located in the same watertight sensor box or underwater protective cover, and the output terminals of these two sensors are led out through a watertight junction box and connected to the data acquisition and processing unit via a shielded cable; the stroke sensor inside the rake lip hydraulic cylinder is located in a separate watertight sensor box or underwater protective cover, and the output terminal of this sensor is led out through a watertight junction box and connected to the data acquisition and processing unit via a shielded cable.

[0009] In the above technical solution, preferably, the data acquisition and processing unit uploads the current rake lip angle to the ground, sensor status, control output signal and system operation log to the monitoring software in real time.

[0010] In the above technical solution, preferably, the data acquisition and processing unit is also integrated into other intelligent monitoring systems of the ship through a hardware data interface.

[0011] In the above technical solution, preferably, the communication between the data acquisition and processing unit and the monitoring software adopts a network or a 485 serial port protocol.

[0012] In the above technical solution, preferably, the monitoring software includes a human-machine interface, a parameter configuration module, a data visualization module, and an external communication interface. The human-machine interface is used to display the current attitude of the rake head and rake lip relative to the horizontal position in real time, display the data values ​​of each sensor, and each control output signal, providing users with a setting interface for relevant parameters. The parameter configuration module is used to set the desired rake lip ground angle, sensor calibration parameters, and PID control parameters online. The data visualization module is used to present historical and real-time data. The external communication interface is used to receive the desired rake lip ground angle setting command sent by other intelligent monitoring systems on the ship and input it to the data acquisition and processing unit.

[0013] In the above technical solution, preferably, the monitoring software is designed with a B / S architecture and can be accessed through a web browser to view relevant information and complete parameter settings.

[0014] An automatic control method for the ground-to-ground angle of the drag suction dredger's drag lip includes the following steps: S1: The rake arm / rake head hydraulic cylinder sensor continuously collects relevant signals of rake arm posture and rake lip hydraulic cylinder stroke information, and transmits the relevant signals to the data acquisition and processing unit; S2: The data acquisition and processing unit receives the signal and calculates the actual value of the rake lip's ground angle in real time based on the signals from each sensor; it also determines the deviation from the current target value of the rake lip's ground angle. If the deviation exceeds the preset tolerance threshold, it generates a rake lip angle control output signal and outputs the control output signal to the rake lip angle hydraulic actuator to adjust the rake lip's ground angle. S3: The adjusted rake arm posture and rake lip hydraulic cylinder stroke information are collected again by the rake arm / rake head hydraulic cylinder sensor, forming a new feedback signal, and entering the next control cycle to achieve continuous closed-loop regulation.

[0015] In the above technical solution, preferably, if the control system receives a new rake lip ground angle setting command sent by an external system, it immediately updates the expected value of the rake lip ground angle and triggers a new round of control cycle.

[0016] The advantages and positive effects of this invention are: 1. This invention integrates high-precision sensors into the rake arm / rake head to acquire rake arm posture and hydraulic cylinder stroke data, and calculates the actual ground angle of the rake lip in real time. Combined with the set target ground angle, it generates a precise control output signal, enabling the rake lip ground angle to dynamically track changes in operating conditions. This invention constructs a closed-loop control circuit with a data acquisition and processing unit at its core, allowing the rake lip ground angle to be dynamically adjusted in real time according to changes in underwater soil conditions. The control system uses B / S architecture monitoring software, supporting remote parameter configuration and status monitoring, and can be integrated with other intelligent monitoring systems on ships. The actuators respond quickly and control precisely, achieving stable ground angle control in conjunction with a PID controller. The entire control system forms a complete control chain of "perception—calculation—decision—execution—feedback," solving the problems of traditional manual adjustment being lagging, inefficient, and reliant on human experience.

