Hydraulic lifting type spiral sand boat plane cabin device and stability optimization method thereof

Abstract

This invention relates to the field of cargo hold leveling control technology, specifically to a hydraulic lifting type spiral leveling device for sand carriers and its stability optimization method. This method acquires the lateral profile of the sand and gravel pile in real time, identifies the direction and degree of pile tilt, and dynamically calculates the target amount of material to be transferred from the tilted higher side to balance the left and right material heights based on the calibrated material capture rate combined with the profile information. It analyzes and optimizes the asymmetrical sand and gravel pile by adjusting the angle deflection, sets the basic pushing speed of the spiral mechanism based on the height difference between the two sides after material distribution, and incorporates the ship's roll angle for speed compensation correction. This invention adjusts the guide plate deflection based on the analysis of the sand and gravel pile shape in the cargo hold, and combines this with the speed adjustment of the spiral structure's drive mechanism to achieve dynamic balance distribution of sand and gravel, lower the cargo's center of gravity height, reduce the ship's heeling moment, and simultaneously improve leveling operation efficiency, ship navigation stability, and overall cargo carrying capacity.

Description

Technical Field

[0001] This invention relates to the field of hull leveling control technology, specifically to a hydraulic lifting spiral hull leveling device for sand dredgers and its stability optimization method. Background Technology

[0002] Inland waterway self-unloading sand vessels are widely used in sand and gravel transportation due to their ability to unload cargo autonomously without relying on large loading and unloading equipment at docks, and their flexibility in berthing at different shorelines. They have become the preferred vessel type for ship owners looking to upgrade their transport capacity. However, when bulk cargoes such as sand and gravel naturally accumulate in the cargo hold, they easily form wedge-shaped sharp corners. During ship navigation, the rolling motion can cause the bulk cargo in the hold to slip, generating additional tilting moments that severely restrict the safe operation of inland waterway self-unloading sand vessels.

[0003] Trimming can effectively reduce the additional tilting moment of bulk cargo slippage, the height of the cargo's center of gravity, and the lateral wind exposure area, which is beneficial to improving ship stability and safety. However, current trimming processes generally use fixed scrapers or manual intervention, resulting in low trimming efficiency, high work intensity, and difficulty in ensuring the uniform distribution of cargo in the hold. There is still a risk of slippage due to the high center of gravity of the cargo and the wedge-shaped accumulation of high-density bulk sand and gravel. Summary of the Invention

[0004] To address the technical problems inherent in existing leveling processes, which typically employ fixed scrapers or manual intervention, resulting in low leveling efficiency, high workload, difficulty in ensuring uniform cargo distribution within the hold, and the continued risk of slippage due to high center of gravity and wedge-shaped accumulation of high-density bulk sand and gravel, this invention aims to provide a hydraulic lifting spiral leveling device for sand carriers and its stability optimization method. The specific technical solution adopted is as follows:

[0005] This invention provides a hydraulic lifting type spiral leveling device for sand dredgers. The device includes a horizontal operation module, which includes a leveling unit and a dynamic adjustment system. The leveling unit includes a material distribution mechanism and a spiral device. The material distribution mechanism includes a material distribution guide plate for cutting and pushing materials, and the spiral structure includes two sets of spiral units symmetrically arranged on the left and right for pushing materials. The dynamic adjustment system includes a data acquisition unit, a data processing unit, and a control unit.

[0006] The output terminal of the data acquisition unit is connected to the signal input terminal of the data processing unit, and the signal output terminal of the data processing unit is connected to the signal input terminal of the control unit. The control unit is used to output control commands to the trim unit.

[0007] The data acquisition unit acquires the transverse level data of the sand and gravel pile in each working section that moves longitudinally along the ship's cabin using an ultrasonic level sensor, and transmits the contour information composed of the level data to the data processing unit.

[0008] The data processing unit is used to determine the material capture rate by measuring the volume change of the sand and gravel pile as it is cut into by the distribution guide plate during the expected calibration experiment.

[0009] Based on the aforementioned contour information, the degree of horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide plate is located is analyzed to determine the high side of the skew and the amount of deviation. Based on the contour height distribution and the amount of deviation of the high side of the skew, combined with the length to be run in the working section, the target material distribution volume index of the high side of the skew is determined.

[0010] By analyzing the angular deviation between the material distribution guide plate and the cut slope line, and combining the target material distribution volume index and material capture rate, the adjustment angle coefficient of the material distribution guide plate is obtained; the adjustment angle coefficient is then transmitted to the control unit to adjust the deviation angle of the material distribution guide plate.

[0011] The basic pushing speed of the spiral structures on both sides is determined by the difference in the unfilled height on both sides of the centerline of the cargo hold where the material distribution guide plate is located in the contour information; the basic pushing speed and the current ship roll angle are transmitted to the control unit to adjust the basic pushing speed of the spiral structures on both sides.

