Dredging and driving integrated bow blowing operation control method for trailing suction hopper dredger

Abstract

The invention relates to a dredging and driving integrated bow blowing operation control method for a trailing suction hopper dredger, which comprises the following steps of: setting bow blowing operation parameters and ship fixed-point bow blowing operation appointed position and course, and starting a dredging and driving integrated bow blowing operation mode; the intelligent navigation controller controls the ship to reach the bow blowing position according to the coordinates of the designated position and the heading direction, and the position and the heading direction of the ship are stabilized; the intelligent dredging controller automatically opens a pumping gate valve, a high-pressure flushing pump and a dredge pump intelligent control system are started, and bow blowing operation is started; in the pumping bow blowing operation process, the intelligent navigation controller always keeps the position and the heading of the ship at specified values, and the intelligent dredging controller jointly controls a pumping gate valve, a high-pressure flushing pump and a dredge pump to keep the pumping concentration and the slurry concentration and the flow speed in a conveying pipeline, so that dredging and driving integrated bow blowing operation with high precision and high efficiency is achieved. The precision and efficiency of bow blowing operation are improved, and the labor cost and the operation risk are reduced.

Description

Technical Field

[0001] This invention relates to the field of trailing suction hopper dredger technology, and in particular to a method for controlling the combined dredging and driving operation of a trailing suction hopper dredger. Background Technology

[0002] Trailing suction hopper dredgers, as an important dredging engineering equipment, play a key role in waterway improvement, port construction, and marine development. The bow pumping operation of a trailing suction hopper dredger involves connecting hoses, surface pipes, and shore pipes to transport dredged soil from the hopper to the reclamation area via pumps.

[0003] Currently, most existing bow-blowing positioning control methods for trailing suction hopper dredgers rely on manual experience. For example, controlling the vessel's position and heading requires operators to manually adjust based on experience and the actual working environment. Therefore, the skill level and proficiency of dredging operators significantly affect the effectiveness of bow-blowing operations. This not only places high demands on operators but also requires them to maintain focus and endure high labor intensity to ensure high-quality construction.

[0004] In addition, the marine operating environment is complex and changeable. Operators cannot make timely adjustments to dynamic sea conditions such as wind, waves, and currents, resulting in lag in ship attitude adjustment and inability to achieve accurate positioning, which makes it difficult to meet the high-efficiency and precise construction requirements of modern large-scale dredging projects. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a control method for bow-blowing operations of a trailing suction hopper dredger that integrates dredging and navigation. This control method maintains the vessel's position and heading through an intelligent navigation controller, replacing the traditional anchor-based bow-blowing operation. The intelligent navigation controller and intelligent dredging controller are integrated into one unit, automatically recording construction parameters during the bow-blowing process. Employing an artificial intelligence large-scale model algorithm, it continuously optimizes the recorded historical big data through optimization analysis, achieving one-click dredging with integrated dredging and navigation. This improves the accuracy and efficiency of bow-blowing operations while reducing labor costs and operational risks.

[0006] This invention is implemented as follows: a method for controlling the dredging and driving operations of a trailing suction hopper dredger, comprising the following steps:

[0007] Set the bow blowdown operation parameters, the designated location and course for the vessel's fixed-point bow blowdown operation, and start the "dredging and driving combined bow blowdown" operation mode;

[0008] The intelligent navigation controller controls the ship to reach the bow position according to the specified coordinates and heading, and stabilizes the ship's position and heading;

[0009] The intelligent dredging controller automatically opens the hull extraction gate valve, starts the high-pressure flushing pump and mud pump intelligent control system, and begins the bow blasting operation;

[0010] During the dredging and bow blowing operation, the intelligent navigation controller always keeps the ship's position and heading at the specified values. The intelligent dredging controller works in conjunction with the small mud gate, dredging gate valve, high-pressure flushing pump and mud pump to keep the dredging concentration, mud concentration and flow rate in the delivery pipeline at the set values, so as to achieve a high-precision and high-efficiency dredging and driving combined bow blowing operation.