[0017] 2. This invention maintains the rake lip within a set angle range under different construction areas, dredging depths, and soil conditions, which is more conducive to rake head breaking the soil, reduces ineffective energy consumption, increases the amount of silt and sand excavated per unit time, significantly improves dredging efficiency, and reduces rake tooth wear and equipment failure rate. Furthermore, operators only need to set the target ground angle in the monitoring software, greatly reducing labor intensity. In addition, the system has good scalability and integration capabilities, and can be seamlessly connected to the comprehensive automation platform of modern trailing suction hopper dredgers, providing key technical support for realizing fully intelligent dredging operations. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the automatic control system for the rake lip's ground angle provided in an embodiment of the present invention; Figure 2 The flowchart illustrates the automatic control process of the rake lip's ground angle in an embodiment of the present invention. Detailed Implementation

[0019] To further understand the invention's content, features, and effects, the following embodiments are provided, along with detailed descriptions in conjunction with the accompanying drawings: In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] During actual dredging operations, the rake arm and rake head need to adjust their ground-facing angle in real time according to the operating depth and terrain changes to adapt to the complex and varied underwater soil conditions at different areas and depths. A reasonable rake lip ground-facing angle can effectively improve soil breaking efficiency, ensure the continuity and stability of excavation, and thus increase the overall dredging capacity of the vessel.

[0022] Please see Figure 1 and Figure 2 The present invention provides an automatic control system for the ground angle of the rake lip of a trailing suction dredger, including a rake arm / rake head hydraulic cylinder sensor, a data acquisition and processing unit, and monitoring software; The rake arm / rake head hydraulic cylinder sensor is used to acquire rake arm posture and rake lip hydraulic cylinder stroke information, and the signal output terminal of the rake arm / rake head hydraulic cylinder sensor is connected to the data acquisition and processing unit. The data acquisition and processing unit is used to collect data from the hydraulic cylinder sensors of the rake arm / rake head, calculate the actual value of the current ground angle of the rake lip in real time, and determine the deviation from the set current target ground angle. If the deviation exceeds the preset tolerance threshold, a rake lip angle control output signal is generated and sent to the rake lip angle hydraulic actuator to adjust the current ground angle of the rake lip to the target ground angle in real time, so that the rake lip is at the optimal digging angle. The data acquisition and processing unit is also used to accept the parameter settings of the monitoring software and feed back the relevant data of the current rake lip angle to the monitoring software in real time. The monitoring software and data acquisition and processing unit are connected in communication, used to visualize the system status and support parameter configuration and remote access.

[0023] In a preferred embodiment, the control system arranges multiple key sensors at the rake arm and rake head. The rake arm / rake head hydraulic cylinder sensors include a horizontal angle sensor and a vertical angle sensor installed on the upper rake tube, a horizontal angle sensor and a vertical angle sensor installed on the lower rake tube, and a stroke sensor built into the rake lip hydraulic cylinder.

[0024] In a preferred embodiment, to reduce wiring and facilitate watertight handling, the horizontal and vertical angle sensors on the upper rake pipe are located in the same watertight sensor box or underwater protective cover. The outputs of these two sensors are led out through a watertight junction box and connected to the data acquisition and processing unit via a shielded cable. Similarly, the horizontal and vertical angle sensors on the lower rake pipe are located in the same watertight sensor box or underwater protective cover. The outputs of these two sensors are led out through a watertight junction box and connected to the data acquisition and processing unit via a shielded cable. The stroke sensor inside the rake lip hydraulic cylinder is located in a separate watertight sensor box or underwater protective cover. The output of this sensor is led out through a watertight junction box and connected to the data acquisition and processing unit via a shielded cable.

[0025] Specifically, since the sensors operate underwater, the sensor watertight boxes and watertight junction boxes must meet watertight requirements to ensure normal sensor operation. Each sensor is integrated and installed within a dedicated watertight sensor box, which is made of seawater-resistant material and has internal vibration-damping supports to resist high-frequency vibrations during ship operations. It also has an IP68 protection rating to adapt to the complex mechanical environment of the rake head during underwater operation. Sensor signal lines are led out through the watertight junction box, which also has a watertight structure and internal sealed terminal blocks to ensure electrical continuity and insulation of the signal transmission path under long-term immersion conditions, allowing for stable transmission to the data acquisition and processing unit. The stroke sensor is a magnetostrictive displacement sensor, with its measuring end fixed to the end of the piston rod of the rake lip hydraulic cylinder, and its housing fixed to the cylinder barrel. It is used to output analog or digital signals of the hydraulic cylinder's extension and retraction stroke in real time.

