Automatic anchor reversing method based on double-trolley mud wringing ship

Abstract

The invention discloses an automatic anchor reversing method based on a double-trolley mud wringing ship, which comprises the following steps of: in an initial state, acquiring ship attitude data, calculating an initial position coordinate of an anchor point and setting a control target parameter; the left positioning pile and the right positioning pile are put down alternately, the trolley pushes the ship body to move step by step, and the bridge reamer goes deep into a working area to start excavation work; in the excavation process, whether the reamer reaches the left side positioning sideline or not is detected in real time, whether the anchor reversing condition is met or not is judged, and if not, the reamer continues to keep the excavation depth for excavation; if yes, the reamer stops working, the bridge frame is lowered to the bottom point ground to serve as a support, and the left side positioning anchor is anchored forwards and fixed; the ship body directly swings to the right side positioning sideline after the left side positioning sideline is reversely anchored; the ship body swings to the right side positioning sideline, the right side positioning anchor is dropped forwards and fixed, and one-time anchor dropping operation is completed; and updating the position coordinates of the anchor points. According to the method, the navigation center deviation caused by operations such as back anchoring is effectively reduced, and the back anchoring accuracy is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering ship automation control, and in particular relates to an automatic anchoring method based on a double-trolley mud cutter. Background Art

[0002] A dredger, also known as a cutter suction dredger, is a special type of water engineering equipment. It uses a rotating auger to loosen the soil on the riverbed or seabed, mix it with cement to form mud, suck it into the pump body through the mud suction pipe and send it to the mud discharge area through the mud discharge pipe. It is mainly used for cleaning, excavating, transporting and sucking sediment, sand, gravel, mud and other bottom sediments on the bottom of the water. The double-trolley cutter suction dredger uses two left and right positioning steel piles and two walking trolleys. The two walking trolleys are located on both sides of the central axis of the ship. The two positioning steel piles are installed on the corresponding walking trolleys respectively. The left and right positioning steel piles are alternately lowered, and the two walking trolleys step by step to push the hull to move.

[0003] When the dredger is working, it is necessary to first drop anchors on both sides of the hull, and then pull the cables on the anchors to make the reamer swing left and right to perform dredging operations. The anchors also ensure the relative stability of the hull. After the dredger has moved a certain distance in the working area, it is necessary to drop the left and right anchors forward to ensure that the hull continues to move forward steadily. The process of dropping the left and right anchors forward in turn is called anchoring.

[0004] However, during the operation of the traditional single-vehicle dredger, especially when the bridge is close to the boundary line of the operation area for anchoring operation, since the tension of the anchor chain needs to be adjusted to change the position or posture of the ship during the anchoring process, this operation is often accompanied by complex mechanical changes, which can easily lead to unpredictable deviation of the navigation center of the ship. This deviation may not only affect the precise operation ability of the dredger, making it difficult to accurately control the dredging depth, width or position, but also endanger the safety of the ship itself, especially when operating in narrow waters or near important structures. The deviation may cause the dredger to collide with these obstacles, resulting in serious consequences such as equipment damage, operation interruption and even environmental pollution.

[0005] In addition, the existing technology generally uses manual control for anchoring operations, which results in the anchoring process being highly dependent on the operator's experience and estimation to grasp the best time to anchor. However, this traditional method inevitably introduces errors caused by human factors. Each operator has different judgment criteria and lacks unified and standardized operating procedures and specifications, which affects the accuracy and efficiency of the operation, and also increases the uncertainty and potential risks in the operation process. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides an automatic anchoring method based on a double-trolley mud cutter, which can effectively reduce the deviation of the navigation center caused by operations such as anchoring and improve operating efficiency and safety.

[0007] The present invention is implemented as follows: a method for automatically dropping anchors based on a double-trolley mud-drying vessel, comprising the following steps:

[0008] S1. In the initial state, obtain the ship attitude data, calculate the initial position coordinates of the anchor point, and set the control target parameters;

[0009] S2. The left and right positioning piles are lowered alternately, the trolley pushes the hull to move step by step, and the bridge reamer goes deep into the working area to start excavation;

[0010] S3. During the excavation process, it is detected in real time whether the auger reaches the left positioning edge line, and whether the anchoring condition is met. If not, the auger continues to excavate at the excavation depth; if so, the auger stops working and lowers the bridge frame to the bottom point as support, and the left positioning anchor is anchored forward and fixed;

[0011] S4. After the left positioning edge is anchored, the hull swings directly to the right positioning edge;

[0012] S5. The hull swings to the right positioning edge line, and the right positioning anchor is dropped forward and fixed, completing an anchoring operation;

[0013] S6. Update the anchor point position coordinates and repeat steps S3 to S6.

