Automatic pile-changing control method for a dual-trolley environmentally friendly dredger

Abstract

The present invention provides an automatic pile-changing control method for a double-trolley environmentally friendly dredger. When the bridge reaches the left line, the bridge auger is lifted according to the set bridge lifting height, and then the left steel pile is lowered, the right steel pile is lifted, the bridge auger is lowered to the set depth, and then the right trolley is moved in accordance with the set distance. When the bridge reaches the right line, the bridge auger is lifted according to the set bridge lowering depth, the right steel pile is lowered, the left steel pile is lifted, the bridge auger is lowered to the set depth, and then the left trolley is moved in accordance with the set distance. The beneficial effects of the present invention are as follows: when applied to an environmentally friendly cutter suction dredger with double steel piles and double trolleys, efficient automatic dredging is achieved, the workload of dredging workers is greatly reduced, the differences in operations between different operators are reduced, dredging efficiency and construction quality are improved, equipment safety is ensured, and fuel consumption is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering ship automation control, and in particular relates to an automatic pile-changing control method for a double-trolley environmentally friendly dredger. Background Art

[0002] Dredging rivers, lakes, and reservoirs differs slightly from dredging seaways. Dredging targets uniform mud with low undisturbed density, making it easier to excavate. With the advancement of computer and network technology, dredgers are increasingly using integrated monitoring systems. This has made the operation of dredger equipment more automated and integrated. Operators can control dredging equipment and monitor the dredging process from remote workstations, significantly improving dredger efficiency.

[0003] However, when the bridge reaches the edge line, the traditional single-trolley dredger needs to control the trolley to step according to the set distance first, and then lower the steel piles. The construction ship cannot dredge when the trolley is moving forward and resetting, and when the steel piles are being inserted and pulled out. In addition, the existing dredgers are all manually controlled to change piles. The operating level and proficiency of the dredging workers will also greatly affect the construction output of the dredger. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention aims to propose an automatic pile changing control method for a double-trolley environmentally friendly dredger, which solves the problem of low efficiency of manual pile changing, realizes automatic control of pile changing, and improves dredging efficiency.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A method for automatically changing piles for a dual-trolley environmentally friendly dredger comprises:

[0007] S1. Set the control target parameters, including the steel pile lifting height, steel pile lowering height, left and right trolley stepping distance, left and right trolley stepping sequence, bridge lifting height, bridge lowering depth and sideline distance;

[0008] S2. In the initial state, the left and right trolleys are on the same horizontal line, and the automatic pile-changing control mode is started. The automatic controller of the steel pile trolley lowers the right steel pile according to the set steel pile lowering height. After completion, it sends a lowering completion instruction to the bridge automatic controller;

[0009] S3. After receiving the lowering completion instruction, the bridge frame automatic controller lowers the bridge frame according to the set bridge frame lowering depth, and the bridge frame auger starts excavation. At the same time, it sends the bridge frame lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the left trolley to step according to the trolley stepping distance;

[0010] S4. During the excavation process, it is detected in real time whether the bridge auger reaches the left line. If not, the bridge auger continues to dig at the excavation depth; if so, the bridge automatic controller lifts the bridge according to the set bridge lifting height, and after completion, sends a bridge lifting completion instruction to the steel pile trolley automatic controller;

[0011] S5. After receiving the bridge lifting completion instruction, the steel pile trolley automatic controller lowers the left steel pile according to the set steel pile lowering height, then lifts the right steel pile according to the set steel pile lifting height, and sends the pile replacement completion instruction to the bridge automatic controller;

[0012] S6. After receiving the pile replacement completion instruction, the bridge frame automatic controller lowers the bridge frame according to the set bridge frame lowering depth, and the bridge frame auger starts excavation. At the same time, it sends the bridge frame lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the right trolley to step at twice the trolley step distance;

[0013] S7. When the bridge frame cutter reaches the right line position, follow steps S4-S6 similarly, lower the right steel pile, lift the left steel pile, and step the left trolley at twice the trolley step distance.