[0026] In a preferred embodiment, the data acquisition and processing unit synchronously uploads the current rake lip angle to the ground, sensor status, control output signals, and system operation logs to the monitoring software in real time, so that the host computer monitoring software can update and display various parameters in real time.

[0027] In a preferred embodiment, the data acquisition and processing unit also integrates with other intelligent monitoring systems on the ship through hardware data interfaces, such as network interfaces and serial ports, to transmit relevant data to the ship's integrated monitoring system, thereby realizing multi-system data fusion and collaborative control.

[0028] In a preferred embodiment, the communication between the data acquisition and processing unit and the monitoring software is via a network or a 485 serial port protocol.

[0029] In a preferred embodiment, the monitoring software includes a human-machine interface, a parameter configuration module, a data visualization module, and an external communication interface. The human-machine interface displays the real-time attitude of the rake head and rake lip relative to each other's horizontal position, shows the data values ​​of each sensor, and displays each control output signal, providing users with an interface for setting relevant parameters. The parameter configuration module is used to set the desired rake lip angle to the ground, sensor calibration parameters, and PID control parameters online. The data visualization module presents historical and real-time data. The external communication interface receives the desired rake lip angle setting command sent by other intelligent monitoring systems on the vessel and inputs it to the data acquisition and processing unit to realize a composite control strategy based on the soil characteristics of the construction area. Users can view and set relevant system parameters through the monitoring software, which can also display relevant information through visual graphics.

[0030] As a preferred implementation, the monitoring software is designed with a B / S architecture, accessible via a web browser to view relevant information and complete parameter settings. The monitoring software displays various parameters in real time on the web interface and supports historical data review and trend analysis.

[0031] The data acquisition and processing unit, as the core of the system, adopts an industrial-grade embedded controller, including a central processing module, a communication interface module, and a control output module. Hardware interfaces include a multi-channel analog input module, a digital output module, an Ethernet communication port, and an RS-485 serial interface. The central processing module periodically reads data from various sensors and filters the data to eliminate high-frequency noise interference caused by water flow disturbance or mechanical vibration. Based on the preset rake arm-rake lip geometry, it uses the horizontal angle of the upper rake tube, the vertical angle of the upper rake tube, the horizontal angle of the lower rake tube, the vertical angle of the lower rake tube, and the stroke value of the rake lip hydraulic cylinder as input variables. Through spatial coordinate transformation and vector operation, it calculates the current ground angle of the rake lip. Then, based on the target ground angle setting value of the rake lip received from the monitoring software (this setting value can be a fixed value or a dynamic range, specifically set according to the soil characteristics of the construction area), it calculates the deviation value between the current ground angle of the rake lip and the target ground angle. This deviation value is then input to the proportional-integral-derivative (PID) controller to generate the corresponding control output signal. The control quantity is converted into a pulse width modulation (PWM) signal or a switching signal and output to the rake lip angle hydraulic actuator to adjust the rake lip posture and achieve the best digging effect.

[0032] The calculation of the current ground angle of the rake lip can be achieved through the following sub-steps: First, establish a three-dimensional rectangular coordinate system with the connection point between the upper rake pipe and the hull as the origin; second, calculate the spatial coordinates of the end of the upper rake pipe based on the horizontal and vertical angles of the upper rake pipe; third, using the hinge point between the lower and upper rake pipes as a reference, calculate the spatial coordinates of the end of the lower rake pipe (i.e., the rake head installation point) based on the horizontal and vertical angles of the lower rake pipe; finally, determine the azimuth vector of the bottom edge of the rake lip in space by combining the stroke value of the rake lip hydraulic cylinder, and obtain the ground angle of the rake lip by performing a dot product operation between this vector and the horizontal plane normal vector.

[0033] The data acquisition and processing unit uploads the following data to the monitoring software in real time via an Ethernet interface or an RS-485 serial communication interface: measured values ​​from each angle sensor, stroke value of the rake lip hydraulic cylinder, calculated result of the current ground angle of the rake lip, control deviation value, PID controller output value, and system operation log. The data upload cycle is no more than 100 milliseconds to meet real-time monitoring requirements.