[0014] Furthermore, the calculation of the initial position coordinates of the anchor point in step S1 is specifically as follows: a coordinate system is established with the geographic coordinates of the initial position of the ship as the origin, and the initial position coordinates of the anchor point are (x0, y0), x0 = cosαL + D x , y0=sinαL+D y .

[0015] Furthermore, the anchoring condition in step S3 includes: the rotation angle of the mounting column where the anchor rod is located reaches a predetermined angle and / or the transverse pulling force of the transverse winch reaches a set lower limit safety threshold.

[0016] Furthermore, the lateral pulling force satisfies the following relationship: The rotation radius of the reamer around the pile is r c , r c is the distance from the center of the left and right positioning piles to the center of the reamer. The angle between the tightened cable and the length of the ship is β, and the linear velocity v of the reamer's horizontal swing is obtained. c The cable retracting speed of the traverse winch v s The relationship is:

[0017]

[0018] Tangential resistance of soil to reamer F c , the force arm corresponding to this force is r c , the force F on the port winch cable l The corresponding lever arm r l , the force F on the starboard winch cable r The corresponding lever arm r r , the force arm r corresponding to the water resistance W on the hull w , tighten the angle β between the cable and the length of the ship, and list the moment balance equation according to the force and lever arm:

[0019] F r r r sinβ=F c r c +F l r l +Wr w

[0020] During the excavation process, the left and right winch cables are subjected to force at the same time, providing rotational force for the hull in one direction, while the tension on the other side is negligible and the water resistance is negligible.

[0021] Furthermore, in step S6, the anchor point position coordinates are updated by calculating the moving distance Δy of the ship after an anchoring operation through Beidou satellite positioning monitoring, and the anchor point position coordinates are updated as (x t ,y t ), where x t =x0,y t =y0+Δy.

[0022] Furthermore, the ship attitude data in step S1 includes ship type parameters, geographic coordinates of the ship's initial position, heading and route, wherein the ship's initial position coordinates are: obtained at the initial time t0 based on Beidou satellite positioning monitoring.

[0023] Where L is the length of the anchor rod, α is the angle between the anchor rod and the x-axis, and D x D is the distance from the mounting column where the anchor rod is located to the x-axis. y The distance between the mounting column where the anchor rod is located and the y-axis.

[0024] Furthermore, the control target parameters in step S1 include anchor height, anchor depth, anchor rod rotation angle, bridge hoisting height, bridge lowering depth and positioning edge line position, wherein the anchor height and anchor depth are set according to the geographical location of the water area.

[0025] Furthermore, in step S3, the specific process of anchoring forward and fixing the left positioning anchor is as follows: the left positioning pile is inserted into the riverbed and the left positioning pile is used as a supporting pile, the left anchor winch is started to drive the left positioning anchor to anchor; after the left positioning anchor leaves the water surface, the left anchor rod is rotated to anchor the left positioning anchor forward; the left anchor winch releases the cable according to the set anchoring depth to anchor, and after the left positioning anchor falls into the riverbed, the transverse winch works to insert the left positioning anchor into the soil and fix it.

[0026] Furthermore, in step S5, the specific process of anchoring forward and fixing the right side positioning anchor is as follows: the right positioning pile is inserted into the riverbed and the right positioning pile is used as a supporting pile, the right anchor winch is started to drive the right side positioning anchor to anchor; after the right side positioning anchor leaves the water surface, the right anchor rod is rotated to anchor the right side positioning anchor forward; the right anchor winch releases the cable to anchor according to the set anchor dropping depth, and after the right side positioning anchor falls into the riverbed, the transverse winch works to insert the right side positioning anchor into the soil and fix it.

[0027] The advantages and technical effects of the present invention are as follows: due to the adoption of the above technical solution, the pile replacement process based on the double trolley is coordinated with the anchoring process to ensure the reliability of the anchoring process, and through more accurate and stable ship operation, the navigation center deviation caused by the anchoring operation is effectively reduced, and the operation efficiency and safety are improved. In addition, the automatic control of the anchoring operation can be realized, the accuracy of the anchoring operation can be improved, and the standardization and normalization of the anchoring operation can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the hull structure in the initial state provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] It should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0031] like Figure 1 As shown, the present application provides a method for automatically anchoring a double-trolley dredger, comprising the following steps:

[0032] S1. In the initial state, obtain the ship attitude data, calculate the initial position coordinates of the anchor point, and set the control target parameters.

