Trailing suction dredger one-key dredging method and dredging and driving integrated control system

Abstract

The invention discloses a drag suction dredger one-key dredging method and dredging and driving integrated control system.The method comprises the steps that a dredging operation process and dredging operation parameters are determined according to a dredging work plan, and the dredging operation parameters comprise navigation parameters, dredging parameters and mud throwing parameters; state parameters of all systems of the trailing suction dredger are collected; and the drag suction dredger is controlled to execute dredging operation according to the dredging operation process, and the collected state parameters of all systems of the drag suction dredger meet the dredging operation parameters. According to the scheme provided by the invention, the operation efficiency of the drag suction dredger is improved, and the safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ships, and particularly to a one-key dredging method for a trailing suction hopper dredger and a control system integrating dredging and navigation operation. Background Art

[0002] Trailing suction hopper dredgers are commonly used in dredging projects such as waterway maintenance, port construction, and reclamation by filling. The conventional construction process includes dredging, mud dumping, and mud blowing. There are up to hundreds of controlled objects, the power of the controlled equipment is large, and the characteristics are complex. The control process involves multiple links such as ship navigation, cutterhead cutting, mud pump transportation, loading and overflow, mud door mud dumping, suction of the pumping door, and pipeline transportation. There are many control parameters, great operation difficulty, and high safety requirements.

[0003] Traditional dredging operations require the cooperation of multiple people and are carried out through manual operations. Affected by individual differences of operators, there are factors such as emotionality, easy fatigue, and uneven levels, which may affect construction safety and construction efficiency. Summary of the Invention

[0004] The present invention provides a one-key dredging method for a trailing suction hopper dredger and a control system integrating dredging and navigation operation, which improves the operation efficiency of the trailing suction hopper dredger and reduces safety risks.

[0005] According to one aspect of the present invention, there is provided a one-key dredging method for a trailing suction hopper dredger, including:

[0006] Determining a dredging operation process and dredging operation parameters according to a dredging work plan, where the dredging operation parameters include navigation parameters, dredging parameters, and mud dumping parameters;

[0007] Collecting state parameters of each system of the trailing suction hopper dredger;

[0008] Controlling the trailing suction hopper dredger to perform dredging operations according to the dredging operation process, where the collected state parameters of each system of the trailing suction hopper dredger meet the dredging operation parameters.

[0009] In a possible implementation manner of the first aspect, determining a dredging operation process and dredging operation parameters according to a dredging work plan includes:

[0010] Receiving a dredging work plan input by a user, where the dredging work plan includes dredging location information, mud dumping location information, mud dumping volume, and route information;

[0011] According to the dredging location information, mud dumping location information, mud dumping volume, and route information, determining a dredging work process at the dredging location, a navigation work process from the dredging location to the mud dumping location, and a mud dumping work process at the mud dumping location, as well as navigation parameters, dredging parameters, and mud dumping parameters of the dredging work process, navigation work process, and mud dumping work process.

[0012] In a possible implementation manner of the first aspect, the state parameters of each system of the trailing suction hopper dredger are collected, including:

[0013] Collect the state parameters of the navigation system, dredging system, and mud dumping system of the trailing suction hopper dredger.

[0014] In a possible implementation manner of the first aspect, the trailing suction hopper dredger is controlled to perform dredging operations according to the dredging operation process, including:

[0015] When the dredging process is the navigation work process, control the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger sails between the dredging location and the mud dumping location;

[0016] When the dredging process is the dredging work process, control the dredging system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs dredging operations at the dredging location;

[0017] When the dredging process is the mud dumping work process, control the mud dumping system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs mud dumping operations at the mud dumping location.

[0018] In a possible implementation manner of the first aspect, control the dredging system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs dredging operations at the dredging location, including:

[0019] According to the dredging depth and dredging volume in the dredging parameters, control the dredging rake and the mud tank of the said trailing suction hopper dredger to open at the dredging location and perform dredging operations in the low-speed navigation state of the trailing suction hopper dredger.

[0020] In a possible implementation manner of the first aspect, control the mud dumping system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs mud dumping operations at the mud dumping location, including:

[0021] According to the mud dumping depth and mud dumping volume in the mud dumping parameters, control the mud dumping door and the mud tank of the said trailing suction hopper dredger to open at the mud dumping location and perform mud dumping operations in the low-speed navigation state of the trailing suction hopper dredger.

