Intelligent control system for dredger

Abstract

The invention discloses an intelligent control system for a dredger, and the system comprises a data collection module which is used for carrying out the data monitoring of dredging operation equipment and related auxiliary systems; the dredging control module is used for automatic control of dredging operation equipment, intelligent adjustment of construction parameters and early warning of fault abnormity; the intelligent sailing control module is used for intelligently controlling the sailing of the dredger in the operation and dispatching process of the dredger and realizing sailing path planning, autonomous sailing control and underwater three-dimensional visualization of dredging operation; the energy efficiency management module is used for constructing an energy efficiency management system, automatically accounting an energy efficiency index and a carbon intensity index of the dredger and realizing monitoring recording and checking of the carbon footprint of the dredger; the method is also used for establishing a periodic energy efficiency evaluation model for the operation of the dredger, and grading the comprehensive energy efficiency of the dredger according to the national energy efficiency identifier. The efficiency of dredging operation is improved.

Description

Technical Field

[0001] The invention relates to an intelligent control system for a dredging vessel. Background Art

[0002] A trailing suction hopper dredger (dredger) is a large self-propelled, bunker-type dredger equipped with a drag head excavator and a hydraulic mud suction device. It absorbs mud from the river bottom into the mud bunker of the dredger through the drag head and the mud suction pipe, and then sails to the mud dumping area to open the mud gate to unload the mud. The characteristic of a trailing suction hopper dredger is that the ship operation process is divided into four stages: navigation, dredging, mud unloading, and mooring. Existing trailing suction hopper dredgers usually use traditional manual control PLC for construction operation control. Since the trailing suction hopper dredger is a large ship with the functions of self-propelled, self-loaded, and self-unloaded, It controls different objects in each dredging process, which requires a large number of operators and cooperation between various personnel. As a result, there are shortcomings such as decentralized dredging control functions, complicated control steps, consumption of construction personnel's energy, and increased labor costs. Therefore, the dredging efficiency depends entirely on manual perception. If the cooperation between construction personnel is not high, it will make it difficult to steadily improve the construction efficiency and integrate it into intelligent control. It is easy to cause construction personnel to become fatigued and make mistakes, which will affect the construction efficiency, increase construction costs, and even cause damage to ships, machinery and personnel.

[0003] Therefore, an intelligent control system for a dredging vessel is provided. Summary of the invention

[0004] The purpose of the present invention is to overcome the existing defects and provide an intelligent control system for a dredging vessel, thereby improving the efficiency of dredging operations.

[0005] The technical solution to achieve the above purpose is:

[0006] An intelligent control system for a dredging vessel, comprising:

[0007] Data acquisition module, used for data monitoring of dredging equipment and related auxiliary systems;

[0008] Dredging control module, used for automatic control of dredging equipment, intelligent adjustment of construction parameters and abnormal fault warning;

[0009] Intelligent navigation control module, used for intelligent navigation control of dredging vessels during operation and dispatching, to achieve navigation path planning, autonomous navigation control and underwater three-dimensional visualization of dredging operations;

[0010] The energy efficiency management module is used to build an energy efficiency management system, automatically calculate the dredging vessel energy efficiency index and carbon intensity index, and realize the monitoring, recording and verification of the dredging vessel's carbon footprint. It is also used to establish a dredging vessel operation cycle performance evaluation model and classify the comprehensive energy efficiency of ships according to the national energy efficiency label.

[0011] Preferably, in the data acquisition module, the dredging equipment includes but is not limited to a mud pump, a high-pressure water pump, a rake head, a hydraulic pump station, a water sealing pump, a gate valve, a butterfly valve, a rake pipe winch, a mud gate and an overflow weir.

[0012] Preferably, in the data acquisition module, the related auxiliary systems include but are not limited to a mud pump water sealing system, a hydraulic system, a lubrication system and a dredging pipeline valve group.