[0012] Furthermore, based on the contour information, analyzing the degree of horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide is located, and determining the skew height and deviation amount, includes:

[0013] Obtain the peak points in the contour information. When the peak point is located to the left of the cargo hold centerline, the side with the higher skew is recorded as the left side; when the peak point is located to the right of the cargo hold centerline, the side with the higher skew is recorded as the right side.

[0014] The shortest vertical distance between the peak point and the centerline of the cargo hold on the horizontal plane is taken as the deviation.

[0015] Furthermore, the method for obtaining the target material distribution volume index includes:

[0016] For each side of the material distribution guide, the height distribution value of each side is obtained based on the mean of all material level data in the contour information; the difference in height distribution values ​​between the two sides of the material distribution guide is taken as the target height deviation; the material distribution cross-sectional dimension is obtained by combining the target height deviation and the deviation amount.

[0017] The distance between the material distribution guide plate and the corresponding lateral position of the contour information is taken as the running length; the target material distribution volume index is obtained by combining the material distribution cross-section and the running length.

[0018] Furthermore, the method for obtaining the adjustment angle coefficient includes:

[0019] On the non-skewed high side of the peak point of the contour information, the perpendicular direction of the contour information in the slope direction is taken as the most deviated direction; the angle between the central axis direction of the current material distribution guide and the most deviated direction is normalized to obtain the current material distribution influence coefficient.

[0020] The target maximum material distribution amount is determined by combining the material distribution influence coefficient and the target material distribution volume index;

[0021] The product of the target maximum material distribution rate and the material capture rate is used as the expected material distribution volume index; the ratio of the expected material distribution volume index to the target material distribution volume index is used as the adjustment angle coefficient.

[0022] Furthermore, the step of transmitting the adjustment angle coefficient to the control unit to adjust the deviation angle of the material distribution guide plate includes:

[0023] The product of the current tilt angle of the material distribution guide plate and the adjustment coefficient is taken as the degree to be adjusted. The degree to be adjusted is increased by the tilt angle of the current material distribution guide plate in the direction of the greatest deviation to obtain the angle to be adjusted.

[0024] If the angle to be adjusted is less than the preset limit angle, the tilt angle of the material distribution guide plate is controlled by the control unit to be the angle to be adjusted; otherwise, the tilt angle of the material distribution guide plate is controlled to be the preset limit angle.

[0025] Furthermore, the method for obtaining the basic push speed includes:

[0026] For each side of the material distribution guide, the difference between the lowest material level data in the contour information and the preset target height is used as the filling height difference for each side; combined with the filling height difference and the desired speed height mapping coefficient, the basic pushing speed for each side is determined.

[0027] Furthermore, the step of transmitting the basic push speed and the current ship roll angle to the control unit to adjust the basic push speed of the two-sided helical structures includes:

[0028] Obtain the current roll angle of the ship in the lateral direction. When the absolute value of the roll angle is higher than a preset angle threshold, increase the base push speed on the side of the roll angle inclination by a preset ratio and decrease the base push speed on the side of the non-roll angle inclination by a preset ratio to obtain the final push speed on both sides; otherwise, use the base push speed on both sides as the final push speed.

[0029] The control unit controls the spiral units on both sides of the spiral structure to run at the final pushing speed.

[0030] Furthermore, the method for obtaining the material capture rate includes:

[0031] Under the desired calibration experiment, the average volume of sand and gravel volume change on the left and right sides is obtained as the effective flow volume;

[0032] Obtain the height difference between the maximum height of the sand and gravel pile before and after material separation, as well as the sliding distance of the device; combine the width and height difference of the sand and gravel pile with the sliding distance of the device to obtain the maximum separable volume;

[0033] The ratio of effective flow volume to maximum dispensable volume is used as the material capture rate.

[0034] Furthermore, when the peak point is located on the centerline of the cargo hold, the tilt angle of the material distribution guide plate is controlled to be zero by the control unit.

[0035] The present invention also provides a stability optimization method for a hydraulic lifting sand hull spiral trimming device, the method comprising:

[0036] In each working section that moves longitudinally along the ship's hold, the lateral contour information of the sand and gravel pile is obtained; the material capture rate is determined by the volume change of the sand and gravel pile when it is cut into by the distribution guide plate under the expected calibration experiment.

[0037] Based on the aforementioned contour information, the degree of horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide plate is located is analyzed to determine the high side of the skew and the amount of deviation. Based on the contour height distribution and the amount of deviation of the high side of the skew, combined with the working time of the working section, the target material distribution volume index of the high side of the skew is determined.

[0038] By analyzing the angular deviation between the material distribution guide plate and the cut slope line, and combining the target material distribution volume index and material capture rate, the adjustment angle coefficient of the material distribution guide plate is obtained; the deviation angle of the material distribution guide plate is adjusted based on the adjustment angle coefficient.

[0039] The basic pushing speed of the spiral structures on both sides is determined by the difference in the unfilled height on both sides of the centerline of the cargo hold where the material distribution guide plate is located in the contour information; the basic pushing speed of the spiral structures on both sides is adjusted by the current ship roll angle.

