Dredging construction management system and dredging construction management method

Abstract

To stably perform pump dredge with high accuracy and to reduce a workload regardless of skill and experience of an operator.SOLUTION: A dredge construction management system 10 includes: position measurement means 12 for measuring a position; a tide gauge 18 for measuring a tide level; a plurality of sensors 14 for measuring a posture; calculation management means 24 for managing calculation and information; and control means 28 for adjusting a depth and a position in a recessed path width direction of a cutter. The calculation management means 24 can be switched between a learning mode of recording an operation log related to an operation in manual dredge work and an automatic control mode of calculating control data transmitted to the control means 28 based on the operation log. Thus, since dredging can be performed while reproducing operation of skilled operators, pump dredge can be stably performed with high accuracy and a workload can be reduced regardless of skill and experience of an operator.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a dredging construction management system and a dredging construction management method for a pump dredger.

Background Art

[0002] In pump dredging work using a pump dredger, while swinging the ladder attached to the bow together with the hull, the cutter provided at the tip of the ladder is used to excavate the bottom of the water for dredging. Therefore, it is necessary to perform swing management and ladder depth management simultaneously. In swing management, the swing speed is controlled according to the thickness of the dredged soil, and in ladder depth management, the ladder depth is controlled according to the tide level. Especially when constructing a slope surface, the swing speed of the lateral movement and the vertical movement speed of the up and down movement of the ladder are finely adjusted, and the construction is carried out according to the design line. Conventionally, such dual control has been performed manually by an operator. Therefore, the inventors have developed a system that mainly automatically controls the ladder depth (see Cited Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, the control of the swing speed and the ladder depth requires the operator to perform delicate operations in accordance with the design line while checking a plurality of instruments and system displays, which requires concentration and imposes a heavy burden during work. Furthermore, there is a risk that a difference may occur in the construction accuracy depending on the skill and experience of the operator. In the system developed by the inventors described above, although the ladder depth is automatically controlled, there is room for improvement. The present invention has been made in view of the above problems, and an object thereof is to stably and highly accurately perform pump dredging and reduce the work load regardless of the skill and experience of the operator.

Means for Solving the Problems

[0005] (Aspects of the Invention) The following aspects of the invention illustrate the configuration of the present invention and will be described separately for each item in order to facilitate the understanding of various configurations of the present invention. Each item does not limit the technical scope of the present invention, and even when a part of the constituent elements of each item is replaced, deleted, or further other constituent elements are added while taking into consideration the best mode for carrying out the invention, it can be included in the technical scope of the present invention.

[0006] (1) In order to construct a recessed channel with at least one side end formed by a normal plane on the bottom of the water, a dredging construction management system for a pump dredger that swings the hull in the width direction of the recessed channel around a spud provided at the stern while swinging a ladder attached to the bow so as to be swingable in the vertical direction, excavates sediment on the bottom of the water with a cutter provided at the tip of the ladder, sucks in the excavated sediment with a pump, and pumps it, includes a position measuring means for measuring the position of the pump dredger, a tide gauge for measuring the tide level near the construction area, a plurality of sensors for measuring the attitude of the pump dredger, and an arithmetic management means for performing arithmetic operations and information management necessary for the operation of the system, including calculating the position and depth of the cutter based on the measurement results of the position measuring means, the tide gauge, and the plurality of sensors, and a control means for controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data received from the arithmetic management means to adjust the depth and the position in the width direction of the cutter. The arithmetic management means is configured to be switchable between a learning mode in which operation logs related to the operation of the ladder winch and the swing winch are recorded during manual dredging operations in which the ladder winch and the swing winch are manually operated, and an automatic control mode in which the control data is calculated based on the operation logs so as to perform dredging according to the designed dredging depth while reproducing the movement of the cutter during the manual dredging operation. Dredging construction management system Mu.

[0007] The dredging construction management system described in this section manages dredging construction for constructing a recessed channel with at least one side end formed by a normal plane on the bottom of the water using a pump dredger. In the dredging construction to be managed, a ladder attached to the bow of the pump dredger so as to be swingable in the vertical direction swings in the width direction of the recessed channel to be constructed on the bottom of the water together with the hull around a spud provided at the stern, excavates sediment on the bottom of the water with a cutter provided at the tip of the ladder, and sucks in and pumps the excavated sediment with a pump mounted on the pump dredger. And as components of the system, it includes a position measuring means, a tide gauge, a plurality of sensors, an arithmetic management means, and a control means.