[0033] The ship attitude data includes ship type parameters, ship initial position geographic coordinates, heading and route, etc. The ship initial position coordinates are: the initial time t0 obtained by Beidou satellite positioning monitoring;

[0034] The calculation of the initial position coordinates of the anchor point is specifically as follows: a coordinate system is established with the geographic coordinates of the initial position of the ship as the origin, and the initial position coordinates of the anchor point are (x0, y0), x0 = cosαL + D x , y0=sinαL+D y Among them, L is the length of the anchor rod, α is the angle between the anchor rod and the x-axis, and D x D is the distance from the mounting column where the anchor rod is located to the x-axis. y The distance between the mounting column where the anchor rod is located and the y-axis.

[0035] The control target parameters include anchor height, anchor depth, anchor rod rotation angle, bridge hoisting height, bridge lowering depth and positioning edge position. Among them, the anchor height and anchor depth are set according to the geographical location of the water area.

[0036] S2. The left and right positioning piles are lowered alternately, the trolley pushes the hull to move step by step, and the bridge auger goes deep into the working area to start excavation.

[0037] S3. During the excavation process, it is detected in real time whether the auger reaches the left positioning edge line, and whether the anchoring condition is met. If not, the auger continues to excavate at the excavation depth; if so, the auger stops working and lowers the bridge frame to the bottom point as support, and the left positioning anchor is anchored forward and fixed.

[0038] Real-time detection of whether the reamer has reached the left positioning edge line is specifically to monitor the positional relationship between the reamer and the positioning edge line in real time according to Beidou satellite positioning.

[0039] The specific process of anchoring forward and fixing the left positioning anchor is as follows: the left positioning pile is inserted into the riverbed and used as a supporting pile, the left anchor winch is started to drive the left positioning anchor to anchor; after the left positioning anchor leaves the water surface, the left anchor rod is rotated to anchor the left positioning anchor forward; the left anchor winch releases the cable to anchor according to the set anchor dropping depth, and after the left positioning anchor falls into the riverbed, the transverse winch works to insert the left positioning anchor into the soil and fix it.

[0040] The anchoring condition includes: the rotation angle of the installation column where the anchor rod is located reaches a predetermined angle and / or the transverse pulling force of the transverse winch reaches a set lower limit safety threshold.

[0041] The lateral pulling force satisfies the following relationship: The rotation radius of the reamer around the pile is r c , r cis the distance from the center of the left and right positioning piles to the center of the reamer. The angle between the tightened cable and the length of the ship is β, and the linear velocity v of the reamer's horizontal swing is obtained. c The cable retracting speed of the traverse winch v s The relationship is:

[0042]

[0043] Tangential resistance of soil to reamer F c , the force arm corresponding to this force is r c , the force F on the port winch cable l The corresponding lever arm r l , the force F on the starboard winch cable r The corresponding lever arm r r , the force arm r corresponding to the water resistance W on the hull w , tighten the angle β between the cable and the length of the ship, and list the moment balance equation according to the force and lever arm:

[0044] F r r r sinβ=F c r c +F l r l +Wr w

[0045] During the excavation process, the left and right winch cables are subjected to force at the same time, providing rotational force for the hull in one direction, while the tension on the other side is negligible and the water resistance is negligible.

[0046] S4. After the left positioning line is anchored, the hull swings directly to the right positioning line.

[0047] S5. The hull swings to the right positioning edge line, and the right positioning anchor is dropped forward and fixed, completing an anchoring operation.

[0048] The specific process of anchoring and fixing the right side positioning anchor forward is as follows: the right positioning pile is inserted into the riverbed and used as a supporting pile, the right anchor winch is started to drive the right side positioning anchor to anchor; after the right side positioning anchor leaves the water surface, the right anchor rod is rotated to anchor the right side positioning anchor forward; the right anchor winch releases the cable to anchor according to the set anchor dropping depth, and after the right side positioning anchor falls into the riverbed, the transverse winch works to insert the right side positioning anchor into the soil and fix it.

[0049] S6. Update the anchor point position coordinates and repeat steps S3 to S6.

[0050] The Beidou satellite positioning monitoring is used to calculate the distance Δy that the ship moves after an anchoring operation, and the anchor point position coordinates are updated to (x t ,y t ), where x t=x0,y t =y0+Δy.

[0051] Due to the adoption of the above technical solution, the pile replacement process based on the double trolley is coordinated with the anchoring to ensure the reliability of the anchoring process. Through more precise and stable ship operation, the navigation center deviation caused by anchoring and other operations is effectively reduced, and the operation efficiency and safety are improved. In addition, the automatic control of anchoring can be realized, the accuracy of anchoring operation can be improved, and the standardization and normalization of anchoring operation can be ensured.

