Control system and method for six-point truss type sand suction lifting device of geotextile laying ship

Abstract

The invention discloses a geotextile laying ship six-point truss type sand suction lifting device control system which comprises a sensor module used for monitoring various parameter data of electrical equipment in real time; the central processing module is used for analyzing and processing the data transmitted by the sensor module in real time and generating a corresponding control instruction according to the operation state of the electrical equipment and a preset control strategy; the communication module is used for carrying out data exchange and control with external equipment; the controller is also used for transmitting the operation state and the fault information to the monitoring center; the monitoring center is used for knowing the operation condition of the electrical equipment in real time through remote monitoring and carrying out remote control and fault processing; and the execution module is used for controlling the operation of the electrical equipment through execution equipment according to the corresponding control instruction. The invention further discloses a control method of the six-point truss type sand suction lifting device of the geotextile laying ship. The operation efficiency and the safety performance are improved.

Description

Technical Field

[0001] The invention relates to a control system and method for a six-point truss sand suction lifting device of a laying ship. Background Art

[0002] A laying ship is an engineering vessel used for channel management and coastal bottom protection projects. It can lift concrete interlocking blocks and mortar transported from barges through the lifting equipment and sand suction and filling equipment installed on the laying ship, and suck and discharge mortar to the laying arrangements, sand bags, and sand ribs, and then transport them to the seabed.

[0003] Traditional laying ship sand suction and filling needs to be completed through manual operation of different equipment. The sand suction pump motor, cable, sand suction pump must be connected to the ship-end delivery pipeline and distribution box first, and then the sand suction pump must be hoisted into the barge cabin. The pre-construction preparation process is cumbersome, the labor cost is high, and the construction efficiency is low. During the startup, the operator cannot directly observe the actual operation of the pump, and the relative safety value is low. During the entire construction period, 6-7 workers are required to continuously operate the flushing nozzle to sweep the barge cabin, and at the same time adjust the position of the mud pump in real time to achieve the required suction concentration of the mud pump. The labor demand is large, which leads to increased labor costs, and the operator needs to have certain work experience. The operator must be highly concentrated during the entire operation to prevent the mortar concentration from being too high and the mud pump from overturning, which may lead to production accidents.

[0004] Therefore, in order to solve the above problems, a control system and method for a six-point truss sand suction lifting device of a laying ship are provided. Summary of the Invention

[0005] The purpose of the present invention is to overcome the existing defects and provide a control system and method for a six-point truss sand suction lifting device of a laying ship, thereby improving the operating efficiency and safety performance.

[0006] The technical solution to achieve the above purpose is:

[0007] A control system for a six-point truss sand suction and lifting device of a laying ship according to one embodiment of the present invention comprises:

[0008] Sensor module, used to monitor various parameter data of electrical equipment in real time;

[0009] A central processing module is used to analyze and process the data transmitted by the sensor module in real time, and generate corresponding control instructions according to the operating status of the electrical equipment and the preset control strategy;

[0010] Communication module, used for data exchange and control with external devices; also used for transmitting operating status and fault information to the monitoring center;

[0011] The monitoring center is used to understand the operation status of electrical equipment in real time through remote monitoring, and to perform remote control and fault handling;

[0012] The execution module is used to control the operation of the electrical equipment through the execution device according to the corresponding control instructions.

[0013] Preferably, in the sensor module, the sensors include but are not limited to a weight sensor, a temperature sensor, a current sensor and a voltage sensor, and the parameters include but are not limited to weight, temperature, current and voltage.

[0014] Preferably, the central processing module is a microprocessor with a built-in intelligent control algorithm, specifically including:

[0015] The data analysis unit is used to analyze and process data through intelligent control algorithms to determine whether the operating status of various electrical equipment deviates from the normal range;

[0016] The first fault processing unit is used to generate corresponding control instructions according to a preset control strategy after determining that the operating status of the electrical equipment deviates from the normal range, and transmit the control instructions to the execution module to adjust the electrical equipment. If a fault is detected that cannot be resolved by the control strategy, it is sent to the monitoring center.