[0014] Furthermore, in step S4, whether the bridge auger reaches the set edge distance is retrieved in real time based on Beidou satellite positioning.

[0015] Furthermore, in step S5, the lifting height of the steel pile is monitored in real time by the hydraulic cylinder stroke sensor and the laser radar; when the stroke of the steel pile lifting hydraulic cylinder reaches the set stroke value, and the laser radar monitors in real time that the lifting height of the steel pile cap reaches the set steel pile lifting height, the pile replacement is completed.

[0016] Furthermore, the laser radar is installed at the place where the trolley and the steel pile are in contact, and transmits vertically upward to the steel pile cap to monitor the lifting height of the steel pile cap in real time.

[0017] Furthermore, the main signals required in the control process include: bridge depth, trolley travel, steel pile height, water depth and distance between the bridge and the edge line. Each signal is collected by sensors at the corresponding installation position.

[0018] Furthermore, the bridge automatic controller and the steel pile trolley automatic controller are not independent of each other, and affect each other through the commonly involved control parameters.

[0019] Furthermore, in step S5, the bridge lowering depth is calculated according to the auger depth deviation automatic control model. The auger depth deviation automatic control model calculates the bridge auger lowering depth according to the bridge angle sensor, hull parameters, and auger parameters, and corrects the deviation in real time according to the automatic tide telemetry data.

[0020] Furthermore, the bridge automatic controller and the steel pile trolley automatic controller adopt emergency control as the highest priority, manual control as the second, and automatic control as the lowest priority. That is, whenever the system receives an emergency control command or a manual control command, it will automatically exit the automatic control mode.

[0021] Compared with the prior art, the automatic pile replacement control method for a dual-trolley environmentally friendly dredger of the present invention has the following advantages:

[0022] The automatic pile changing control method described in the present invention is applied to an environmentally friendly cutter suction dredger with double steel piles and double trolleys, realizing the automatic pile changing function of the double-trolley environmentally friendly dredger according to the set construction process. Compared with the traditional single-trolley dredger, the double-trolley environmentally friendly dredger greatly saves the time of the dredger in changing piles after reaching the boundary line. During the swinging process of the bridge frame, the other trolley is pre-stepped to the specified position. After reaching the boundary line, the pile changing operation can be carried out directly. There is no need to control the trolley during the pile changing process, which saves a lot of time and solves the problems of reduced efficiency and accuracy caused by different levels of operators. It greatly improves dredging efficiency. Compared with the traditional pile changing mode, the efficiency is increased by 50%, and pile changing is automated and refined. At the same time, it can effectively ensure the safety of equipment and improve economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 This is a block diagram of the automatic pile-changing control system for a dual-trolley environmentally friendly dredger provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] like Figure 1 As shown, a method for automatically changing piles for a dual-trolley environmentally friendly dredger comprises:

[0030] S1. Set the control target parameters, including the steel pile lifting height, steel pile lowering height, left and right trolley stepping distance, left and right trolley stepping sequence, bridge lifting height, bridge lowering depth and sideline distance;

[0031] S2. In the initial state, the left and right trolleys are on the same horizontal line, and the automatic pile-changing control mode is started. The ship's control system controls the automatic controller of the steel pile trolley to lower the right steel pile according to the set steel pile lowering height. After completion, it sends a lowering completion command to the bridge automatic controller;

[0032] S3. After receiving the lowering completion instruction, the bridge frame automatic controller lowers the bridge frame according to the set bridge frame lowering depth, and the bridge frame auger starts excavation. At the same time, it sends the bridge frame lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the left trolley to step according to the trolley stepping distance;

[0033] S4. During the excavation process, it is detected in real time whether the bridge auger reaches the left line. If not, the bridge auger continues to dig at the excavation depth; if so, the bridge automatic controller lifts the bridge according to the set bridge lifting height, and after completion, sends a bridge lifting completion instruction to the steel pile trolley automatic controller;