[0034] The monitoring software adopts a B / S (Browser / Server) architecture and is deployed on a shipboard industrial server or a shore-based data center. Users access the software through a standard web browser without needing to install a dedicated client. The software includes a 3D rake head attitude visualization module, a sensor value list module, a control parameter setting module, and a system log module. The 3D rake head attitude visualization module displays the relative spatial positions of the upper rake tube, lower rake tube, and rake lip in real time, and marks the rake lip's ground angle using color gradients or angle scales. The sensor value list module dynamically updates the readings of each sensor in a table format. The control parameter setting module allows operators to input the rake lip's ground angle, the PID controller (proportional coefficient, integral time, derivative time), the zero-point offset values ​​of each sensor, and the gain correction coefficient. The system log module records all parameter modification events, control command issuance timestamps, and abnormal alarm information.

[0035] The monitoring software has a built-in data interaction interface, supporting two-way data exchange with other intelligent monitoring systems on the vessel. For example, when the vessel enters a specific dredging area, the ship's integrated automation platform can push a preset rake lip-to-ground angle strategy table to this system, and the monitoring software will automatically update the target-to-ground angle setting after parsing it. Conversely, this system can also push key parameters such as the actual rake lip-to-ground angle and control status to the dredging production calculation module to optimize the production prediction model.

[0036] An automatic control method for the ground-to-ground angle of the drag suction dredger's drag lip includes the following steps: S1: The rake arm / rake head hydraulic cylinder sensor continuously collects relevant signals of rake arm posture and rake lip hydraulic cylinder stroke information, and transmits the relevant signals to the data acquisition and processing unit; S2: The data acquisition and processing unit receives the signal and calculates the actual value of the rake lip's ground angle in real time based on the signals from each sensor; it also determines the deviation from the current target value of the rake lip's ground angle. If the deviation exceeds the preset tolerance threshold, it generates a rake lip angle control output signal and outputs the control output signal to the rake lip angle hydraulic actuator to adjust the rake lip's ground angle. S3: The adjusted rake arm posture and rake lip hydraulic cylinder stroke information are collected again by the rake arm / rake head hydraulic cylinder sensor, forming a new feedback signal, and entering the next control cycle to achieve continuous closed-loop regulation.

[0037] In a preferred embodiment, if the control system receives a new rake lip ground angle setting command from an external system, it immediately updates the expected value of the rake lip ground angle and triggers a new control cycle.

[0038] This invention constructs a complete, reliable, and intelligent automatic control system for the rake lip's ground angle by placing high-precision sensors on the rake arm / head, combining real-time calculation and closed-loop control of the data acquisition and processing unit, remote visualization management of the monitoring software, and rapid response of the hydraulic actuator for the rake lip angle. This system automatically adjusts the rake lip's ground angle according to soil variations in different areas and dredging depths, ensuring effective rake lip excavation and significantly improving the vessel's construction efficiency and operational stability. Furthermore, by constructing a closed-loop feedback control mechanism, the system achieves high-precision, adaptive adjustment of the rake lip's ground angle, thereby enhancing the continuity and stability of dredging operations.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A system for automatically controlling the angle of a cutter lip of a cutter dredger relative to the ground, characterized in that The rake arm / rake head hydraulic cylinder sensor, the data acquisition and processing unit, and the monitoring software are included. The rake arm / rake head hydraulic cylinder sensor is used to obtain the rake arm posture and the rake lip hydraulic cylinder stroke information, and the signal output end of the rake arm / rake head hydraulic cylinder sensor is connected with the data acquisition and processing unit. The data acquisition and processing unit is used to collect the rake arm / rake head hydraulic cylinder sensor data, to calculate the current actual value of the rake lip angle to the ground in real time, to judge the deviation from the set current target angle to the ground, to generate a rake lip angle control output signal if the deviation exceeds the preset tolerance threshold, to transmit the rake lip angle control output signal to the rake lip angle hydraulic actuator, to adjust the current rake lip angle to the ground to the target angle to the ground in real time, to realize that the rake lip is at the best digging angle, and to accept the parameter setting of the monitoring software and to feed back the current rake lip angle related data to the monitoring software in real time. The monitoring software is in communication connection with the data acquisition and processing unit, is used to visually display the system state, and supports parameter configuration and remote access.