[0017] Preferably, the communication protocols supported by the communication module include but are not limited to Modbus, Profibus, Profinet and CANopen.

[0018] Preferably, the monitoring center includes:

[0019] A receiving and displaying unit is used to receive and display the operating conditions of the electrical equipment, including operating status, fault conditions, and control strategies preset according to the fault conditions;

[0020] The second fault handling unit is used to display the faults that cannot be handled by the first fault handling unit, and to handle the faults through monitoring personnel, generate corresponding control strategies, and then generate corresponding control instructions, which are sent to the execution module, and the generated control strategies and the corresponding resolved faults are added to the first fault handling unit.

[0021] Preferably, in the execution module, the execution equipment includes but is not limited to relays, contactors and frequency converters, the control equipment of the electrical equipment includes but is not limited to MCC cabinets, frequency converter cabinets, brake resistor cabinets, drag chain control boxes, trolley local control boxes, robotic arm mud pump control boxes, cable reels, truss crane field control cabinets and motor control cabinets, and the operations of the electrical equipment include but are not limited to starting, stopping and speed regulation.

[0022] A second method of controlling a six-point truss sand suction and lifting device of a laying ship of the present invention comprises:

[0023] Step S1: When the system starts, the central processing module initializes the sensor module, communication module and execution module, and at the same time, loads the preset control strategy and parameter settings, as well as communication detection and inverter self-detection;

[0024] Step S2, the sensor module monitors the operating status of the electrical equipment in real time and transmits the monitoring data to the central processing module;

[0025] Step S3, the central processing module analyzes the data according to the intelligent control algorithm to determine whether there is any abnormality in the electrical equipment;

[0026] Step S4, when it is detected that the operating state of the electrical equipment deviates from the normal range, the central processing module generates corresponding control instructions according to the preset control strategy, and adjusts the electrical equipment through the execution module;

[0027] Step S5: The communication module transmits the system's operating status, fault conditions, and control strategies preset according to the fault conditions to the monitoring center;

[0028] In step S6, the monitoring personnel can understand the operation status of the electrical equipment in real time through remote monitoring, and perform remote control and fault handling.

[0029] Preferably, in step S1, the communication detection includes but is not limited to the truss crane trolley IO controller slave station communication detection, the truss crane trolley absolute encoder slave station communication detection, the truss crane lifting absolute encoder slave station communication detection, the truss crane trolley absolute encoder slave station communication detection, the truss crane lifting inverter slave station communication detection, the truss crane trolley inverter slave station communication detection, the truss crane port trolley inverter slave station communication detection and the truss crane starboard trolley inverter slave station communication detection.

[0030] Preferably, in step S4, the control and execution functions include:

[0031] The truss crane trolley mechanism moves toward the bow or stern of the ship through stepless speed regulation;

[0032] The truss crane trolley mechanism moves the lifting mechanism to port or starboard through stepless speed regulation;

[0033] The truss crane hoisting mechanism moves upward or downward through stepless speed regulation;

[0034] The truss folding arm mechanism controls the folding arm wire rope drum to reel in and out at a constant speed, thereby achieving the lifting and leveling of the left and right folding arms.

[0035] The cable drum mechanism automatically controls the cable reeling and releasing through the cable drum motor, and moves to the port and starboard in coordination with the lifting mechanism;

[0036] The hydraulic station is used to control the extension and retraction of the main arm cylinder, auxiliary arm cylinder, flushing swing cylinder, and flushing tilt cylinder of the robotic arm;

[0037] The braking resistor consumes excess power fed back by the motor.

[0038] Preferably, in step S6, the monitoring center receives and displays the operating status of the electrical equipment, fault conditions, control strategies preset according to the fault conditions, and unresolved fault conditions. The monitoring center processes the unresolved faults through monitoring personnel, generates corresponding control strategies, and then generates corresponding control instructions, which are sent to the execution module, and the generated control strategies and corresponding resolved faults are added to the central processing module.