[0034] S5. After receiving the bridge lifting completion instruction, the steel pile trolley automatic controller lowers the left steel pile according to the set steel pile lowering height, then lifts the right steel pile according to the set steel pile lifting height, and sends the pile replacement completion instruction to the bridge automatic controller;

[0035] S6. After receiving the pile replacement completion instruction, the bridge frame automatic controller lowers the bridge frame according to the set bridge frame lowering depth, and the bridge frame auger starts excavation. At the same time, it sends the bridge frame lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the right trolley to step at twice the trolley step distance;

[0036] S7. When the bridge reamer reaches the right line position, the bridge automatic controller lifts the bridge according to the set bridge lifting height according to the same procedure as steps S4-S6. After completion, the bridge lifting completion instruction is sent to the steel pile trolley automatic controller;

[0037] After receiving the bridge lifting completion instruction, the steel pile trolley automatic controller lowers the right steel pile according to the set steel pile lowering height, then lifts the left steel pile according to the set steel pile lifting height, and sends the pile replacement completion instruction to the bridge automatic controller;

[0038] After the bridge automatic controller receives the pile replacement completion instruction, it lowers the bridge according to the set bridge lowering depth, and the bridge auger starts working. At the same time, it sends the bridge lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the left trolley stepping at twice the trolley stepping distance.

[0039] In a preferred embodiment of the present invention, in step S4, whether the bridge auger reaches the set edge distance is retrieved in real time based on Beidou satellite positioning.

[0040] In a preferred embodiment of the present invention, in step S5, the steel pile lifting height is calculated by the hydraulic cylinder stroke sensor and monitored in real time by the laser radar; when the steel pile lifting hydraulic cylinder stroke reaches the set stroke value and the laser radar monitors in real time that the lifting height of the steel pile cap reaches the set steel pile lifting height, the pile replacement is completed.

[0041] The laser radar is installed at the contact point between the trolley and the steel pile, and transmits vertically upward to the steel pile cap to monitor the lifting height of the steel pile cap in real time.

[0042] In actual use, it is necessary to simultaneously meet the requirements that the stroke of the steel pile lifting hydraulic cylinder reaches the set stroke value, and the laser radar monitors in real time that the lifting height of the steel pile cap reaches the set steel pile lifting height, and the pile replacement is completed; the lifting height of the steel pile cap can be monitored in real time by the laser radar to monitor the lifting status of the steel pile, to prevent the steel wire rope controlling the lifting of the steel pile from breaking, resulting in the steel pile not being lifted.

[0043] In a preferred embodiment of the present invention, the main signals required in the control process are: bridge depth, trolley travel, steel pile height, water depth and distance between the bridge and the edge line, and each signal is collected by a sensor at the corresponding installation position.

[0044] In a preferred embodiment of the present invention, the control method establishes sub-controllers for the main dredging control objects, including: a bridge automatic controller and a steel pile trolley automatic controller; the sub-controllers are not independent of each other, and influence each other through the commonly involved control parameters.

[0045] In a preferred embodiment of the present invention, for the bridge automatic controller, its automatic control model is: based on the Beidou satellite positioning, it is retrieved in real time whether the bridge auger has reached the set edge distance. If not, the excavation depth of the bridge auger is maintained; if it reaches the edge position, the bridge auger is lifted according to the bridge lifting height; after receiving the pile change completion instruction, the bridge is lowered to the set bridge lowering depth, and the bridge lowering completion instruction is sent to the steel pile trolley automatic controller.

[0046] The bridge lowering depth is calculated based on the auger lowering depth, the auger lowering depth is calculated based on the auger depth deviation automatic control model, the auger depth deviation is calculated based on the bridge angle sensor, hull parameters and auger parameters, and the deviation is corrected in real time based on the automatic tide telemetry data.