[0040] The present invention has the following beneficial effects:

[0041] This invention acquires the lateral contour of the sand and gravel pile in real time, identifies the direction and degree of pile tilt, and dynamically calculates the target amount of material to be transferred from the higher tilt side to balance the left and right material heights based on the material capture rate obtained from calibration and contour information. It analyzes and optimizes the asymmetrical sand and gravel pile by adjusting the angle deflection, and adjusts the guide plate deflection in real time through the control unit to improve the more stable diversion of material to the lower side and improve the balancing and pushing efficiency. Furthermore, the system sets the basic pushing speed of the screw mechanism based on the height difference between the two sides after material distribution and incorporates the ship's roll angle for speed compensation correction, effectively offsetting the adverse effects of ship swaying on the leveling effect and ensuring material stability. This invention adjusts the guide plate deflection based on the analysis of the sand and gravel pile shape in the cargo hold, and combines this with the drive and speed adjustment of the screw structure to achieve dynamic balanced distribution of sand and gravel, lowering the cargo's center of gravity height, reducing the ship's heeling moment, and simultaneously improving the leveling operation efficiency, ship navigation stability, and overall cargo carrying capacity. Attached Figure Description

[0042] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart illustrating a stability optimization method for a hydraulic lifting sand barge spiral trimming device according to an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the flattening unit structure of a hydraulic lifting spiral flattening device for sand dredgers provided in an embodiment of the present invention;

[0045] Figure 3 This is a front view schematic diagram of the flattening unit structure of a hydraulic lifting spiral flattening device for a sand barge, provided in an embodiment of the present invention.

[0046] Figure 4 This is a side view schematic diagram of the flattening unit structure of a hydraulic lifting sand barge spiral flattening device according to an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the material distribution mechanism of a hydraulic lifting type spiral leveling device for sand dredgers, provided in one embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram illustrating the cutting of a material distribution guide plate according to an embodiment of the present invention;

[0049] Figure 7This is a schematic diagram of the inclined contact of a material distribution guide plate according to an embodiment of the present invention;

[0050] Please label the following components on the attached diagram, referring to the accompanying drawings: 1. Material distribution guide plate; 2. Rotating shaft; 3. Crossbeam; 4. Forward conveying screw unit; 5. Slide rail; 6. Ultrasonic sensor; 7. Hydraulic rod; 8. Reverse conveying screw unit. Detailed Implementation

[0051] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a hydraulic lifting sand barge spiral leveling device and its stability optimization method according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0053] The following, with reference to the accompanying drawings, details the specific scheme of a hydraulic lifting spiral leveling device for sand dredgers and its stability optimization method provided by the present invention. Figures 2 to 5 A hydraulic lifting sand barge spiral leveling device includes a material distribution mechanism in its leveling unit comprising a material distribution guide plate 1, a rotating shaft 2, and an ultrasonic sensor 6. The spiral structure includes a forward conveying spiral unit 4 and a reverse conveying spiral unit 8.

[0054] The hydraulic rod 7 provides height adjustment capability for the device. In this embodiment, a dual-cylinder hydraulic drive system can be used, with a lifting stroke range of 0.8-2.5m. The working height is adjusted in real time according to the height of sand and gravel accumulation in the cargo hold to ensure that the spiral structure and the sand and gravel surface always maintain the optimal pushing distance, avoiding wear caused by being too close or affecting pushing efficiency by being too far. The hydraulic system is equipped with a pressure sensor and an overload protection device. When the lifting load exceeds the rated value, it automatically releases pressure to prevent damage to the hydraulic cylinder and ensure the safe operation of the mechanism.

[0055] The sliding rail 5 ensures the device covers the entire longitudinal length of the cargo hold. The rail is made of high-strength I-beam steel, with a single rail length matching the cargo hold length. Ultra-high molecular weight polyethylene wear-resistant lining strips are installed on the inner side of the rail to reduce walking resistance and component wear. In this embodiment, a servo motor drives the wheel assembly through a gear reducer, allowing for stepless adjustment of the walking speed within the range of 0.5-2 m / min. Equipped with a laser positioning sensor, a positioning reference point is set every 5 m along the rail to provide real-time feedback on the device's current position. When the device reaches the end of the cargo hold, i.e., 1 m from the bulkhead, it automatically decelerates and stops to avoid collisions. Simultaneously, longitudinal operation supports a segmented operation mode, dividing the cargo hold length into several working sections. For example, a 20 m cargo hold can be divided into four 5 m working sections. After completing leveling of each section, the device automatically proceeds to the next stage.