[0011] During the dehulling and bow blowing operations, the system employs artificial intelligence big data model algorithms to continuously optimize and analyze the recorded historical big data. Through self-learning, self-adaptation, and self-memory, it iteratively updates the previous construction control parameters, enabling the dredger to perform dredging operations with optimal construction parameters.

[0012] In the above technical solution, preferably, before the start of the dredging and driving combined bow blowdown operation mode, the bow blowdown pipeline and pipeline joints are in a usable state, the tank extraction gate valve, the mud pump intelligent control system, etc. are all ready, and the intelligent navigation controller is also ready and in automatic control mode.

[0013] In the above technical solution, preferably, the method by which the intelligent navigation controller keeps the ship's position and heading at the specified values ​​is as follows: the intelligent navigation controller compares the ship's current position and heading with the ship's target position and heading according to the ship's motion model, determines the deviation value of the ship's position and heading, and controls the ship's propulsion system to keep the ship's position and heading at the specified values.

[0014] In the above technical solution, a further preferred embodiment is that during the bilging operation, the high-pressure flushing pump controller automatically controls the pressure and flow rate of the high-pressure flushing water, controls the bilging concentration through the opening of the small mud gate and the water intake gate valve, and the mud pump controller automatically controls the mud pump speed to maintain the conveying flow rate.

[0015] In the above-mentioned technical solution, a further preferred embodiment is that the ship propulsion system includes a main thruster, a side thruster, and a steering gear.

[0016] In the above technical solution, preferably, the control parameters for the bow blowdown operation include the number and sequence of opening the tank extraction gate valves, the speed of the high-pressure flushing pump, and the speed of the mud pump.

[0017] In the above technical solutions, the preferred parameters required for bow blowdown operations include ship position, ship heading, ship attitude, wind speed and direction, mud pump speed and power, mud density, mud flow rate, mud pump suction and discharge pressure, high-pressure flushing pump speed and power, high-pressure flushing flow rate and pressure, mud tank level, main / side propulsion power, main engine power, and fuel consumption.

[0018] Compared with the prior art, the advantages and positive effects of this invention are:

[0019] 1) The dredging and driving combined bow blowing operation control method of the present invention, according to the designated position and heading of the vessel for bow blowing operation, the intelligent navigation controller can control the vessel to reach the bow blowing position according to the coordinates and heading of the designated position and stabilize the vessel's state. During the decanting and bow blowing operation, the intelligent navigation controller can always keep the vessel's position and heading at the designated values. The intelligent dredging controller, in conjunction with the small mud gate, decanting gate valve, high-pressure flushing pump and mud pump, maintains the decanting concentration and the mud flow rate in the delivery pipeline at the set values. This solves the problem of inconsistent bow blowing operation efficiency caused by different operators. The intelligent navigation controller stabilizes the vessel's position and heading, replacing the traditional anchoring operation mode, realizing high-precision and high-efficiency dredging and driving combined bow blowing operation, improving the accuracy and efficiency of bow blowing operation, and reducing labor costs and operational risks.

[0020] 2) The dredging and driving combined bow-blowing operation control method of the present invention uses an intelligent navigation controller to determine the position and heading of the vessel in real time. By controlling the vessel's propulsion system, the position and heading of the vessel are always kept at a specified value, which solves the problem that anchoring positioning bow-blowing operations cannot be used in deep water areas, and ensures the stability and reliability of the project quality.

[0021] 3) The trailing suction hopper dredger's bow-blowing operation control method of the present invention can automatically record the construction parameters of the bow-blowing process and adopt an artificial intelligence big data model algorithm to continuously optimize and analyze the recorded historical big data. Through self-learning, self-adaptation, and self-memory, it continuously iterates and updates the previous construction control parameters, so that the dredger can carry out bow-blowing operations with the best construction parameters, thereby enhancing the intelligence level of the ship. Attached Figure Description

[0022] Figure 1 This is a flowchart of the control method for the combined dredging and driving operation of a trailing suction hopper dredger provided in an embodiment of the present invention. Detailed Implementation

[0023] To further understand the invention's content, features, and effects, the following embodiments are provided, and the invention will be described in detail below with reference to specific embodiments and accompanying drawings. The following embodiments will help those skilled in the art to further understand the invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the invention. These all fall within the protection scope of the invention.