[0047] In a preferred embodiment of the present invention, for the steel pile trolley automatic controller, the trolley automatic controller and the steel pile automatic controller are controlled in linkage, and the automatic control model is as follows: when the bridge reamer reaches the left line, it receives the bridge lifting completion command, lowers the left steel pile to the set steel pile lowering height, and then lifts the right steel pile to the set steel pile lifting height, and then sends the pile replacement completion command to the bridge automatic controller; after receiving the bridge lowering completion command, it steps the right trolley to the set distance;

[0048] When the bridge auger reaches the right line, it receives the bridge lifting completion command, lowers the right steel pile to the set steel pile lowering height, and then lifts the left steel pile to the set steel pile lifting height, and sends the pile change completion command to the bridge automatic controller; after receiving the bridge lowering completion command, it steps the left trolley to the set distance;

[0049] Except for the initial state, the two trolleys are set to have a step distance value of one times the interval between them, and the steel piles are driven to move forward in an alternating manner by the two trolleys, thereby moving the dredger.

[0050] In a preferred embodiment of the present invention, each sub-controller adopts emergency control with the highest priority, manual control with the second priority, and automatic control with the lowest priority, that is, whenever the system receives an emergency control instruction or a manual control instruction, it automatically exits the automatic control mode.

[0051] The specific operation method of the automatic pile changing control method of the double-trolley environmental protection dredger is as follows:

[0052] 1. Start the automatic pile-changing control mode;

[0053] 2. The bridge frame swing position is monitored in real time based on the Beidou positioning system. When the swing position reaches the set left line position, the bridge frame is raised to the set bridge frame lifting height, then the left steel pile is lowered to the set depth, the right steel pile is raised to the set height, the bridge frame is lowered to the set depth, and the right trolley is retracted to the specified position according to the set distance;

[0054] 3. The bridge frame swing position is monitored in real time according to the Beidou positioning system. When the swing position reaches the set right line position, the bridge frame is raised to the set height, then the right steel pile is lowered to the set depth, the left steel pile is raised to the set height, the bridge frame is lowered to the set depth, and the left trolley is retracted to the specified position according to the set distance.

[0055] Example:

[0056] In a certain construction condition, the cutter suction dredger has a swing width of 60m and an excavation depth of 3m. In the initial state, the left and right trolleys are located on the same horizontal line. The automatic pile-changing control mode is started, the right steel pile is lowered to the set depth of 4.5m, the bridge is lowered to the 3m position, and construction continues. At the same time, the left trolley is retracted, that is, it steps forward 4.5m.

[0057] When the Beidou positioning system detects that it has reached the left line (swinging 30m to the left from the center line), the bridge frame rises 1.5m, then lowers the left steel pile to the set depth of 4.5m, lifts the right steel pile to the set height of 5m, and then lowers the bridge frame to the 3m position to continue construction. At the same time, the right trolley is retracted, that is, it steps forward 9m.

[0058] Similarly, when the Beidou positioning system detects that it has reached the right line (swinging 30m to the right from the center line), the bridge frame rises 1.5m, then lowers the right steel pile to the set depth of 4.5m, lifts the left steel pile to the set height of 5m, and then lowers the bridge frame to the 3m position to continue construction. At the same time, the left trolley is retracted and steps forward 9m.

[0059] Except for the initial state, the left and right trolleys are always separated by 4.5m, so that the steel piles move forward in a staggered manner, thereby driving the dredger forward.