[0022] In the second aspect, an embodiment of the present invention provides a combined dredging and navigation control system for a trailing suction hopper dredger, including:

[0023] A dredging planning device for determining the dredging operation process and dredging operation parameters according to the dredging work plan, and the dredging operation parameters include navigation parameters, dredging parameters, and mud dumping parameters;

[0024] A parameter collection device for collecting the state parameters of each system of the trailing suction hopper dredger;

[0025] Integrated dredging and navigation control device; controlling a trailing suction hopper dredger to perform dredging operations according to the dredging operation process, wherein the status parameters of each system of the trailing suction hopper dredger collected meet the dredging operation parameters.

[0026] In a possible implementation manner of the second aspect, a dredging planning device includes:

[0027] An input module for receiving a dredging work plan input by a user, where the dredging work plan includes dredging location information, spoil dumping location information, spoil dumping volume, and route information;

[0028] A processing module for determining, according to the dredging location information, spoil dumping location information, spoil dumping volume, and route information, the dredging work process at the dredging location, the navigation work process from the dredging location to the spoil dumping location, and the spoil dumping work process at the spoil dumping location, as well as the navigation parameters, dredging parameters, and spoil dumping parameters of the dredging work process, navigation work process, and spoil dumping work process.

[0029] In a possible implementation manner of the second aspect, a parameter acquisition device for acquiring the status parameters of the navigation system, dredging system, and spoil dumping system of a trailing suction hopper dredger.

[0030] In a possible implementation manner of the second aspect, the integrated dredging and navigation control device is specifically configured to control the navigation system of the trailing suction hopper dredger to work when the dredging process is a navigation work process, so that the trailing suction hopper dredger sails between the dredging location and the spoil dumping location; when the dredging process is a dredging work process, control the dredging system and navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger performs dredging operations at the dredging location; when the dredging process is a spoil dumping work process, control the spoil dumping system and navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger performs spoil dumping operations at the spoil dumping location.

[0031] The technical solution of the embodiments of the present invention determines the dredging operation process and dredging operation parameters according to the dredging work plan, and acquires the status parameters of each system of the trailing suction hopper dredger, and can control the trailing suction hopper dredger to perform dredging operations according to the dredging operation process. Among them, the status parameters of each system of the trailing suction hopper dredger collected meet the dredging operation parameters, realizing one-key dredging operations for the trailing suction hopper dredger, reducing the manual workload, improving the work efficiency, and reducing the safety risk.

[0032] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0034] Figure 1 It is a flowchart of a one-key dredging method for a trailing suction hopper dredger provided by an embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the digging-dumping cycle of the one-key dredging method for a trailing suction hopper dredger provided by an embodiment of the present invention;

[0036] Figure 3 It is a schematic diagram of the hardware architecture of a trailing suction hopper dredger provided by an embodiment of the present application;

[0037] Figure 4 It is a schematic diagram of the software architecture of the one-key dredging method for a trailing suction hopper dredger provided by an embodiment of the present invention;

[0038] Figure 5 It is a schematic diagram of the rake-lowering logic;

[0039] Figure 6 It is a schematic diagram of the action logic of the rake arm and other equipment during the rake-lowering process;

[0040] Figure 7 It is a schematic diagram of the action logic of the rake arm and other equipment at the end stage of rake-lifting;

[0041] Figure 8 It is a schematic diagram of the action logic of equipment during the mud-dumping preparation stage;

[0042] Figure 9 It is a schematic diagram of the action logic of equipment during the mud-dumping stage;

[0043] Figure 10 It is a schematic diagram of the action logic of equipment at the end stage of mud-dumping;

[0044] Figure 11 It is a schematic diagram of the structure of the integrated control system of dredging and navigation for a trailing suction hopper dredger provided by an embodiment of the present application. Specific Embodiments

[0045] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] Figure 1 This is a flowchart of a one - key dredging method for a trailing suction hopper dredger provided by an embodiment of the present invention. As Figure 1 shown, the one - key dredging method for a trailing suction hopper dredger provided in this embodiment includes:

[0047] Step S110, determine the dredging operation process and dredging operation parameters according to the dredging work plan. The dredging operation parameters include navigation parameters, dredging parameters, and mud - dumping parameters.

[0048] The one - key dredging method for a trailing suction hopper dredger provided in an embodiment of the present application is applied to a trailing suction hopper dredger. A trailing suction hopper dredger is a special working ship that sucks the mud at the bottom of the water through a draghead set on both sides or the stern of the hull, works in the way of sucking mud while sailing, and transports the mud to the target location. Since a trailing suction hopper dredger has multiple operation systems such as dredging, mud - dumping, and navigation, in the dredging and mud - dumping operations, various operation systems need to be operated by dedicated personnel respectively, and during the dredging and mud - dumping processes, slow - speed navigation is also required, so the ship's navigation system needs to be controlled simultaneously to cooperate. During the multi - person cooperation operation, due to the different operation levels of different staff, it may affect the operation efficiency of the trailing suction hopper dredger and even pose a certain safety risk.