[0008] The position measuring means measures the position (planar position) of the pump dredger, the tide gauge measures the tide level near the construction area, and the plurality of sensors measure the attitude of the pump dredger. By continuously performing these measurements during construction, the latest situation is always reflected in each measurement result. The calculation and management means performs the calculations and information management necessary for the operation of the system. As one of the calculations, based on the measurement results of the position measuring means, the tide gauge, and the plurality of sensors, the calculation of the position (planar position) and depth of the cutter is executed. At this time, the position of the cutter is calculated by taking into account the size of each part (hull, ladder, etc.) of the pump dredger preset in the calculation and management means in the position of the pump dredger measured by the position measuring means, the attitude of the pump dredger measured by the plurality of sensors, etc. Further, the depth of the cutter is calculated from the tide level near the construction area measured by the tide gauge, the attitude of the pump dredger, the size of the ladder of the pump dredger, etc. By continuously performing the calculation of the position and depth of the cutter during construction, the current position and depth of the cutter can be grasped in real time.

[0009] The control means controls the ladder winch mounted on the pump dredger so as to swing the ladder in the vertical direction, thereby changing the inclination angle (swing angle) of the ladder and adjusting the depth of the cutter provided at the tip of the ladder. Further, the control means controls the swing winch mounted on the pump dredger so as to wind up and pay out two swing wires stretched from both sides in the width direction of the recess from the vicinity of the tip of the ladder, thereby swinging the hull together with the ladder around the spud and adjusting the position of the cutter in the width direction of the recess. At this time, the control means controls both the ladder winch and the swing winch based on the control data received from the calculation and management means.

[0010] That is, the arithmetic management means calculates and transmits control data used by the control means for controlling the ladder winch and the swing winch. For this purpose, the arithmetic management means is configured to be switchable between a learning mode and an automatic control mode. In the learning mode, the arithmetic management means records an operation log related to the operation of the ladder winch and the swing winch during a manual dredging operation in which the ladder winch related to depth adjustment and the swing winch related to swing adjustment are manually operated by an operator. Therefore, usually, an operation log when a skilled operator with rich experience and excellent skills manually operates as described above is recorded. Also, in the automatic control mode, the arithmetic management means calculates control data to be transmitted to the control means based on the operation log recorded in the learning mode so as to be dredged according to a preset designed dredging depth.

[0011] That is, the arithmetic management means calculates control data such that the movement of the cutter during the manual dredging operation as described above is reproduced from the recorded operation log. Moreover, the arithmetic management means adjusts the control data so as to be dredged to the designed dredging depth while confirming the position and depth of the cutter calculated as described above. As a result, during dredging construction, while the movement of the cutter operated by a skilled operator is reproduced, it is dredged to the designed dredging depth, so that pump dredging is stably performed with high precision regardless of the skill and experience of the operator using the system. Furthermore, since the operator is released from delicate operations that require concentration such as the operation of the swing speed and the ladder depth, the burden during work is significantly reduced.

[0012] (2) In the above item (1), the arithmetic management means virtually divides the concave path into a plurality of areas along the width direction, records the operation log for each area in the learning mode, and calculates the control data for each area in the automatic control mode When the operation management means records the operation log in the learning mode, it simultaneously records the area where the cutter is located, thereby recording the operation log in association with each area. When calculating the control data in the automatic control mode, at the timing when it is determined that the area where the cutter is currently located has changed, the operation log used for calculating the control data is changed from that of the area before the change to that of the area after the change. Dredging construction management system (claim 1 ). In the dredging construction management system described in this section, the calculation management means virtually divides a concave channel constructed on the seabed into a plurality of areas along the width direction of the concave channel based on, for example, a position where the shape changes. Then, when recording the operation log in the learning mode, the calculation management means records the operation log for each divided area, At this time, by simultaneously recording the area where the cutter is located, the operation log is recorded in association with each area. Also, the operation management means and when calculating the control data in the automatic control mode, calculates the control data for each divided area When it is determined that the area where the cutter is currently located has changed, at that timing, the operation log used for calculating the control data is changed from that of the area before the change to that of the area after the change to do. As a result, since the recording and calculation are performed so as to reflect the characteristics such as the shape peculiar to each area, the accuracy of pump dredging during construction is improved.