[0060] The automatic control method of the present invention comprehensively utilizes technologies such as computers, networks, sensors and automatic control to realize the automatic pile changing function of the double-trolley environmentally friendly dredger according to the set construction process. Compared with the traditional single-trolley dredger, the double-trolley environmentally friendly dredger greatly saves the time of the dredger in changing piles after reaching the boundary line. During the swinging process of the bridge frame, the other trolley can be pre-stepped to the specified position. After reaching the boundary line, the pile changing operation can be carried out directly. There is no need to control the trolley during the pile changing process, which saves a lot of time and solves the problems of reduced efficiency and accuracy caused by different levels of operators. It greatly improves dredging efficiency. Compared with the traditional pile changing mode, the efficiency is increased by 50%, and pile changing is automated and refined. At the same time, it can effectively ensure the safety of equipment and improve economic benefits.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling automatic pile replacement for a dual-trolley environmentally friendly dredger, characterized by: include: S1. Set the control target parameters, including the steel pile lifting height, steel pile lowering height, left and right trolley stepping distance, left and right trolley stepping sequence, bridge lifting height, bridge lowering depth and sideline distance; S2. In the initial state, the left and right trolleys are on the same horizontal line, and the automatic pile-changing control mode is started. The automatic controller of the steel pile trolley lowers the right steel pile according to the set steel pile lowering height. After completion, it sends a lowering completion instruction to the bridge automatic controller; S3. After receiving the lowering completion instruction, the bridge frame automatic controller lowers the bridge frame according to the set bridge frame lowering depth, and the bridge frame auger starts excavation. At the same time, it sends the bridge frame lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the left trolley to step according to the trolley stepping distance; S4. During the excavation process, it is detected in real time whether the bridge auger reaches the left line. If not, the bridge auger continues to dig at the excavation depth; if so, the bridge automatic controller lifts the bridge according to the set bridge lifting height, and after completion, sends a bridge lifting completion instruction to the steel pile trolley automatic controller; S5. After receiving the bridge lifting completion instruction, the steel pile trolley automatic controller lowers the left steel pile according to the set steel pile lowering height, then lifts the right steel pile according to the set steel pile lifting height, and sends the pile replacement completion instruction to the bridge automatic controller; S6. After receiving the pile replacement completion instruction, the bridge frame automatic controller lowers the bridge frame according to the set bridge frame lowering depth, and the bridge frame auger starts excavation. At the same time, it sends the bridge frame lowering completion instruction to the steel pile trolley automatic controller, and the steel pile trolley automatic controller controls the right trolley to step at twice the trolley step distance; S7. When the bridge frame cutter reaches the right line position, follow steps S4-S6 similarly, lower the right steel pile, lift the left steel pile, and step the left trolley at twice the trolley step distance.

2. The automatic pile-changing control method for a dual-trolley environmentally friendly dredger according to claim 1 is characterized in that: In step S4, the bridge auger is retrieved in real time based on Beidou satellite positioning to determine whether it has reached the set edge distance.

3. The automatic pile replacement control method for a dual-trolley environmentally friendly dredger according to claim 1 is characterized by: In step S5, the steel pile lifting height is monitored in real time by the hydraulic cylinder stroke sensor and the laser radar; when the steel pile lifting hydraulic cylinder stroke reaches the set stroke value and the laser radar monitors in real time that the lifting height of the steel pile cap reaches the set steel pile lifting height, the pile replacement is completed.

4. The automatic pile replacement control method for a dual-trolley environmentally friendly dredger according to claim 3 is characterized by: The laser radar is installed at the contact point between the trolley and the steel pile, and transmits vertically upward to the steel pile cap to monitor the lifting height of the steel pile cap in real time.

5. The automatic pile replacement control method for a dual-trolley environmentally friendly dredger according to claim 1 is characterized in that: The main signals required in the control process are: bridge depth, trolley travel, steel pile height, water depth and distance between the bridge and the edge line. Each signal is collected by sensors at the corresponding installation position.

6. The automatic pile replacement control method for a dual-trolley environmentally friendly dredger according to claim 1 is characterized by: The bridge automatic controller and the steel pile trolley automatic controller are not independent of each other, and they affect each other through the commonly involved control parameters.

7. The automatic pile-changing control method for a dual-trolley environmentally friendly dredger according to claim 1 is characterized in that: In step S3, the bridge lowering depth is calculated according to the cutter depth deviation automatic control model. The cutter depth deviation automatic control model calculates the bridge cutter lowering depth according to the bridge angle sensor, hull parameters, and cutter parameters, and corrects the deviation in real time according to the automatic tide telemetry data.

8. The automatic pile-changing control method for a dual-trolley environmentally friendly dredger according to claim 1 is characterized in that: The bridge automatic controller and the steel pile trolley automatic controller adopt emergency control as the highest priority, manual control as the second, and automatic control as the lowest priority. That is, whenever the system receives an emergency control command or a manual control command, it will automatically exit the automatic control mode.

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