[0039] The beneficial effects of the present invention are: the present invention monitors the operating status of electrical equipment in real time through the sensor module, the central processing module performs intelligent analysis and decision-making based on the monitoring data, the communication module is responsible for data exchange with external equipment, and the execution module controls the operation of the electrical equipment according to the instructions of the central processing module, thereby achieving safe and reliable control, minimizing the labor intensity and labor costs of operators, and can effectively improve the medium-precision control, safety performance and construction efficiency of the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a module diagram of a control system for a six-point truss sand suction and lifting device of a laying ship according to the present invention;

[0041] Figure 2 It is a specific module diagram of the central processing module in the present invention;

[0042] Figure 3 It is a specific module diagram of the monitoring center in the present invention;

[0043] Figure 4 The present invention is a flow chart of a control method for a six-point truss sand suction and lifting device of a laying ship. DETAILED DESCRIPTION

[0044] 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] The present invention will be further described below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, a control system for a six-point truss sand suction and lifting device of a laying ship includes: a sensor module 1, a central processing module 2, a communication module 3, a monitoring center 4 and an execution module 5.

[0047] The sensor module 1 is used to monitor various parameter data of electrical equipment in real time.

[0048] In the embodiment, the sensors include but are not limited to weight sensors, temperature sensors, current sensors and voltage sensors, and the parameters include but are not limited to weight, temperature, current and voltage.

[0049] The central processing module 2 is used to analyze and process the data transmitted by the sensor module 1 in real time, and generate corresponding control instructions according to the operating status of the electrical equipment and the preset control strategy.

[0050] like Figure 2 As shown, the central processing module 2 is a microprocessor with a built-in intelligent control algorithm, specifically including:

[0051] The data analysis unit 21 is used to analyze and process data through intelligent control algorithms to determine whether the operating status of various electrical devices deviates from the normal range;

[0052] The first fault processing unit 22 is used to generate corresponding control instructions according to the preset control strategy after determining that the operating status of the electrical equipment deviates from the normal range, and transmit the control instructions to the execution module 5, thereby adjusting the electrical equipment. If a fault is detected that cannot be resolved by the control strategy, it is sent to the monitoring center 4.

[0053] The communication module 3 is used for data exchange and control with external devices; it is also used to transmit operating status and fault information to the monitoring center 4 to facilitate timely detection and handling of problems.

[0054] In the embodiment, the communication module 3 supports communication protocols including but not limited to Modbus, Profibus, Profinet and CANopen.

[0055] The monitoring center 4 is used to understand the operation status of electrical equipment in real time through remote monitoring, and to perform remote control and fault handling.

[0056] like Figure 3 As shown, the monitoring center 4 includes:

[0057] The receiving and displaying unit 41 is used to receive and display the operating conditions of the electrical equipment, including the operating status, fault conditions, and control strategies preset according to the fault conditions;

[0058] The second fault handling unit 42 is used to display the faults that cannot be handled by the first fault handling unit 21, and to handle the faults through monitoring personnel, generate corresponding control strategies, and then generate corresponding control instructions, which are sent to the execution module 5, and the generated control strategies and the corresponding resolved faults are added to the first fault handling unit 21.

[0059] The execution module 5 is used to control the operation of the electrical equipment through the execution device according to the corresponding control instructions. It has high reliability and fast response capabilities and can ensure the stable operation of the electrical equipment.

[0060] In the embodiment, the execution equipment includes but is not limited to relays, contactors and frequency converters, the control equipment of the electrical equipment includes but is not limited to MCC cabinets, frequency converter cabinets, brake resistor cabinets, drag chain control boxes, trolley local control boxes, robotic arm mud pump control boxes, cable reels, truss crane field control cabinets and motor control cabinets, and the operations of the electrical equipment include but are not limited to starting, stopping and speed regulation.

[0061] like Figure 4 As shown, a control method for a six-point truss sand suction and lifting device of a laying ship includes:

[0062] Step S1, when the system starts, the central processing module 2 initializes the sensor module 1, the communication module 3 and the execution module 5 to ensure the normal operation of each module. At the same time, it loads the preset control strategy and parameter settings, as well as communication detection and inverter self-detection.