[0056] The spiral structure is the core component for leveling operations. In this embodiment, the two spiral units are of uniform specifications, with a spiral diameter of 300mm, a pitch of 150mm, and are made of wear-resistant high-manganese steel with a hardened surface to resist long-term frictional wear from sand and gravel. The reverse conveying spiral unit 8 has a right-hand thread, and its rotation direction is adjusted to counterclockwise. According to the spiral drive principle, when the right-hand thread rotates counterclockwise, it will drive the sand and gravel to move axially to the left through the thrust of the thread teeth, i.e., push the sand and gravel to the left. The forward conveying spiral unit 4 has a left-hand thread, and when it rotates clockwise, it pushes the sand and gravel axially to the right.

[0057] The material distribution mechanism is installed below the left and right spiral units to initially disperse the wedge-shaped sand and gravel to both sides. The axis of the material distribution guide plate 1 is located at the center line of the cargo hold. When the sand and gravel are piled in an asymmetrical wedge shape, without the material distribution process, it is difficult for the spiral units to complete the leveling requirement in one pass. After the sand and gravel at the top have been spread out, the efficiency of repeated leveling is even lower. Therefore, in this embodiment of the invention, the middle part of the material distribution guide plate 1 is connected to the main frame through an adjustable rotating shaft 2. The rotating shaft 2 adopts a worm gear adjustment structure driven by a servo motor, which can achieve bidirectional deflection of 0-30° to meet different leveling requirements. The deflection angle is the angle between the central axis of the material distribution guide plate 1 and the center line of the cargo hold. When the material distribution guide plate 1 deflects to the left and right at a certain angle, the material distribution blade (with a blunted cutting edge) cuts into the central wedge-shaped sand and gravel layer, initially dividing the sand and gravel into left and right parts, and pushing the sand and gravel to the bottom of the spiral units on both sides respectively. Please refer to [link to relevant documentation]. Figure 6 The diagram shows a cutting schematic of a material distribution guide provided in an embodiment of the present invention.

[0058] Since the sand and gravel pile is very likely to be asymmetrical, the longitudinal travel system needs to move at a low speed along the length of the ship to ensure a leveling effect when the distribution guide plate cuts in. A set of high-precision ultrasonic sensors 6 is equipped on the distribution guide plate 1 to acquire the surface level data of the sand and gravel pile in the lateral direction, i.e., the height data, in real time. In this embodiment of the invention, the ultrasonic level sensor scans the cross-section of the sand and gravel pile along the width of the cargo hold at a position 1m in front of the distribution guide plate to acquire the level data of the sand and gravel pile in the lateral continuous direction. It should be noted that the beam angle of the ultrasonic sensor needs to cover the width of the cargo hold, only needing to ensure that the outline shape of the sand and gravel pile is acquired.

[0059] When the sensor detects a height difference exceeding 30mm between the two sides, the dynamic adjustment system is activated to adjust shaft 2. The adjustment logic is as follows: if the left side is higher than the right side, shaft 2 drives the material distribution guide plate 1 to deflect to the left. At this time, the contact area between the left edge of the material distribution guide plate and the sand and gravel surface increases, pushing the excess sand and gravel from the left side to the right. If the right side is higher, shaft 2 drives the material distribution guide plate 1 to deflect to the right to push the material, thus facilitating the leveling and stability of the cargo hold material. It should be noted that the specific data configuration settings of the device are adjusted by the implementer according to the specific implementation scenario, and are not limited here.

[0060] The dynamic control system includes a data acquisition unit, a data processing unit, and a control unit. The output of the data acquisition unit is connected to the signal input of the data processing unit, and the signal output of the data processing unit is connected to the signal input of the control unit. The control unit adjusts the balancing unit based on the analysis results.

[0061] The data acquisition unit uses ultrasonic level sensors to acquire lateral level data of the sand and gravel pile in each working section that moves longitudinally along the ship's hold. The contour information composed of this level data is transmitted to the data processing unit for stability control analysis. Please refer to [link / reference needed]. Figure 1 The diagram illustrates a stability optimization method for a hydraulic lifting sand hull spiral leveling device according to an embodiment of the present invention. The method includes the following steps:

[0062] S1: Determine the material capture rate by observing the volume change of the sand and gravel pile when it is cut into by the distribution guide plate during the expected calibration experiment.

[0063] Material capture rate is a measure of the ratio of actual captured or recovered material to the total material quantity during production, processing, or material flow. This metric is typically used to assess efficiency and material loss during production. By calibrating the material distribution guide's entry point in the early stages, a baseline conversion rate for material delivery by the guide is obtained, facilitating subsequent analysis and adjustments to the actual delivery process.

[0064] In this embodiment of the invention, during a calibration experiment on a symmetrically stacked sand and gravel pile, with a material distribution guide plate offset at 0 degrees and inserted to a fixed depth, the average volume of sand and gravel volume changes on both sides is obtained as the effective flow volume. The fixed depth is the depth to which the guide plate, controlled by lifting and lowering, submerges the sand and gravel pile. In this embodiment, the net volume change on each side before and after the experimental material distribution is obtained, and the average of the net volume changes on both sides is taken as the effective flow volume, reflecting the baseline material distribution amount.