[0024] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Example

[0027] Please see Figure 1 The present invention provides a method for controlling the dredging and driving operation of a trailing suction hopper dredger, comprising the following steps:

[0028] Set the bow blowdown operation parameters, the designated location and course for the vessel's fixed-point bow blowdown operation, and start the "dredging and driving combined bow blowdown" operation mode;

[0029] The intelligent navigation controller controls the ship to reach the bow position according to the specified coordinates and heading, and stabilizes the ship's position and heading;

[0030] The intelligent dredging controller automatically opens the hull extraction gate valve, starts the high-pressure flushing pump and mud pump intelligent control system, and begins the bow blasting operation;

[0031] During the dredging and bow blowing operation, the intelligent navigation controller always keeps the ship's position and heading at the specified values. The intelligent dredging controller works in conjunction with the small mud gate, dredging gate valve, high-pressure flushing pump and mud pump to keep the dredging concentration, mud concentration and flow rate in the delivery pipeline at the set values, so as to achieve a high-precision and high-efficiency dredging and driving combined bow blowing operation.

[0032] During the dehulling and bow blowing operations, the system employs artificial intelligence big data model algorithms to continuously optimize and analyze the recorded historical big data. Through self-learning, self-adaptation, and self-memory, it iteratively updates the previous construction control parameters, enabling the dredger to perform dredging operations with optimal construction parameters.

[0033] According to the requirements of the reclamation operation, the present invention selects the dredging and driving combined bow-dredging operation mode. In this mode, based on the construction control parameters, the main propeller and the lateral propeller are jointly controlled to maintain the ship's position and heading, and the dredging operation equipment such as the small mud gate, the hull removal gate valve, the mud pump and the high-pressure flushing pump are controlled to enable the dredger to automatically carry out efficient reclamation operation according to the set ship position and heading.

[0034] Before the start of the combined dredging and driving bow blowdown operation mode, the bow blowdown pipeline and pipeline joints were all in a usable state, the hull extraction gate valve, the mud pump intelligent control system, etc. were all ready, and the intelligent navigation controller was also ready and in automatic control mode.

[0035] During bow dredging operations, in addition to the thrust from the ship's own propellers and the external forces of wind, waves, and ocean currents, the trailing suction hopper dredger is also subjected to the reaction force generated during the bow dredging operation. The intelligent navigation controller maintains the ship's position and heading at specified values ​​by comparing the ship's current position and heading with its target position and heading based on the ship's motion model, determining the deviation, and controlling the propulsion system to maintain the ship's position and heading at the specified values, thus meeting the requirements of the bow dredging operation.

[0036] During the slurry pumping operation, the high-pressure flushing pump controller automatically controls the pressure and flow rate of the high-pressure flushing water, controls the slurry concentration through the opening of the small mud gate and the water intake gate valve, and automatically controls the mud pump speed to maintain the conveying flow rate.

[0037] The ship's propulsion system includes a main thruster, side thrusters, and a steering gear.

[0038] The control parameters for bow blowdown operations include the number and sequence of opening the tank extraction gate valves, the speed of the high-pressure flushing pump, and the speed of the mud pump.

[0039] The relevant parameters required for bow blowdown operations include ship position, heading, ship attitude, wind speed and direction, mud pump speed and power, mud density, mud flow rate, mud pump suction and discharge pressure, high-pressure flushing pump speed and power, high-pressure flushing flow rate and pressure, mud tank level, main / side propulsion power, main engine power, fuel consumption, etc.

[0040] After dredging and loading are completed, the system automatically controls the vessel to sail at high speed to the unloading area according to the planned path to carry out bow-filling operations. Based on the requirements of the filling operation and the construction control parameters, the system jointly controls the main propeller and lateral propeller to maintain the vessel's position and heading, and controls dredging equipment such as the tank removal valve, mud pump and high-pressure flushing pump to enable the dredger to carry out automatic and efficient filling operations according to the set vessel position and heading.