[0063] In an embodiment, communication detection includes but is not limited to truss crane trolley frame IO controller slave station communication detection, truss crane trolley absolute encoder slave station communication detection, truss crane lifting absolute encoder slave station communication detection, frame crane trolley absolute encoder slave station communication detection, truss crane lifting inverter slave station communication detection, truss crane trolley inverter slave station communication detection, truss crane port trolley inverter slave station communication detection and truss crane starboard trolley inverter slave station communication detection.

[0064] In step S2 , the sensor module 1 monitors the operating status of the electrical equipment in real time and transmits the monitoring data to the central processing module 2 .

[0065] In step S3, the central processing module 2 analyzes the data according to the intelligent control algorithm to determine whether there is any abnormality in the electrical equipment.

[0066] Step S4 , when it is detected that the operating state of the electrical equipment deviates from the normal range, the central processing module 2 generates corresponding control instructions according to a preset control strategy, and adjusts the electrical equipment through the execution module 5 .

[0067] In an embodiment, the functions of control and execution include:

[0068] The truss crane trolley mechanism moves toward the bow or stern of the ship through stepless speed regulation;

[0069] The truss crane trolley mechanism moves the lifting mechanism to port or starboard through stepless speed regulation;

[0070] The truss crane hoisting mechanism moves upward or downward through stepless speed regulation;

[0071] The truss folding arm mechanism controls the folding arm wire rope drum to reel in and out at a constant speed, thereby achieving the lifting and leveling of the left and right folding arms.

[0072] The cable drum mechanism automatically controls the cable reeling and releasing through the cable drum motor, and moves to the port and starboard in coordination with the lifting mechanism;

[0073] The hydraulic station is used to control the extension and retraction of the main arm cylinder, auxiliary arm cylinder, flushing swing cylinder, and flushing tilt cylinder of the robotic arm;

[0074] The braking resistor consumes excess power fed back by the motor.

[0075] In step S5, the communication module 3 transmits the system's operating status, fault conditions, control strategies preset according to the fault conditions, and unresolved fault conditions to the monitoring center 4.

[0076] In step S6, the monitoring personnel can understand the operation status of the electrical equipment in real time through remote monitoring, and perform remote control and fault handling.

[0077] In the embodiment, the monitoring center 4 receives and displays the operating status, fault conditions, control strategies preset according to the fault conditions, and unresolved fault conditions of the electrical equipment. The monitoring center 4 processes the unresolved faults through monitoring personnel, generates corresponding control strategies, and then generates corresponding control instructions, which are sent to the execution module 5, and the generated control strategies and the corresponding resolved faults are added to the central processing module 2.

[0078] 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 they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for a six-point truss sand suction and lifting device for a laying ship, characterized in that: include: Sensor module, used to monitor various parameter data of electrical equipment in real time; A central processing module is used to analyze and process the data transmitted by the sensor module in real time, and generate corresponding control instructions according to the operating status of the electrical equipment and the preset control strategy; Communication module, used for data exchange and control with external devices; also used for transmitting operating status and fault information to the monitoring center; The monitoring center is used to understand the operation status of electrical equipment in real time through remote monitoring, and to perform remote control and fault handling; The execution module is used to control the operation of the electrical equipment through the execution device according to the corresponding control instructions.

2. A control system for a six-point truss sand suction and lifting device for a laying ship according to claim 1, characterized in that: In the sensor module, sensors include but are not limited to weight sensors, temperature sensors, current sensors and voltage sensors, and parameters include but are not limited to weight, temperature, current and voltage.

3. The control system of a six-point truss sand suction and lifting device for a laying ship according to claim 1, characterized in that: The central processing module is a microprocessor with a built-in intelligent control algorithm, specifically including: The data analysis unit is used to analyze and process data through intelligent control algorithms to determine whether the operating status of various electrical equipment deviates from the normal range; The first fault processing unit is used to generate corresponding control instructions according to a preset control strategy after determining that the operating status of the electrical equipment deviates from the normal range, and transmit the control instructions to the execution module to adjust the electrical equipment. If a fault is detected that cannot be resolved by the control strategy, it is sent to the monitoring center.

4. The control system of a six-point truss sand suction and lifting device for a laying ship according to claim 1, characterized in that: The communication protocols supported by the communication module include but are not limited to Modbus, Profibus, Profinet and CANopen.