[0065] Based on the height changes before and after the experimental material distribution, the maximum volume under ideal uniform material distribution was further analyzed. The height difference between the maximum height of the sand and gravel pile before and after material distribution, as well as the sliding distance of the device, were obtained, reflecting the height difference of material distribution in space and the longitudinal material distribution length.

[0066] Further combining the differences in width and height of the sand and gravel pile with the sliding distance of the device, the maximum divisible volume is obtained. In this embodiment of the invention, half of the product of the width, height difference, and sliding distance of the sand and gravel pile is taken as the maximum divisible volume, reflecting the maximum standard variation of the ideal volume in space. As an example, the expression for the maximum divisible volume is:

[0067] In the formula, This represents the maximum divisible volume. Indicated as highly different, This represents the width of the sand and gravel pile. It is expressed as the sliding distance of the device.

[0068] Ultimately, the ratio of the effective flow volume to the maximum divisible volume is used as the material capture rate, reflecting the benchmark material capture rate when cutting into a symmetrical material pile. In actual leveling, the material pile is usually asymmetrical, and it is necessary to adjust the tilt angle to make more sand and gravel flow to the lower side.

[0069] S2: Based on the contour information, analyze the degree of horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide plate is located, and determine the high side of the skew and the amount of deviation; according to the contour height distribution and the amount of deviation of the high side of the skew, combined with the length to be run in the working section, determine the target material distribution volume index of the high side of the skew.

[0070] For asymmetrical sand and gravel piles, the sand and gravel will exhibit deviations in direction and degree in their transverse contours. The greater the deviation, the more necessary it is to use a cutting and tilting method to assist in material distribution, in order to achieve more efficient and uniform distribution. First, the deviation state is determined based on the peak points reflected in the contour information.

[0071] In this embodiment of the invention, the peak points in the contour information are obtained, indicating that the peak height is on the left. When the peak point is located to the left of the cargo hold centerline, the side with the highest skew is recorded as the left. Similarly, when the peak point is located to the right of the cargo hold centerline, the side with the highest skew is recorded as the right. In particular, when the peak point is located on the cargo hold centerline, it indicates that the sand and gravel pile is symmetrically distributed, and there is no need to deflect the material distribution guide. At this time, no adjustment analysis is required, and the tilt angle of the material distribution guide can be directly adjusted to zero through the control unit.

[0072] Furthermore, the shortest vertical distance from the peak point to the centerline of the cargo hold on the corresponding horizontal plane is used as the deviation to quantify the unevenness of the peak deviation. The greater the deviation, the higher the demand for asymmetrical material distribution. It should be noted that obtaining the shortest distance from a point to a line is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0073] By combining the lateral deviation with the stacking height deviation and the expected running length from the required processing surface, the required material distribution volume is assessed to conduct a preliminary demand assessment. Preferably, in this embodiment of the invention, the method for obtaining the target material distribution volume index includes:

[0074] For each side of the material distribution guide, the height distribution value of each side is obtained based on the average of all material level data in the contour information. By using the average of all material level data, the height distribution of the sand and gravel pile on one side is quantified. The difference in height distribution values ​​between the two sides of the material distribution guide is used as the target height deviation to quantify the overall required height difference between the two sides.

[0075] Furthermore, by combining the target height deviation and the deviation amount, the material distribution cross-sectional area is obtained. Through the height difference and the degree of lateral deviation, the required filling cross-sectional area of ​​the sand and gravel pile on the horizontal plane during material distribution is quantified. In this embodiment of the invention, half of the product between the target height deviation and the deviation amount is taken as the material distribution cross-sectional area. As an example, the expression for the material distribution cross-sectional area is:

[0076] In the formula, This is expressed as the cross-sectional dimension of the material being divided. This is expressed as deviation. This is expressed as the target height deviation. Since sand and gravel deposits are usually conical and have a triangular cross-section, the size of the cross-section is quantified based on the area of ​​the triangle during filling.

[0077] The distance between the material distribution guide plate and the corresponding lateral position of the contour information is then used as the running length. Since ultrasonic testing is used for early detection and timely adjustment, the longitudinal stacking requirement is considered when quantifying the material distribution volume. Finally, the target material distribution volume is obtained by combining the material distribution cross-sectional area and the running length. In this embodiment of the invention, the product of the material distribution cross-sectional area and the running length is used as the target material distribution volume index, reflecting the current material distribution requirement without considering the influence of the tilt of the material distribution guide plate.

[0078] S3: By analyzing the angular deviation between the material distribution guide and the cut slope line, and combining the target material distribution volume index and material capture rate, the adjustment angle coefficient of the material distribution guide is obtained; the deviation angle of the material distribution guide is adjusted based on the adjustment angle coefficient; the basic pushing speed of the spiral structures on both sides is determined by the difference in the unfilled height on both sides of the centerline of the cargo hold where the material distribution guide is located in the contour information; the basic pushing speed of the spiral structures on both sides is adjusted by the current ship roll angle.