[0049] This embodiment provides a one - key dredging method for a trailing suction hopper dredger, which performs the dredging and driving - integrated dredging operation in an automated manner to improve the operation efficiency of the trailing suction hopper dredger and reduce the safety risk. The working mode of the trailing suction hopper dredger provided in this embodiment is the dredging - mud - dumping mode, that is, the excavated mud is transported to the destination using the mud - dumping mode.

[0050] The one - key dredging method for a trailing suction hopper dredger provided in this embodiment can be executed by a dredging - driving integrated control system set on the trailing suction hopper dredger. First, determine the dredging operation process and dredging operation parameters according to the dredging work plan. The dredging work plan can be input by the staff according to the work plan, or receive the dredging work plan document through any method (wired / wireless network or local memory). The dredging work plan is the dredging work target for the current operation area, for example, including information such as the dredging work location and the dredging workload. After obtaining the dredging work plan, analyze it to determine the dredging operation process and dredging operation parameters. The dredging operation process is the operation process determined by analyzing the dredging work plan and combining the operation ability of the ship itself. The dredging operation parameters are the specific navigation parameters, dredging parameters, mud - dumping parameters and other operation parameters of the trailing suction hopper dredger determined based on the determined dredging operation process.

[0051] Specifically, the process of determining the dredging operation process and dredging operation parameters according to the dredging work plan may include: receiving the dredging work plan input by the user, where the dredging work plan includes dredging location information, spoil disposal location information, spoil disposal volume, and route information; determining the dredging work process at the dredging location, the navigation work process from the dredging location to the spoil disposal location, and the spoil disposal work process at the spoil disposal location, as well as the navigation parameters, dredging parameters, and spoil disposal parameters of the dredging work process, navigation work process, and spoil disposal work process.

[0052] In the integrated dredging and navigation control system of a trailing suction hopper dredger, there is a one-key dredging operation panel. The staff can input the dredging work plan on this operation panel. The dredging work plan input by the user may include, for example, dredging location information, spoil disposal location information, spoil disposal volume, route information, etc. Among them, the dredging location information and spoil disposal location information can be the specific coordinate information of the location. The coordinate information input by the user can be parsed according to the satellite positioning system equipped on the trailing suction hopper dredger to determine the actual operation location. The spoil disposal volume is the target workload of this operation, and the route information is the route-related information of the current operation water area, providing safe navigation support for the trailing suction hopper dredger. According to the dredging work plan input by the user, the dredging operation process and corresponding dredging operation parameters can be determined. Specifically, the dredging work process at the dredging location, the navigation work process from the dredging location to the spoil disposal location, and the spoil disposal work process at the spoil disposal location can be determined, as well as the navigation parameters, dredging parameters, and spoil disposal parameters of the dredging work process, navigation work process, and spoil disposal work process. The work process of the trailing suction hopper dredger can be divided into three processes, namely the dredging process, the navigation process, and the spoil disposal process. That is, first dredge at the dredging location, then sail to the spoil disposal location, then dispose of the spoil, and then sail back to the dredging location and repeat. Only the final target spoil disposal volume needs to be input in the dredging work plan. The trailing suction hopper dredger determines the required number of dredging times according to its own capacity. For example, if the target spoil disposal volume is 500 tons and the maximum slurry carrying capacity of the trailing suction hopper dredger is 200 tons, the determined dredging operation process includes at least three complete dredging-navigation-spoil disposal operation cycles. After determining each work process, further determine the navigation parameters, dredging parameters, and spoil disposal parameters of the dredging work process, navigation work process, and spoil disposal work process.

[0053] Step S120, collect the status parameters of each system of the trailing suction hopper dredger.

[0054] The trailing suction hopper dredger has multiple operating systems such as a dredging system, a spoil discharging system, and a navigation system. Each system is composed of multiple devices. In order to achieve one-key dredging operation of the trailing suction hopper dredger, it is necessary to monitor the state parameters of each system of the trailing suction hopper dredger. The state parameters of each system of the trailing suction hopper dredger can be collected by various means. For devices connected through Ethernet, a gateway can be set to collect the state parameters of each device accessing the network. For other devices, a dedicated parameter collection device can be set to collect the state parameters of each device. In short, during the entire one-key dredging operation process of the trailing suction hopper dredger, the state parameters of each system need to be collected in real time.