[0052] 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 and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically dropping anchors based on a double-trolley mud cutter, characterized in that: The following steps are involved: S1. In the initial state, obtain the ship attitude data, calculate the initial position coordinates of the anchor point, and set the control target parameters; S2. The left and right positioning piles are lowered alternately, the trolley pushes the hull to move step by step, and the bridge reamer goes deep into the working area to start excavation; S3. During the excavation process, it is detected in real time whether the auger reaches the left positioning edge line, and whether the anchoring condition is met. If not, the auger continues to excavate at the excavation depth; if so, the auger stops working and lowers the bridge frame to the bottom point as support, and the left positioning anchor is anchored forward and fixed; S4. After the left positioning edge is anchored, the hull swings directly to the right positioning edge; S5. The hull swings to the right positioning edge line, and the right positioning anchor is dropped forward and fixed, completing an anchoring operation; S6. Update the anchor point position coordinates and repeat steps S3 to S6.

2. The automatic anchoring method based on a double-trolley muddler according to claim 1 is characterized in that: The calculation of the initial position coordinates of the anchor point in step S1 is specifically as follows: a coordinate system is established with the geographic coordinates of the initial position of the ship as the origin, and the initial position coordinates of the anchor point are (x0, y0), x0 = cosαL + D x , y0=sinαL+D y .

3. The automatic anchoring method based on a double-trolley dredger according to claim 1 or 2 is characterized in that: The anchoring conditions in step S3 include: the rotation angle of the mounting column where the anchor rod is located reaches a predetermined angle and / or the transverse pulling force of the transverse winch reaches a set lower limit safety threshold.

4. The automatic anchoring method based on a double-trolley muddler according to claim 3 is characterized in that: The lateral pulling force satisfies the following relationship: The rotation radius of the reamer around the pile is r c , r c is the distance from the center of the left and right positioning piles to the center of the reamer. The angle between the tightened cable and the length of the ship is β, and the linear velocity v of the reamer's horizontal swing is obtained. c The transverse winch cable retracting speed v s The relationship is: The tangential resistance of the soil to the reamer F c , the force arm corresponding to this force is r c , the force F on the port winch cable l The corresponding lever arm r l , the force F on the starboard winch cable r The corresponding lever arm r r , the force arm r corresponding to the water resistance W on the hull w , tighten the angle β between the cable and the length of the ship, and list the moment balance equation according to the force and lever arm: F r r r sinβ=F c r c +F l r l +Wr w During the excavation process, the left and right winch cables are subjected to force at the same time, providing rotational force for the hull in one direction, while the tension on the other side is negligible and the water resistance is negligible.

5. The automatic anchoring method based on a double-trolley muddler according to claim 1 is characterized in that: In step S6, the coordinates of the anchor point are updated by calculating the distance Δy moved by the ship after an anchoring operation through Beidou satellite positioning monitoring, and the coordinates of the anchor point are updated to (x t ,y t ), where x t =x0,y t =y0+Δy.

6. The automatic anchoring method based on a double-trolley dredger according to claim 1 is characterized in that: The ship attitude data in step S1 includes ship type parameters, geographic coordinates of the ship's initial position, heading and route, wherein the ship's initial position coordinates are: obtained at the initial time t0 based on Beidou satellite positioning monitoring. Where L is the length of the anchor rod, α is the angle between the anchor rod and the x-axis, and D x D is the distance from the mounting column where the anchor rod is located to the x-axis. y The distance between the mounting column where the anchor rod is located and the y-axis.

7. The automatic anchoring method based on a double-trolley muddler according to claim 1 is characterized in that: The control target parameters in step S1 include anchor height, anchor depth, anchor rod rotation angle, bridge hoisting height, bridge lowering depth and positioning edge position, wherein the anchor height and anchor depth are set according to the geographical location of the water area.

8. The automatic anchoring method based on a double-trolley muddler according to claim 1 is characterized in that: The specific process of anchoring and fixing the left positioning anchor forward in step S3 is as follows: the left positioning pile is inserted into the riverbed and the left positioning pile is used as a supporting pile, the left anchor winch is started to drive the left positioning anchor to anchor; after the left positioning anchor leaves the water surface, the left anchor rod is rotated to anchor the left positioning anchor forward; the left anchor winch releases the cable according to the set anchoring depth to anchor, and after the left positioning anchor falls into the riverbed, the transverse winch works to insert the left positioning anchor into the soil and fix it.

9. The automatic anchoring method based on a double-trolley muddler according to claim 1 is characterized in that: The specific process of anchoring and fixing the right side positioning anchor forward in step S5 is as follows: the right positioning pile is inserted into the riverbed and used as a supporting pile, the right anchor winch is started to drive the right side positioning anchor to anchor; after the right side positioning anchor leaves the water surface, the right anchor rod is rotated to anchor the right side positioning anchor forward; the right anchor winch releases the cable to anchor according to the set anchoring depth, and after the right side positioning anchor falls into the riverbed, the transverse winch works to insert the right side positioning anchor into the soil and fix it.

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