[0079] The greater the inclination of the distribution guide plate towards the higher side, the more material is pushed. For asymmetrical sand and gravel piles, please refer to [link / reference needed]. Figure 7 The diagram illustrates an inclined contact schematic of a material distribution guide provided in an embodiment of the present invention. When the inclined side is the left, the tilt angle of the material distribution guide is tilted to the left, the contact surface on the left is reduced, and the contact surface on the right is increased. Due to the inertia of the slope flow, the amount of material distributed to the lower side is higher.

[0080] Considering that the ideal material distribution in an inclined space is affected by efficiency, the tilt angle control is made more accurate and reliable by adjusting the material capture rate. In this embodiment of the invention, the method for obtaining the adjustment angle coefficient of the material distribution guide plate by combining the target material distribution volume index and the material capture rate includes:

[0081] First, on the non-skewed high side of the peak point of the contour information, the perpendicular direction of the contour information in the slope direction is taken as the direction of the greatest deviation. For example, when the skewed high side is on the left, the non-skewed high side of the peak point of the contour information is also the contour on the right side of the peak. At this time, the slope direction of the contour represents the slope direction on the right. When the material distribution guide plate is more perpendicular to the slope direction, the stress is more consistent with the direction of material sliding down the slope. At this time, the material distribution guide plate is in the most ideal material distribution situation. Therefore, the perpendicular direction of the slope direction, that is, the direction perpendicular to the slope direction, is taken as the most ideal direction of the greatest deviation.

[0082] The angle between the central axis of the current material distribution guide plate and the direction of the most deviated direction is normalized to obtain the current material distribution influence coefficient, which reflects the degree of deviation from the ideal angle. It should be noted that normalization is a technical means well known to those skilled in the art. The choice of normalization can be linear normalization or standard normalization, such as using the hyperbolic tangent function. The specific normalization method is not limited here.

[0083] Furthermore, by combining the material distribution influence coefficient and the target material distribution volume index, the target maximum material distribution amount is determined. The higher the deviation from the ideal angle, the greater the actual material distribution amount required during the adjustment process. Therefore, in this embodiment of the invention, the product of the material distribution influence coefficient and the target material distribution volume index is used as the target maximum material distribution amount, quantifying the maximum target material distribution amount required during the adjustment process.

[0084] Considering the issue of material distribution efficiency, the product of the target maximum material distribution amount and the material capture rate is used as the expected material distribution volume index to quantify the degree of change in material distribution volume under the expected analysis. Furthermore, the ratio of the expected material distribution volume index to the target material distribution volume index is used as the adjustment angle coefficient. A larger expected material distribution volume index indicates that the expected material distribution degree under tilt adjustment is less likely to meet the target material distribution degree in the direct volume analysis. Therefore, greater adjustment is needed in subsequent angle control to meet the actual material distribution conditions under tilt.

[0085] Therefore, when adjusting via the control unit, in this embodiment of the invention, the product of the current tilt angle of the material distribution guide and the adjustment coefficient is used as the degree to be adjusted, quantifying the degree of adjustable angle. The tilt angle of the current material distribution guide is increased towards the direction of maximum deviation to obtain the angle to be adjusted. Simultaneously, considering that excessive tilt angle adjustment would cause ineffective flow diversion and oscillation, and that mechanical limits have angle limitations, if the angle to be adjusted is less than the preset limit angle, the control unit controls the tilt angle of the material distribution guide to the angle to be adjusted; otherwise, the tilt angle of the material distribution guide is controlled to the preset limit angle. In this embodiment of the invention, the preset limit angle is 30°, and the specific value can be adjusted by the implementer.

[0086] Since the materials after being divided need to be pushed to both sides of the cargo hold through the spiral structure to fill the empty spaces, the pushing speed needs to match the difference in the amount of sand and gravel on both sides and the dynamic state of the ship to ensure both filling efficiency and stability. Therefore, the basic speed is determined by the filling requirements and the speed is adjusted according to the ship's state.

[0087] In this embodiment of the invention, the difference between the lowest material level data in the contour information and the preset target height on each side of the material distribution guide is taken as the filling height difference for each side. The basic pushing speed is positively correlated with the filling height; the higher the filling height, the greater the space for material to flow freely to both sides, and the faster the pushing speed, the higher the efficiency, quickly filling the empty space. Therefore, the basic pushing speed for each side is determined by combining the filling height difference and the desired speed height mapping coefficient. In this embodiment of the invention, the product of the filling height difference and the desired speed height mapping coefficient for each side is taken as the basic pushing speed for each side. It should be noted that the preset target height is the target height of the cargo hold in position, determined by the ship design parameters. The desired speed height mapping coefficient is obtained through experimental calibration to quantify the linear relationship between the pushing speed and the filling height. The implementer adjusts it according to the specific implementation scenario, which will not be elaborated here.