[0055] Step S130, control the trailing suction hopper dredger to perform dredging operations according to the dredging operation process, where the collected state parameters of each system of the trailing suction hopper dredger meet the dredging operation parameters.

[0056] After determining the dredging operation process, the trailing suction hopper dredger can be controlled to perform dredging operations according to the dredging operation process. During the data operation process, the state parameters of each system of the collected trailing suction hopper dredger are monitored in real time, so that the state parameters of each system of the trailing suction hopper dredger meet the determined dredging operation parameters. According to the dredging operation process, the dredging, navigation, and spoil discharging processes are respectively executed. During the dredging process, control the dredging system and the navigation system to perform dredging operations according to the dredging parameters. During the spoil discharging process, control the spoil discharging system and the navigation system to perform spoil discharging operations according to the dredging parameters. During the navigation process, control the navigation system to perform navigation operations according to the navigation parameters. Due to the adoption of an automated processing method, the one-key dredging method provided in this embodiment does not require manual operation of each device of the trailing suction hopper dredger. The staff only needs to observe and monitor the operating status of each device, which greatly reduces the manual workload, improves the work efficiency, and avoids the problem of cooperation errors caused by different work abilities of the staff, reducing the safety risk.

[0057] Specifically, when the dredging process is the navigation work process, control the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger sails between the dredging location and the spoil discharging location; when the dredging process is the dredging work process, control the dredging system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs dredging operations at the dredging location; when the dredging process is the spoil discharging work process, control the spoil discharging system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs spoil discharging operations at the spoil discharging location. During the dredging work process, according to the dredging depth and dredging volume in the dredging parameters, control the dredging rake and the mud tank of the trailing suction hopper dredger to open at the dredging location and perform dredging operations in the low-speed navigation state of the trailing suction hopper dredger. During the spoil discharging work process, according to the spoil discharging depth and spoil discharging volume in the spoil discharging parameters, control the spoil discharging door and the mud tank of the trailing suction hopper dredger to open at the spoil discharging location and perform spoil discharging operations in the low-speed navigation state of the trailing suction hopper dredger.

[0058] The one - key dredging method for trailing suction hopper dredgers provided in this embodiment determines the dredging operation process and dredging operation parameters according to the dredging work plan, and collects the status parameters of each system of the trailing suction hopper dredger. It can control the trailing suction hopper dredger to perform dredging operations according to the dredging operation process. Among them, the collected status parameters of each system of the trailing suction hopper dredger meet the dredging operation parameters, realizing one - key dredging operations for the trailing suction hopper dredger, reducing the manual workload, improving work efficiency, and reducing safety risks.

[0059] As Figure 2 shown, Figure 2 is a schematic diagram of the digging - throwing cycle of the one - key dredging method for trailing suction hopper dredgers provided in the embodiments of the present invention. The whole process reciprocates between dredging and throwing mud until the operation target is reached. Among them, navigation control is involved in both the dredging and throwing - mud processes, and navigation control is also involved between the dredging and throwing - mud locations. It should be noted that, Figure 1 The embodiments shown provide a complete one - key dredging process, including at least one digging - navigation - throwing - mud cycle. However, in fact, the one - key dredging method for trailing suction hopper dredgers provided in the embodiments of the present application can also realize separate control of one - key dredging, one - key navigation, and one - key throwing mud to achieve more flexible automatic dredging control. And the staff can abort the work in any automatic work process, so as to avoid accidents when problems are found.

[0060] To implement the one - key dredging method for trailing suction hopper dredgers provided in the embodiments of the present invention, the trailing suction hopper dredger can adopt a hardware architecture as Figure 3 shown, Figure 3 is a schematic diagram of the hardware architecture of the trailing suction hopper dredger provided in the embodiments of the present application. As Figure 3 shown, the dredging controller collects the operation signals of the knobs, buttons, switches, and instruments on the dredging console in the cab through 3 acquisition stations, and monitors and controls the status of dredging equipment such as the dredging arms, mud pumps, high - pressure flushing pumps, mud doors, pumping cabin doors, bow blowing devices, and overflow cylinders of the trailing suction hopper dredger. The dredging server and at least one client are installed in the cab cabinet, and a display is installed in the cab. Generally speaking, the client and the display are installed on the navigation console and the dredging console in the cab respectively. The dredging trajectory and profile display workstation and the display are installed on the navigation console in the cab, and a dynamic positioning and dynamic tracking (DP / DT) controller and a one - key dredging operation panel are additionally configured. In terms of the network, the dredging controller, the dredging server, the client, the dredging trajectory and profile display workstation, the dynamic positioning and dynamic tracking controller, and the one - key dredging operation panel are connected to the upper computer network, and the 3 acquisition stations and the one - key dredging driver are connected to the dredging controller through the lower computer network. The dynamic positioning and dynamic tracking controller collects the floating state parameters of the current wind speed, wind direction, tide level, and water depth of the ship through the gateway.