[0013] Preferably, the dredging control module comprises:

[0014] The first control unit is used to issue control instructions for adjusting dredging equipment and related auxiliary systems;

[0015] The parameter adjustment unit is used to predict the optimal construction parameter setting value under given working conditions through measurement, mathematical modeling and specific algorithms using artificial intelligence technology, and then intelligently adjust the construction parameters;

[0016] The fault abnormality warning unit is used for status monitoring of dredging equipment and related auxiliary systems, and alarms dredging equipment or related auxiliary systems in abnormal status to remind staff.

[0017] Preferably, the intelligent navigation control module includes:

[0018] The ship positioning unit is used to fuse the positioning information of the dredging vessel with the sensor data of the dredging vessel itself according to the positioning data fusion algorithm to obtain the positioning data of the dredging vessel;

[0019] Intelligent planning unit, which is used to combine the positioning information of the dredging vessel with the electronic chart, weather information, and water depth data according to the navigation route planning algorithm, and autonomously calculate the economic speed according to the historical navigation data of the dredging vessel, route characteristics and fuel consumption, and plan the optimal navigation route and optimal speed;

[0020] The second control unit is used to autonomously control the navigation of the dredging vessel according to the planned optimal navigation route and optimal navigation speed;

[0021] The monitoring unit is used to monitor the navigation status of the dredging vessel in real time and display the underwater dredging operation of the dredging vessel.

[0022] Preferably, the energy efficiency management module includes:

[0023] Energy efficiency monitoring unit, used to build an energy efficiency management system, automatically calculate the energy efficiency index and carbon intensity index of dredging vessels, and realize the monitoring, recording and verification of the carbon footprint of dredging vessels;

[0024] The energy efficiency grading unit is used to establish an energy efficiency evaluation model for the dredging vessel's operating cycle, grading the dredging vessel's comprehensive energy efficiency according to the national energy efficiency label, and automatically converting it into a grading report.

[0025] Preferably, it also includes:

[0026] The database is used to store the construction parameters of dredging equipment and related auxiliary systems, the historical navigation data, route characteristics and fuel consumption of dredging vessels, and the energy efficiency index and carbon intensity index of dredging vessels.

[0027] The beneficial effects of the present invention are as follows: the present invention realizes unmanned dredging operation process through automatic control of dredging operation equipment, intelligent adjustment of construction parameters and abnormal fault warning; realizes navigation path planning, autonomous navigation control and underwater three-dimensional visualization of dredging operation through intelligent control of ship navigation during dredging ship operation and dispatching process; realizes monitoring, recording and verification of dredging ship's carbon footprint by constructing an energy efficiency management system, automatically calculating dredging ship's energy efficiency index and carbon intensity index; realizes monitoring, recording and verification of dredging ship's carbon footprint by establishing a dredging ship operation cycle performance efficiency evaluation model, and classifies the comprehensive energy efficiency of ships according to national energy efficiency labels; the present invention integrates intelligent control, improves the sailing time and construction efficiency of dredging ships, saves construction costs, improves dredging automation accuracy, and also improves safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a module diagram of an intelligent control system for a dredging vessel of the present invention;

[0029] Figure 2 It is a specific module diagram of the dredging control module in the present invention;

[0030] Figure 3 It is a specific module diagram of the intelligent navigation control module in the present invention;

[0031] Figure 4 It is a specific module diagram of the energy efficiency management module in the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which 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 cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figure 1 As shown, an intelligent control system for a dredging vessel includes: a data acquisition module 1, a dredging control module 2, an intelligent navigation control module 3, an energy efficiency management module 4 and a database 5.

[0035] The data acquisition module 1 is used to monitor the data of the dredging equipment and related auxiliary systems.

[0036] In the embodiment, the dredging equipment includes but is not limited to a mud pump, a high-pressure flushing pump, a drag head, a hydraulic pump station, a water sealing pump, a gate valve, a butterfly valve, a drag pipe winch, a mud gate and an overflow weir.

[0037] In the embodiment, the related auxiliary systems include but are not limited to a mud pump water sealing system, a hydraulic system, a lubrication system and a dredging pipeline valve group.