[0013] (3) In the above item (2), the calculation management means uses at least the shoulder position of the slope surface of the concave channel and the toe position of the slope surface of the concave channel as the division positions of the plurality of areas in the dredging construction management system (claim 2 ). The dredging construction management system described in this section defines the positions to be used as the division positions when the calculation management means divides a concave channel having a slope surface at at least one side end into a plurality of areas. Specifically, the calculation management means uses at least the shoulder position of the slope surface of the concave channel and the toe position of the slope surface of the concave channel as the division positions of the plurality of areas. That is, when the concave channel has slope surfaces at both side ends, the shoulder position of the slope surface at one side end of the concave channel, the toe position of the slope surface at one side end of the concave channel, the toe position of the slope surface at the other side end of the concave channel, and the shoulder position of the slope surface at the other side end of the concave channel are used as the division positions of the plurality of areas. Also, when the concave channel has a slope surface at one side end, the shoulder position and the toe position of the slope surface are used as the division positions of the plurality of areas. As a result, since the concave channel is divided into a plurality of areas at a position where the shape in the width direction changes greatly, the shape of each area can be accurately reproduced during construction.

[0014] (4) The above (2) or(3) In the above item, the operation management means records, as the operation log, at least one of the following: the raising command of the ladder winch, the lowering command of the ladder winch, the speed setting of the ladder winch, the swing direction, the swing speed setting, the tension setting of the swing winch, and the rotational speed of the swing winch. Dredging construction management system (claim 3 ). The dredging construction management system described in this item records, as the operation log recorded by the operation management means in the learning mode, at least one of the following. That is, the raising command of the ladder winch, the lowering command of the ladder winch, the speed setting of the ladder winch, the swing direction, the swing speed setting, the tension setting of the swing winch, and the rotational speed of the swing winch. By recording such various operation elements, finer movements can be reproduced in the automatic control mode, so that the construction accuracy can be further improved.

[0015] (5) In the above ( 2 ) to item (4), the operation management means takes into account at least one of the following differences between the dredged soil quality in the learning mode and the automatic control mode, the difference between the learning mode and the automatic control mode Excavation depth , the difference in the driving position of the swing wire connected to the swing winch with respect to the pump dredger between the learning mode and the automatic control mode, and the influence of waves and / or wind in the automatic control mode, and calculates the control data. Dredging construction management system (claim 4 ). The dredging construction management system described in this item corrects the deviation of the cutter position and depth, etc., which are caused by the difference in the conditions of mainly external factors between the recording time and the construction time, when performing dredging construction in the automatic control mode based on the operation log recorded by the operation management means in the learning mode.

[0016] That is, the operation management means includes the difference in the dredged soil quality between the learning mode and the automatic control mode, and the difference between the learning mode and the automatic control mode Excavation depth( dredged soil thickness )Taking into account at least one of the differences between the swing winch connected to the swing wire in the learning mode and the automatic control mode, the difference in the driving position of the swing wire connected to the swing winch with respect to the pump dredger, and the influence of waves and / or wind in the automatic control mode, control data is calculated. Each condition in the learning mode among the above may be recorded together with the operation log during the learning mode or during the survey prior to the construction at that time, and each condition in the automatic control mode may be grasped during the automatic control mode or during the survey prior to the construction at that time. As a result, the control data is calculated by the arithmetic management means so that the deviation of the position and depth of the cutter due to external factors is corrected, and thus the construction accuracy of pump dredging is further improved.

[0017] (6) In the above ( 2 ) to paragraph (5), the arithmetic management means transmits the control data to the control means at a timing taking into account the time lag from when the control data is transmitted until the control data is reflected in the depth and position of the cutter. Dredging construction management system (claim 5 ). The dredging construction management system described in this paragraph is such that the arithmetic management means transmits the control data to the control means at a timing taking into account the time lag from when the control data is transmitted to the control means until the control content is actually reflected in the depth and position of the cutter. As a result, the influence of the time lag mainly due to the response delay of the machine is suppressed, and thus the construction accuracy of pump dredging is also improved by this.

[0018] In order to construct a concave channel with at least one side end formed by a normal plane on the bottom of a water body, a ladder attached to the bow so as to be swingable in the vertical direction swings the entire hull in the width direction of the concave channel around a spud provided at the stern while a cutter provided at the tip of the ladder excavates sediment on the bottom of the water body, and the excavated sediment is sucked and pumped by a pump. A dredging construction management method for a pump dredger, comprising: measuring the position of the pump dredger, the tide level near the construction range, and the attitude of the pump dredger; calculating the position and depth of the cutter based on the measurement results; controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data to adjust the depth and the position in the width direction of the cutter; virtually dividing the concave channel into a plurality of areas along the width direction; recording an operation log related to the operation of the ladder winch and the swing winch for each area during a manual dredging operation in which the ladder winch and the swing winch are manually operated; calculating the control data for each area based on the operation log so as to perform dredging according to a designed dredging depth while reproducing the movement of the cutter during the manual dredging operation. When recording the operation log, by simultaneously recording the area where the cutter is located, the operation log is recorded in association with each area. When calculating the control data, at the timing when it is determined that the area where the cutter is currently located has changed, the operation log used for calculating the control data is changed from that of the area before the change to that of the area after the change. Dredging construction management method (claim 6 ). The dredging construction management method described in this item is executed by the dredging construction management system of the above item (2) and has the same effect as the dredging construction management system of the above item (2).