[0061] Figure 4Schematic diagram of the software architecture of the one - key dredging method for trailing suction hopper dredgers provided by the embodiments of the present invention. As shown in Figure 4 shown, dredging software can be deployed in the trailing suction hopper dredger. Based on the Figure 3 hardware architecture shown, corresponding software is respectively deployed in different devices. Through the interaction of the software in each device, the control of one - key dredging for the trailing suction hopper dredger is realized. Among them, the operator mainly inputs the dredging work plan by operating the one - key dredging operation software on the one - key dredging operation panel. Then, the one - key dredging operation software generates the dredging work process and parameters and drives each dredging device to perform the dredging work through the one - key dredging driver. The dredging server software located in the dredging server collects the working conditions of each device and sends the device operation status to the dredging client and the dredging track and profile display workstation, enabling the staff at the corresponding workstations to monitor the device operation status. In addition, it also monitors the operation status of the navigation equipment according to the dynamic positioning and dynamic tracking software.

[0062] The following details the one - key dredging and one - key mud discharging processes for a certain type of trailing suction hopper dredger respectively.

[0063] One - key dredging is divided into three stages: rake - lowering preparation, dredging and loading into the hopper, and rake - raising and ending. It is executed through the "One - key Dredging" button on the one - key dredging operation panel.

[0064] In the rake - lowering preparation stage, the system lowers the rake arm from the stowed position to the ground - contact position. During this period, the system will automatically start the relevant dredging equipment according to the real - time position of the rake arm.

[0065] In the dredging and loading into the hopper stage, the system automatically controls the rake arm winch, rake head movable cover, sluice valve, mud pump, high - pressure flushing pump, overflow cylinder, environmental protection valve, main propulsion, rudder, and side thruster, so that the dredging equipment and navigation equipment operate according to the set operation parameters, ship route, and ship speed.

[0066] In the rake - raising and ending stage, the system controls the rake arm winch and the hanger, retracts the rake arm from the ground - contact position to the stowed position, and automatically stops the relevant dredging equipment according to the real - time position of the rake arm.

[0067] In the rake - lowering preparation and rake - raising and ending stages, the system controls the rake arm winch and the hanger, gradually lowers the rake arm from the stowed position to the ground - contact position of the rake head. During the process, the system will automatically start and stop the corresponding dredging equipment according to the real - time position of the rake arm to complete the dredging preparation and rake - raising and ending work respectively. The rake arm position stage is as shown in Figure 5 shown, Figure 5 which is the schematic diagram of the rake - lowering logic.

[0068] When putting down the rake, first, the rake arm is inside the ship's side. Initially, the rake arm is in the stowage position. It is lifted to the upper limit inside the ship's side by 3 winches (the draghead winch, the middle of the rake winch, and the elbow winch), and then pushed out of the ship's side through the hanger. When putting down the rake, the position of the rake arm inside the ship's side is divided into 4 stages (Stage1 - Stage4). When the rake arm is outside the ship's side, first, it is lowered from the upper limit to the position where the three pipes of the suction mouth are level by 3 winches. Further, the draghead winch and the middle of the rake elbow winch continue to operate, and the draghead is lowered to the landing position. When putting down the rake, the position of the rake arm outside the ship's side is divided into 9 stages (Stage1 - Stage9). When retracting the rake, the process is vice versa.

[0069] The main positions of the rake arm include 6: "stowage limit", "upper limit inside the ship's side", "upper limit outside the ship's side", "suction mouth in place and three pipes level", "draghead off the ground", "draghead on the ground" (yellow markings). In addition to the main positions, there are also approach limits for the main positions and transition stages between the main positions. Among them, "above the suction mouth approaching" means that the current rake arm is about to reach the position where the three pipes of the suction mouth are level but is above it. "Below the suction mouth approaching" means that the current rake arm is about to reach the position where the three pipes of the suction mouth are level but is below it.