[0038] The dredging control module 2 is used for automatic control of dredging equipment, intelligent adjustment of construction parameters and abnormal fault warning, so as to realize unmanned dredging operation process.

[0039] like Figure 2 As shown, the dredging control module 2 includes: a first control unit 21 , a parameter adjustment unit 22 and a fault abnormality warning unit 23 .

[0040] The first control unit 21 is used to issue control instructions for adjusting the dredging equipment and related auxiliary systems.

[0041] The parameter adjustment unit 22 is used to use artificial intelligence technology to predict the optimal construction parameter setting value under given working conditions through measurement, mathematical modeling and specific algorithms, and then intelligently adjust the construction parameters.

[0042] The fault abnormality warning unit 23 is used for status monitoring of dredging equipment and related auxiliary systems, and alarms the dredging equipment or related auxiliary systems in abnormal status to remind the staff.

[0043] The intelligent navigation control module 3 is used for intelligent control of ship navigation during dredging operations and dispatching processes, realizing navigation path planning, autonomous navigation control and underwater three-dimensional visualization of dredging operations.

[0044] like Figure 3 As shown, the intelligent navigation control module 3 includes: a ship positioning unit 31 , an intelligent planning unit 32 , a second control unit 33 and a monitoring unit 34 .

[0045] The ship positioning unit 31 is used to fuse the positioning information of the dredging vessel with the sensor data of the dredging vessel itself according to the positioning data fusion algorithm to obtain the positioning data of the dredging vessel; by combining the sensor data of the dredging vessel itself, centimeter-level or even millimeter-level positioning accuracy can be achieved.

[0046] The intelligent planning unit 32 is used to combine the positioning information of the dredging vessel with the electronic nautical chart, meteorological information, and water depth data according to the navigation route planning algorithm, and autonomously calculate the economic speed according to the historical navigation data of the dredging vessel, route characteristics and fuel consumption, and plan the optimal navigation route and optimal speed.

[0047] In the embodiment, the navigation route planning algorithm adopts the A* algorithm or the Dijkstra algorithm to perform a path search in the electronic nautical chart to find the shortest path from the current location to the destination.

[0048] In the embodiment, if the A* algorithm is used to plan the optimal navigation route, the basic formula of the A* algorithm is as follows:

[0049] f(n)=g(n)+h(n);

[0050] Where f(n) is the total estimated cost of node n, g(n) is the actual cost from the starting point to node n, and h(n) is the heuristic estimated cost from node n to the end point;

[0051] The A* algorithm maintains a priority queue and continuously selects the node with the smallest f(n) value for expansion until the end point is found, thereby planning the optimal navigation route.

[0052] In the embodiment, based on the preliminary path planning, a genetic algorithm or a particle swarm algorithm is used for optimization to further reduce fuel consumption and flight time while avoiding severe weather areas.

[0053] The second control unit 33 is used to autonomously control the navigation of the dredging vessel according to the planned optimal navigation route and optimal navigation speed.

[0054] The monitoring unit 34 is used to monitor the navigation status of the dredging vessel in real time and display the underwater dredging operation of the dredging vessel.

[0055] Energy efficiency management module 4 is used to build an energy efficiency management system, automatically calculate the energy efficiency index and carbon intensity index of dredging vessels, and realize the monitoring, recording and verification of the carbon footprint of dredging vessels. It is also used to establish a performance efficiency evaluation model for the dredging vessel operation cycle and classify the comprehensive energy efficiency of ships according to the national energy efficiency label.

[0056] like Figure 4 As shown, the energy efficiency management module 4 includes: an energy efficiency monitoring unit 41 and an energy efficiency level classification unit 42 .

[0057] The energy efficiency monitoring unit 41 is used to construct an energy efficiency management system, automatically calculate the energy efficiency index and carbon intensity index of the dredging vessel, and realize the monitoring, recording and verification of the carbon footprint of the dredging vessel.

[0058] The energy efficiency grading unit 42 is used to establish a dredging vessel operation cycle performance efficiency evaluation model, grading the comprehensive energy efficiency of the dredging vessel according to the national energy efficiency label, and automatically generating a grading report.