[0088] The rolling state of a ship can be reflected by the roll angle, which can be obtained by detecting the current roll angle of the ship in the lateral direction using a gyroscope. When the absolute value of the roll angle is higher than a preset angle threshold, it indicates that the ship's tilt is relatively significant. The base push speed on the side with the roll angle inclination is increased by a preset percentage, and the base push speed on the non-tilting side is decreased by a preset percentage to obtain the final push speed on both sides. In this embodiment of the invention, the preset angle threshold can be set to 3°, and the preset percentage can be set to 10%. The specific values ​​can be adjusted by the implementer. The roll angle has a tilt direction when it is obtained. For example, if the roll angle inclination is to the left, when the absolute value of the roll angle is higher than 3°, the base push speed of the left helical unit is increased by 10% as the final push speed on the left side, and the base push speed of the right helical unit is decreased by 10% as the final push speed on the right side.

[0089] Otherwise, when the absolute value of the roll angle is less than or equal to the preset angle threshold, the basic pushing speed on both sides is taken as the final pushing speed. The control unit controls the spiral units on both sides of the spiral structure to run at the final pushing speed, so that the final pushing speed is more adapted to the flow trend of the ship tilting and the leveling is completed more efficiently and stably.

[0090] In summary, this invention acquires the lateral profile of the sand and gravel pile in real time, identifies the direction and degree of pile tilt, and dynamically calculates the target amount of material to be transferred from the higher tilt side to balance the left and right material heights based on the material capture rate obtained from calibration and the profile information. It analyzes and optimizes the asymmetric sand and gravel pile by adjusting the angle deflection, and adjusts the guide plate deflection in real time through the control unit to improve the more stable diversion of material to the lower side and increase the balancing and pushing efficiency. Furthermore, the system sets the basic pushing speed of the screw mechanism based on the height difference between the two sides after material distribution and incorporates the ship's roll angle for speed compensation correction, effectively offsetting the adverse effects of ship swaying on the leveling effect and ensuring material stability. This invention adjusts the guide plate deflection based on the analysis of the sand and gravel pile shape in the cargo hold, and combines this with the drive and speed adjustment of the screw structure to achieve dynamic balanced distribution of sand and gravel, lowering the cargo's center of gravity height, reducing the ship's heeling moment, and simultaneously improving the leveling operation efficiency, ship navigation stability, and overall cargo carrying capacity.

[0091] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0092] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A hydraulic lifting type spiral leveling device for sand dredgers, characterized in that, The device includes a lateral operation module, which comprises a leveling unit and a dynamic adjustment system; the leveling unit includes a material distribution mechanism and a spiral device, the material distribution mechanism includes a material distribution guide plate; the spiral structure includes two sets of spiral units symmetrically arranged on the left and right; the material distribution mechanism is installed below between the left and right spiral units, and the middle of the material distribution guide plate is connected to the main frame through an adjustable rotating shaft; the dynamic adjustment system includes: a data acquisition unit, a data processing unit, and a control unit. The output of the data acquisition unit is connected to the signal input of the data processing unit, and the signal output of the data processing unit is connected to the signal input of the control unit. The data acquisition unit uses ultrasonic level sensors to acquire transverse level data of the sand and gravel pile in each working section that moves longitudinally along the ship's cabin, and transmits the contour information composed of the level data to the data processing unit. The data processing unit is used to determine the material capture rate by measuring the volume change of the sand and gravel pile as it is cut into by the distribution guide plate during the expected calibration experiment. Based on the contour information, the horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide plate is located is analyzed to determine the high side of the skew and the amount of deviation. Based on the contour height distribution and the amount of deviation of the high side of the skew, combined with the length to be run in the working section, the target material distribution volume index of the high side of the skew is determined. By analyzing the angular deviation between the material distribution guide plate and the cut slope line, and combining the target material distribution volume index and material capture rate, the adjustment angle coefficient of the material distribution guide plate is obtained; the adjustment angle coefficient is then transmitted to the control unit to adjust the deviation angle of the material distribution guide plate. The basic pushing speed of the spiral structures on both sides is determined by the difference in the unfilled height on both sides of the centerline of the cargo hold where the material distribution guide plate is located in the contour information; the basic pushing speed and the current ship roll angle are transmitted to the control unit to adjust the basic pushing speed of the spiral structures on both sides.

2. The hydraulic lifting type spiral leveling device for sand dredgers according to claim 1, characterized in that, The process of analyzing the horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide is located, based on contour information, to determine the skew height and deviation amount, includes: Obtain the peak points in the contour information. When the peak point is located to the left of the cargo hold centerline, the side with the higher skew is recorded as the left side; when the peak point is located to the right of the cargo hold centerline, the side with the higher skew is recorded as the right side. The shortest vertical distance between the peak point and the centerline of the cargo hold on the horizontal plane is taken as the deviation.