[0070] In the preparation stage of putting down the rake, first, the system automatically starts the hydraulic pump, the gate valve flushing system, pre-sets the dredging gate valves and butterfly valves, starts the water sealing system, and controls the rake arm winch and the hanger to lower the rake arm from the stowage to the landing position. During the process of putting down the rake, the system automatically starts other equipment according to the position of the rake arm. When the rake arm reaches the suction mouth position, it automatically starts the mud pump and the high-pressure water jet pump (optional) to the idle state; when the rake arm reaches the position off the ground, the mud pump and the high-pressure water jet pump accelerate to the preset dredging speed. When the draghead lands, it enters the dredging and loading stage.

[0071] Figure 6 It is a schematic diagram of the action logic of the rake arm and other equipment during the process of putting down the rake.

[0072] During the dredging and loading stage, the system automatically controls the draghead winch and the middle of the rake winch according to the preset landing depth, the underwater posture of the rake arm during construction, the stroke of the wave compensator, and the safety position boundary of the draghead; according to the density of the mixture in the mud pipeline, it automatically controls the opening and closing of the inlet valve and the bypass valve. And according to the set angle of the draghead movable hood to the ground, the mud pump speed, and the high-pressure water jet pressure of the draghead, it automatically controls the rotation speed of the draghead movable hood, the mud pump, and the high-pressure water jet pump. During the dredging process, the system automatically controls the main propulsion and the rudder device according to the preset ship navigation path and dredging speed.

[0073] During the dredging and loading stage, it is equipped with a rake arm underwater posture control module, a draghead movable hood control module, a gate valve control module, a mud pump control module, a high-pressure water jet pump control module, an overflow cylinder control module, an environmental protection valve control module, and a navigation control module.

[0074] (1) Rake arm underwater posture control module

[0075] The underwater attitude control of the rake arm controls the depth of the rake head from the water surface and the stroke of the wave compensator, and controls the attitude of the rake arm during underwater construction according to the preset rake arm angle.

[0076] Rake head depth control: When the depth of the rake head is less than the set value, the rake head is lowered; when the depth of the rake head is greater than the set value, the rake head is lifted.

[0077] Wave compensator stroke control: When the stroke of the wave compensator is higher than the set value of the highest position, control the rake head winch to rise until the wave compensator returns to the middle position.

[0078] Underwater attitude control of the rake arm: By controlling the winch in the rake, keep the universal joint angle of the rake arm within the set range.

[0079] (2) The control module of the rake head movable cover adjusts the horizontal angle of the rake head movable cover relative to the ground by presetting, and automatically adjusts the rake head movable cover oil cylinder according to the actual angle relative to the ground during the dredging process.

[0080] (3) The gate valve control module will open the low-concentration discharge gate valve and close the inlet cabin gate valve when the mud density is lower than the set value and lasts for a certain time. When the mud density is higher than the set value and lasts for a certain time, it will open the inlet cabin gate valve and close the low-concentration discharge gate valve.

[0081] (4) The mud pump control module automatically adjusts the mud pump to the set speed by presetting the mud pump speed during the dredging process.

[0082] (5) The high-pressure flushing water pump control module automatically adjusts the speed of the high-pressure flushing water pump by presetting the high-pressure flushing water pressure value of the rake head, so that the high-pressure flushing water pressure of the rake head is adjusted to the set value.

[0083] (6) The overflow cylinder control module automatically adjusts the height of the overflow cylinder by setting the set value of the ship's draft, and controls the ship's draft at the set value.

[0084] (7) The environmental protection valve control module automatically adjusts the opening of the environmental protection valve by setting the immersion height of the overflow cylinder, and controls the difference between the mud tank liquid level and the height of the overflow cylinder at the set value.

[0085] At the end stage of raising the rake, the system controls the rake arm winch and the hanger, retracts the rake arm from the landing position to the rest pier position, and automatically stops the mud pump, high-pressure flushing water pump, seal water pump and gate valve flushing pump according to the real-time position of the rake arm.

[0086] Figure 7 It is a schematic diagram of the action logic of the rake arm and other equipment at the end stage of raising the rake.

[0087] One-key mud discharging is divided into three stages: mud discharging preparation, mud discharging and mud discharging end, and is executed by pressing the "One-key Mud Discharging" button on the one-key dredging operation panel.

[0088] During the mud dumping preparation stage, the system completes the startup actions of the equipment before mud dumping and pre-washes the mud tank.

[0089] During the mud dumping stage, the system first determines the shallow water mud dumping and normal mud dumping modes based on the actual water depth, and then completes the mud gate actions in sequence according to the two mud dumping modes respectively.