[0041] This invention solves the problem of inconsistent bow dredging efficiency caused by different operators. It uses an intelligent navigation controller to stabilize the ship's position and heading, replacing the traditional anchoring operation mode. The intelligent navigation controller can always keep the ship's position and heading at the specified values. The intelligent dredging controller, in conjunction with the decanting gate valve, high-pressure flushing pump and mud pump, keeps the decanting concentration, mud concentration and flow rate in the delivery pipeline at the set values. This achieves high-precision and high-efficiency bow dredging operation that combines dredging and navigation, improves the accuracy and efficiency of bow dredging operation, and reduces labor costs and operational risks.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A method for controlling the dredging and driving operations of a trailing suction hopper dredger, characterized in that, Includes the following steps: Set the bow blowdown operation parameters, the designated location and course for the vessel's fixed-point bow blowdown operation, and start the "dredging and driving combined bow blowdown" operation mode; The intelligent navigation controller controls the ship to reach the bow position according to the specified coordinates and heading, and stabilizes the ship's position and heading; The intelligent dredging controller automatically opens the hull extraction gate valve, starts the high-pressure flushing pump and mud pump intelligent control system, and begins the bow blasting operation; During the dredging and bow blowing operation, the intelligent navigation controller always keeps the ship's position and heading at the specified values. The intelligent dredging controller works in conjunction with the small mud gate, dredging gate valve, high-pressure flushing pump and mud pump to keep the dredging concentration, mud concentration and flow rate in the delivery pipeline at the set values, so as to achieve a high-precision and high-efficiency dredging and driving combined bow blowing operation. During the dehulling and bow blowing operations, the system employs artificial intelligence big data model algorithms to continuously optimize and analyze the recorded historical big data. Through self-learning, self-adaptation, and self-memory, it iteratively updates the previous construction control parameters, enabling the dredger to perform dredging operations with optimal construction parameters.

2. The method for controlling the combined dredging and driving operation of a trailing suction hopper dredger according to claim 1, characterized in that, Before the start of the combined dredging and navigation bow blowdown operation mode, the bow blowdown pipeline and pipeline joints are all in a usable state, the hull extraction gate valve, the mud pump intelligent control system, etc. are all ready, and the intelligent navigation controller is also ready and in automatic control mode.

3. The method for controlling the combined dredging and driving operation of a trailing suction hopper dredger according to claim 1, characterized in that, The intelligent navigation controller maintains the ship's position and heading at specified values ​​by comparing the ship's current position and heading with the target position and heading based on the ship's motion model, determining the deviation value of the ship's position and heading, and controlling the ship's propulsion system to maintain the ship's position and heading at specified values.

4. The method for controlling the combined dredging and driving operation of a trailing suction hopper dredger according to claim 1 or 3, characterized in that, During the slurry pumping operation, the high-pressure flushing pump controller automatically controls the pressure and flow rate of the high-pressure flushing water, controls the slurry concentration through the opening of the small mud gate and the water intake gate valve, and automatically controls the mud pump speed to maintain the conveying flow rate.

5. The method for controlling the combined dredging and driving operation of a trailing suction hopper dredger according to claim 3, characterized in that, The ship's propulsion system includes a main thruster, side thrusters, and a steering gear.

6. The method for controlling the combined dredging and driving operation of a trailing suction hopper dredger according to claim 1, characterized in that, The control parameters for bow blowdown operations include the number and sequence of opening the tank extraction gate valves, the speed of the high-pressure flushing pump, and the speed of the mud pump.

7. The method for controlling the combined dredging and driving operation of a trailing suction hopper dredger according to claim 1, characterized in that, The relevant parameters required for bow blowdown operations include ship position, heading, ship attitude, wind speed and direction, mud pump speed and power, mud density, mud flow rate, mud pump suction and discharge pressure, high-pressure flushing pump speed and power, high-pressure flushing flow rate and pressure, mud tank level, main / side propulsion power, main engine power, fuel consumption, etc.

Images