5. The control system of the six-point truss sand suction and lifting device of a laying ship according to claim 3 is characterized in that: The monitoring center includes: A receiving and displaying unit is used to receive and display the operating conditions of the electrical equipment, including operating status, fault conditions, and control strategies preset according to the fault conditions; The second fault handling unit is used to display the faults that cannot be handled by the first fault handling unit, and to handle the faults through monitoring personnel, generate corresponding control strategies, and then generate corresponding control instructions, which are sent to the execution module, and the generated control strategies and the corresponding resolved faults are added to the first fault handling unit.

6. The control system of the six-point truss sand suction and lifting device of a laying ship according to claim 1 is characterized in that: In the execution module, the execution equipment includes but is not limited to relays, contactors and frequency converters; the control equipment of the electrical equipment includes but is not limited to MCC cabinets, frequency converter cabinets, brake resistor cabinets, drag chain control boxes, trolley local control boxes, robotic arm mud pump control boxes, cable reels, truss crane field control cabinets and motor control cabinets; the operation of the electrical equipment includes but is not limited to starting, stopping and speed regulation.

7. A control method for a six-point truss sand suction and lifting device of a laying ship, characterized in that: include: Step S1: When the system starts, the central processing module initializes the sensor module, communication module and execution module, and at the same time, loads the preset control strategy and parameter settings, as well as communication detection and inverter self-detection; Step S2, the sensor module monitors the operating status of the electrical equipment in real time and transmits the monitoring data to the central processing module; Step S3, the central processing module analyzes the data according to the intelligent control algorithm to determine whether there is any abnormality in the electrical equipment; Step S4, when it is detected that the operating state of the electrical equipment deviates from the normal range, the central processing module generates corresponding control instructions according to the preset control strategy, and adjusts the electrical equipment through the execution module; Step S5: The communication module transmits the system's operating status, fault conditions, control strategies preset according to the fault conditions, and unresolved fault conditions to the monitoring center; In step S6, the monitoring personnel can understand the operation status of the electrical equipment in real time through remote monitoring, and perform remote control and fault handling.

8. The control method of the six-point truss sand suction and lifting device of a laying ship according to claim 7 is characterized in that: In the step S1, the communication detection includes but is not limited to the truss crane trolley IO controller slave station communication detection, the truss crane trolley absolute encoder slave station communication detection, the truss crane lifting absolute encoder slave station communication detection, the truss crane trolley absolute encoder slave station communication detection, the truss crane lifting inverter slave station communication detection, the truss crane trolley inverter slave station communication detection, the truss crane port trolley inverter slave station communication detection and the truss crane starboard trolley inverter slave station communication detection.

9. The control method of the six-point truss sand suction and lifting device of a laying ship according to claim 7, characterized in that: In step S4, the control and execution functions include: The truss crane trolley mechanism moves toward the bow or stern of the ship through stepless speed regulation; The truss crane trolley mechanism moves the lifting mechanism to port or starboard through stepless speed regulation; The truss crane hoisting mechanism moves upward or downward through stepless speed regulation; The truss folding arm mechanism controls the folding arm wire rope drum to reel in and out at a constant speed, thereby achieving the lifting and leveling of the left and right folding arms. The cable drum mechanism automatically controls the cable reeling and releasing through the cable drum motor, and moves to the port and starboard in coordination with the lifting mechanism; The hydraulic station is used to control the extension and retraction of the main arm cylinder, auxiliary arm cylinder, flushing swing cylinder, and flushing tilt cylinder of the robotic arm; The braking resistor consumes excess power fed back by the motor.

10. The control method of a six-point truss sand suction and lifting device for a laying ship according to claim 7, characterized in that: In step S6, the monitoring center receives and displays the operating status of the electrical equipment, fault conditions, control strategies preset according to the fault conditions, and unresolved fault conditions. The monitoring center processes the unresolved faults through monitoring personnel, generates corresponding control strategies, and then generates corresponding control instructions, which are sent to the execution module, and the generated control strategies and corresponding resolved faults are added to the central processing module.

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