[0090] During the mud dumping end stage, the system closes the mud gate, restores the relevant equipment to the dredging mode, and stops the auxiliary equipment.

[0091] During the mud dumping preparation stage, the system starts the hydraulic pump and preset butterfly valve in the flushing mode, and starts the high-pressure flushing water pump to start flushing the tank. Figure 8 It is a schematic diagram of the equipment action logic during the mud dumping preparation stage.

[0092] During the mud dumping stage, the system automatically determines whether to enter the normal mud dumping mode or the shallow water mud dumping mode according to the current water depth, and automatically opens the corresponding mud gates according to the preset mud gate group number and sequence. Figure 9 It is a schematic diagram of the equipment action logic during the mud dumping stage.

[0093] Mud dumping can be divided into two methods: shallow water mud dumping and normal mud dumping, which are respectively used for different working conditions and determined according to the mud dumping work plan. The logics of shallow water mud dumping and normal mud dumping are as follows:

[0094] (1) Shallow water mud dumping

[0095] Record the current ship draft value before opening the mud gate. According to the mud gate group number and the "set value of the first opening stroke of the mud gate for shallow water mud dumping", open the #1 group of mud gates, and the ship draft continuously decreases. After a period of time, the ship draft will decrease. Record the current ship draft value and calculate the draft change amount ΔL1, and further open the #1 group of mud gates with the stroke increased by ΔL1. After another period of time, the ship draft will decrease. Record the current ship draft value and calculate the draft change amount ΔL2. At this time, further open the #1 group of mud gates with the stroke increased by ΔL2. And so on, until the #1 group of mud gates is opened to the maximum stroke. When the #1 group of mud gates is opened to the maximum stroke and the ship draft decreases to be greater than the maximum stroke of the mud gate, control all other mud gates to open.

[0096] (2) Normal mud dumping

[0097] According to the mud gate group number, open the #1 group of mud gates to the maximum stroke. After a period of time, further open the #2 group of mud gates to the maximum stroke. And so on, until all mud gates are opened to the maximum stroke.

[0098] During the mud dumping end stage, the system closes the mud gate, stops the high-pressure flushing water pump, and sets the preset butterfly valve to the dredging mode. Figure 10 It is a schematic diagram of the equipment action logic during the mud dumping end stage.

[0099] Figure 11 This is a schematic structural diagram of the integrated dredging and navigation control system for a trailing suction hopper dredger provided by an embodiment of the present application. As Figure 11 shown, the integrated dredging and navigation system for a trailing suction hopper dredger provided by this embodiment includes:

[0100] A dredging planning device 111, which is used to determine the dredging operation process and dredging operation parameters according to the dredging work plan. The dredging operation parameters include navigation parameters, dredging parameters, and mud dumping parameters; a parameter acquisition device 112, which is used to acquire the state parameters of each system of the trailing suction hopper dredger; an integrated dredging and navigation control device 113; and control the trailing suction hopper dredger to perform dredging operations according to the dredging operation process, where the state parameters of each system of the acquired trailing suction hopper dredger meet the dredging operation parameters.

[0101] The integrated dredging and navigation control system for a trailing suction hopper dredger provided by this embodiment is used to implement the one-key dredging method for a trailing suction hopper dredger shown in the above embodiments. Its technical principle and implementation effect are similar, and will not be elaborated here.

[0102] Furthermore, the dredging planning device 111 includes: an input module 121, which is used to receive the dredging work plan input by the user. The dredging work plan includes dredging location information, mud dumping location information, mud dumping volume, and route information; a processing module 122, which is used to determine the dredging work process at the dredging location, the navigation work process from the dredging location to the mud dumping location, and the mud dumping work process at the mud dumping location according to the dredging location information, mud dumping location information, mud dumping volume, and route information, as well as the navigation parameters, dredging parameters, and mud dumping parameters of the dredging work process, navigation work process, and mud dumping work process.

[0103] Furthermore, the parameter acquisition device 112 is used to acquire the state parameters of the navigation system, dredging system, and mud dumping system of the trailing suction hopper dredger.

[0104] Furthermore, the integrated dredging and navigation control device 113 is specifically used to control the navigation system of the trailing suction hopper dredger to work when the dredging process is the navigation work process, so that the trailing suction hopper dredger sails between the dredging location and the mud dumping location; control the dredging system and navigation system of the trailing suction hopper dredger to work when the dredging process is the dredging work process, so that the trailing suction hopper dredger performs dredging operations at the dredging location; control the mud dumping system and navigation system of the trailing suction hopper dredger to work when the dredging process is the mud dumping work process, so that the trailing suction hopper dredger performs mud dumping operations at the mud dumping location.