2. The automatic control system for the angle between the cutter lip and the ground of a cutter suction dredger according to claim 1, characterized in that, The rake arm / rake head hydraulic cylinder sensor includes the horizontal angle sensor and the vertical angle sensor installed on the upper rake pipe, the horizontal angle sensor and the vertical angle sensor installed on the lower rake pipe, and the stroke sensor built in the rake lip hydraulic cylinder.

3. The automatic control system for the angle between the cutter lip and the ground of a trailing suction hopper dredger according to claim 2, characterized in that, The horizontal angle sensor and the vertical angle sensor on the upper rake pipe are located in the same sensor watertight box or underwater protective cover, the output ends of the two sensors are led out through the watertight junction box, and are connected to the data acquisition and processing unit through the shielded cable; the horizontal angle sensor and the vertical angle sensor on the lower rake pipe are located in the same sensor watertight box or underwater protective cover, the output ends of the two sensors are led out through the watertight junction box, and are connected to the data acquisition and processing unit through the shielded cable; the stroke sensor in the rake lip hydraulic cylinder is located in a separate sensor watertight box or underwater protective cover, the output end of the sensor is led out through the watertight junction box, and is connected to the data acquisition and processing unit through the shielded cable.

4. The automatic control system for the angle between the cutter lip and the ground of a trailing suction hopper dredger according to claim 1, characterized in that, The data acquisition and processing unit synchronously uploads the current rake lip angle to the ground, the sensor state, the control output signal and the system operation log to the monitoring software in real time.

5. The automatic control system for the angle between the cutter lip and the ground of a trailing suction hopper dredger according to claim 1, characterized in that, The data acquisition and processing unit is also integrated into other intelligent monitoring systems of the ship through a hardware data interface.

6. The automatic control system for the angle between the cutter lip and the ground of a trailing suction hopper dredger according to claim 1, characterized in that, The communication between the data acquisition and processing unit and the monitoring software adopts the network or 485 serial port protocol.

7. The automatic control system for the angle between the cutter lip and the ground of a trailing suction hopper dredger according to claim 1, characterized in that, The monitoring software includes a human-computer interaction interface, a parameter configuration module, a data visualization module and an external communication interface, the human-computer interaction interface is used to display the current rake head and rake lip relative horizontal position posture in real time, to display the data values of various sensors and various control output signals, and to provide a setting interface of related parameters for users; the parameter configuration module is used to set the expected rake lip angle to the ground, the sensor calibration parameters and the PID control parameters online; the data visualization module is used to present historical and real-time data; and the external communication interface is used to receive the expected rake lip angle setting instruction sent by other intelligent monitoring systems of the ship and to input the expected rake lip angle setting instruction to the data acquisition and processing unit.

8. The automatic control system for the angle between the cutter lip and the ground of a trailing suction hopper dredger according to claim 1, characterized in that, The monitoring software is designed by using the B / S architecture, is accessed by using the WEB browser, and relevant information is viewed and parameter setting is completed.

9. A method for automatically controlling the angle of a cutter lip of a cutter suction dredger with respect to the ground, implemented on the basis of a control system according to any one of claims 1-8, characterized in that, The method comprises the following steps: S1: continuously collect the rake arm posture and the rake lip hydraulic cylinder stroke information related signals by the rake arm / rake head hydraulic cylinder sensor, and transmit the related signals to the data acquisition and processing unit; S2: the data acquisition and processing unit receives the signals, and calculates the actual value of the rake lip ground angle in real time according to the sensor signals; and judges the deviation from the current rake lip ground angle target value, if the deviation exceeds the preset tolerance threshold, generates the rake lip angle control output signal, and outputs the control output signal to the rake lip angle hydraulic actuator to adjust the rake lip ground angle; S3: the adjusted rake arm posture and the rake lip hydraulic cylinder stroke information are collected again by the rake arm / rake head hydraulic cylinder sensor to form new feedback signals, and the next control cycle is entered to realize continuous closed-loop regulation.

10. The automatic control method of the cutter lip-to-ground angle of a trailing suction hopper dredger according to claim 9, characterized in that, If the control system receives a new rake lip ground angle setting instruction sent by an external system, the rake lip ground angle expected value is immediately updated, and a new round of control cycle is triggered.

Images