3. The hydraulic lifting type spiral leveling device for sand dredgers according to claim 1, characterized in that, The method for obtaining the target material distribution volume index includes: For each side of the material distribution guide, the height distribution value of each side is obtained based on the mean of all material level data in the contour information; the difference in height distribution values ​​between the two sides of the material distribution guide is taken as the target height deviation; the material distribution cross-sectional dimension is obtained by combining the target height deviation and the deviation amount. The distance between the material distribution guide plate and the corresponding lateral position of the contour information is taken as the running length; the target material distribution volume index is obtained by combining the material distribution cross-section and the running length.

4. The hydraulic lifting type spiral leveling device for sand dredgers according to claim 1, characterized in that, The method for obtaining the adjustment angle coefficient includes: On the non-skewed high side of the peak point of the contour information, the perpendicular direction of the contour information in the slope direction is taken as the most deviated direction; the angle between the central axis direction of the current material distribution guide and the most deviated direction is normalized to obtain the current material distribution influence coefficient. The target maximum material distribution amount is determined by combining the material distribution influence coefficient and the target material distribution volume index; The product of the target maximum material distribution rate and the material capture rate is used as the expected material distribution volume index; the ratio of the expected material distribution volume index to the target material distribution volume index is used as the adjustment angle coefficient.

5. The hydraulic lifting spiral leveling device for sand dredgers according to claim 4, characterized in that, The step of transmitting the adjustment angle coefficient to the control unit to adjust the deviation angle of the material distribution guide plate includes: The product of the current tilt angle of the material distribution guide plate and the adjustment coefficient is taken as the degree to be adjusted. The degree to be adjusted is increased by the tilt angle of the current material distribution guide plate in the direction of the greatest deviation to obtain the angle to be adjusted. If the angle to be adjusted is less than the preset limit angle, the tilt angle of the material distribution guide plate is controlled by the control unit to be the angle to be adjusted; otherwise, the tilt angle of the material distribution guide plate is controlled to be the preset limit angle.

6. The hydraulic lifting type spiral leveling device for sand dredgers according to claim 1, characterized in that, The method for obtaining the basic push speed includes: For each side of the material distribution guide, the difference between the lowest material level data in the contour information and the preset target height is used as the filling height difference for each side; combined with the filling height difference and the desired speed height mapping coefficient, the basic pushing speed for each side is determined.

7. The hydraulic lifting type spiral leveling device for sand dredgers according to claim 1, characterized in that, The process of transmitting the basic push speed and the current ship roll angle to the control unit to adjust the basic push speed of the two-sided spiral structure includes: Obtain the current roll angle of the ship in the lateral direction. When the absolute value of the roll angle is higher than a preset angle threshold, increase the base push speed on the side of the roll angle inclination by a preset ratio and decrease the base push speed on the side of the non-roll angle by a preset ratio to obtain the final push speed on both sides; otherwise, use the base push speed on both sides as the final push speed. The control unit controls the spiral units on both sides of the spiral structure to run at the final pushing speed.

8. The hydraulic lifting type spiral leveling device for sand dredgers according to claim 1, characterized in that, The method for obtaining the material capture rate includes: Under the desired calibration experiment, the average volume of sand and gravel volume change on the left and right sides is obtained as the effective flow volume; Obtain the height difference between the maximum height of the sand and gravel pile before and after material separation, as well as the sliding distance of the device; combine the width and height difference of the sand and gravel pile with the sliding distance of the device to obtain the maximum separable volume; The ratio of effective flow volume to maximum dispensable volume is used as the material capture rate.

9. A hydraulic lifting type spiral leveling device for sand dredgers according to claim 2, characterized in that, When the peak point is located on the centerline of the cargo hold, the tilt angle of the material distribution guide plate is controlled to be zero by the control unit.

10. A stability optimization method for a hydraulic lifting sand dredger spiral leveling device, applied to a hydraulic lifting sand dredger spiral leveling device as described in any one of claims 1 to 9, characterized in that, The method includes: In each working section that moves longitudinally along the ship's hold, the lateral contour information of the sand and gravel pile is obtained; the material capture rate is determined by the volume change of the sand and gravel pile when it is cut into by the distribution guide plate under the expected calibration experiment. Based on the aforementioned contour information, the degree of horizontal deviation between the highest point and the centerline of the cargo hold where the material distribution guide plate is located is analyzed to determine the high side of the skew and the amount of deviation. Based on the contour height distribution and the amount of deviation of the high side of the skew, combined with the working time of the working section, the target material distribution volume index of the high side of the skew is determined. By analyzing the angular deviation between the material distribution guide plate and the cut slope line, and combining the target material distribution volume index and material capture rate, the adjustment angle coefficient of the material distribution guide plate is obtained; the deviation angle of the material distribution guide plate is adjusted based on the adjustment angle coefficient. The basic pushing speed of the spiral structures on both sides is determined by the difference in the unfilled height on both sides of the centerline of the cargo hold where the material distribution guide plate is located in the contour information; the basic pushing speed of the spiral structures on both sides is adjusted by the current ship roll angle.

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