[0059] Database 5 is used to store the construction parameters of dredging equipment and related auxiliary systems, store the historical navigation data, route characteristics and fuel consumption of dredging vessels, and store the energy efficiency index and carbon intensity index of dredging vessels.

[0060] In the embodiment, the algorithm in the system is trained by using the data stored in the database 5 to improve the prediction accuracy of the algorithm.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some or all of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control system for a dredging vessel, characterized in that: include: Data acquisition module, used for data monitoring of dredging equipment and related auxiliary systems; Dredging control module, used for automatic control of dredging equipment, intelligent adjustment of construction parameters and abnormal fault warning; Intelligent navigation control module, used for intelligent navigation control of dredging vessels during operation and dispatching, to achieve navigation path planning, autonomous navigation control and underwater three-dimensional visualization of dredging operations; The energy efficiency management module is used to build an energy efficiency management system, automatically calculate the dredging vessel energy efficiency index and carbon intensity index, and realize the monitoring, recording and verification of the dredging vessel's carbon footprint. It is also used to establish a dredging vessel operation cycle performance evaluation model and classify the comprehensive energy efficiency of ships according to the national energy efficiency label.

2. The intelligent control system for dredging vessels according to claim 1, characterized in that: In the data acquisition module, the dredging equipment includes but is not limited to mud pumps, high-pressure flushing pumps, drag heads, hydraulic pump stations, water sealing pumps, gate valves, butterfly valves, drag pipe winches, mud gates and overflow weirs.

3. The intelligent control system for dredging vessels according to claim 1, characterized in that: In the data acquisition module, the related auxiliary systems include but are not limited to the mud pump water sealing system, hydraulic system, lubrication system and dredging pipeline valve group.

4. The intelligent control system for dredging vessels according to claim 1, characterized in that: The dredging control module comprises: The first control unit is used to issue control instructions for adjusting dredging equipment and related auxiliary systems; The parameter adjustment unit is used to predict the optimal construction parameter setting value under given working conditions through measurement, mathematical modeling and specific algorithms using artificial intelligence technology, and then intelligently adjust the construction parameters; The fault abnormality warning unit is used for status monitoring of dredging equipment and related auxiliary systems, and alarms dredging equipment or related auxiliary systems in abnormal status to remind staff.

5. The intelligent control system for dredging vessels according to claim 1, characterized in that: The intelligent navigation control module includes: The ship positioning unit is used to fuse the positioning information of the dredging vessel with the sensor data of the dredging vessel itself according to the positioning data fusion algorithm to obtain the positioning data of the dredging vessel; Intelligent planning unit, which is used to combine the positioning information of the dredging vessel with the electronic chart, weather information, and water depth data according to the navigation route planning algorithm, and autonomously calculate the economic speed according to the historical navigation data of the dredging vessel, route characteristics and fuel consumption, and plan the optimal navigation route and optimal speed; The second control unit is used to autonomously control the navigation of the dredging vessel according to the planned optimal navigation route and optimal navigation speed; The monitoring unit is used to monitor the navigation status of the dredging vessel in real time and display the underwater dredging operation of the dredging vessel.

6. The intelligent control system for dredging vessels according to claim 1, characterized in that: The energy efficiency management module includes: Energy efficiency monitoring unit, used to build an energy efficiency management system, automatically calculate the energy efficiency index and carbon intensity index of dredging vessels, and realize the monitoring, recording and verification of the carbon footprint of dredging vessels; The energy efficiency grading unit is used to establish an energy efficiency evaluation model for the dredging vessel's operating cycle, grading the dredging vessel's comprehensive energy efficiency according to the national energy efficiency label, and automatically converting it into a grading report.

7. The intelligent control system for dredging vessels according to claim 1, characterized in that: Also includes: The database is used to store the construction parameters of dredging equipment and related auxiliary systems, the historical navigation data, route characteristics and fuel consumption of dredging vessels, and the energy efficiency index and carbon intensity index of dredging vessels.

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