[0105] It should be understood that various forms of processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0106] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A one-key dredging method for a trailing suction hopper dredger, characterized in that, Including: Determine the dredging operation process and dredging operation parameters according to the dredging work plan, where the dredging operation parameters include navigation parameters, dredging parameters, and mud dumping parameters; Collect the status parameters of each system of the trailing suction hopper dredger; Control the trailing suction hopper dredger to perform dredging operations according to the dredging operation process, where the status parameters of each system of the collected trailing suction hopper dredger meet the dredging operation parameters.

2. The method according to claim 1, wherein The determining the dredging operation process and dredging operation parameters according to the dredging work plan includes: Receive the dredging work plan input by the user, where the dredging work plan includes dredging location information, mud dumping location information, mud dumping volume, and route information; According to the dredging location information, the mud dumping location information, the mud dumping volume, and the route information, determine the dredging work process at the dredging location, the navigation work process from the dredging location to the mud dumping location, and the mud dumping work process at the mud dumping location, as well as the navigation parameters, dredging parameters, and mud dumping parameters of the dredging work process, the navigation work process, and the mud dumping work process.

3. The method according to claim 2, wherein The collecting the status parameters of each system of the trailing suction hopper dredger includes: Collect the status parameters of the navigation system, dredging system, and mud dumping system of the trailing suction hopper dredger.

4. The method according to claim 3, characterized in that, The controlling the trailing suction hopper dredger to perform dredging operations according to the dredging operation process includes: When the dredging process is the navigation work process, control the navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger sails between the dredging location and the mud dumping location; When the dredging process is the dredging work process, control the dredging system and navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger performs dredging operations at the dredging location; When the dredging process is the mud dumping work process, control the mud dumping system and navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger performs mud dumping operations at the mud dumping location.

5. The method according to claim 4, wherein The controlling the dredging system and navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger performs dredging operations at the dredging location includes: According to the dredging depth and dredging volume in the dredging parameters, control the dredging rake and mud tank of the trailing suction hopper dredger to open at the dredging location and perform dredging operations in the low-speed navigation state of the trailing suction hopper dredger.

6. The method according to claim 4, wherein The controlling the mud dumping system and navigation system of the trailing suction hopper dredger to work, so that the trailing suction hopper dredger performs mud dumping operations at the mud dumping location includes: According to the mud dumping depth and mud dumping volume in the mud dumping parameters, control the mud dumping door and mud tank of the trailing suction hopper dredger to open at the mud dumping location and perform mud dumping operations in the low-speed navigation state of the trailing suction hopper dredger.

7. A combined dredging and navigation control system for a trailing suction hopper dredger, characterized in that, Including: A dredging planning device for determining the dredging operation process and dredging operation parameters according to the dredging work plan, where the dredging operation parameters include navigation parameters, dredging parameters, and mud dumping parameters; A parameter collection device for collecting the status parameters of each system of the trailing suction hopper dredger; A combined dredging and driving control device; Control the trailing suction hopper dredger to perform dredging operations according to the dredging operation process, where the status parameters of each system of the collected trailing suction hopper dredger meet the dredging operation parameters.

8. The system according to claim 7, wherein The dredging planning device includes: An input module for receiving a dredging work plan input by a user, where the dredging work plan includes dredging location information, spoil dumping location information, spoil dumping volume, and route information; A processing module for determining, according to the dredging location information, the spoil dumping location information, the spoil dumping volume, and the route information, a dredging work process at the dredging location, a navigation work process from the dredging location to the spoil dumping location, and a spoil dumping work process at the spoil dumping location, as well as navigation parameters, dredging parameters, and spoil dumping parameters for the dredging work process, the navigation work process, and the spoil dumping work process.

9. The system according to claim 8, characterized in that, The parameter acquisition device for acquiring status parameters of the navigation system, dredging system, and spoil dumping system of the trailing suction hopper dredger.

10. The system according to claim 9, wherein The integrated dredging and navigation control device is specifically configured to, when the dredging process is a navigation work process, control the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger sails between the dredging location and the spoil dumping location; when the dredging process is a dredging work process, control the dredging system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs dredging operations at the dredging location; when the dredging process is a spoil dumping work process, control the spoil dumping system and the navigation system of the trailing suction hopper dredger to work so that the trailing suction hopper dredger performs spoil dumping operations at the spoil dumping location.

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