Effect of the Invention

[0019] Since the present invention has the above-described configuration, pump dredging can be stably and highly accurately performed regardless of the skill and experience of an operator, and the work load can be reduced.

Brief Description of the Drawings

[0020] [Figure 1] It is a block diagram showing an example of the configuration of a dredging construction management system according to an embodiment of the present invention. [Figure 2]It is an installation image diagram of some components of the dredging construction management system of FIG. 1. [Figure 3] It is a side view and a plan view of a pump dredger equipped with the dredging construction management system of FIG. 1. [Figure 4] It is a flowchart showing an example of the procedure of the dredging construction management method according to an embodiment of the present invention, which is executed using the dredging construction management system of FIG. 1. [Figure 5] It is an image diagram showing a state in which a concave road is virtually divided into a plurality of areas along its width direction. [Figure 6] It shows an example of a management screen displayed on the dredging construction management system of FIG. 1. [Figure 7] It is a table showing an example where the areas are different between the operation log and the automatic operation. [Figure 8] It is an image diagram showing an example of correction performed during automatic operation.

Embodiments for Carrying Out the Invention

[0021] Hereinafter, embodiments for carrying out the present invention will be described based on the accompanying drawings. Here, detailed descriptions of the same parts or corresponding parts as those in the prior art will be omitted, and the same parts or corresponding parts throughout the drawings are denoted by the same reference numerals. The dredging construction management system 10 according to an embodiment of the present invention, an example of whose configuration is shown in FIG. 1, manages dredging construction by a pump dredger 36 as shown in FIG. 3, for example. In the dredging construction by the pump dredger 36, for example, in order to construct a waterway leading to a harbor, a concave road 66 (see FIG. 5) that extends from the harbor to the offshore side and whose side ends in the width direction are formed by vertical planes is constructed on the seabed.

[0022] First, referring to FIG. 3, the configuration of the pump dredger 36 will be briefly described. A ladder 42 is provided at the bow of the ship. The base end side (left side in the figure) of this ladder 42 is pivotally supported by the hull so that the tip side (right side in the figure) swings in the vertical direction. The tip side of the ladder 42 is suspended from the ladder chassis 48 via a suspension wire 50 and a rod 52. By paying out and winding up the suspension wire 50 by a ladder winch 44 (refer to FIGS. 1 and 2) installed in the winch room 41, it swings in the vertical direction with the base end side as the axis. At the tip of the ladder 42, a cutter 54 for excavating the bottom of the water and a suction port (not shown) for sucking the excavated sediment are provided.

[0023] On the other hand, two spuds 56 (56A, 56B) are provided at the stern of the pump dredger 36, and any one of them is driven into the bottom of the water during dredging work. Also, during dredging work, as shown in FIG. 3(b), two swing wires 58 are stretched from near the tip of the ladder 42 toward both sides in the width direction (vertical direction in the figure) of the recess 66, and the tips of the respective swing wires 58 are fixed to the bottom of the water by an anchor or the like. Then, by paying out and winding up the base end sides of the respective swing wires 58 by a swing winch 60 (refer to FIG. 1) installed in the winch room 41, with any one of the spuds 56 driven into the bottom of the water as the center, the ladder 42 swings in the vertical direction in FIG. 3(b) together with the hull. Note that the bridge is indicated by reference numeral 38 in FIG. 3.

[0024] And when dredging, the pump dredger 36 configured as described above, as shown in Fig. 3(a), tilts the ladder 42 downward (see the phantom line), excavates the bottom with the cutter 54 provided at the tip of the ladder 42, sucks the excavated sediment from the suction port at the tip of the ladder 42 using a pump (not shown), and pumps it to the sediment discharge pond on the land side through a discharge pipe (not shown). Further, the excavation of the bottom and the suction of the sediment are performed with the ladder 42 swung in the width direction of the recessed channel 66 to be formed, together with the hull of the pump dredger 36. For example, in the example of Fig. 3(b), with the spud 56A of the two spuds 56A and 56B driven in, the lower swing wire 58 in the figure is wound up by the swing winch 60, and the upper swing wire 58 in the figure is paid out by the swing winch 60, so that the ladder 42 swings downward in the figure around the spud 56A, together with the hull.

[0025] Furthermore, when the dredging operation at the position where the spud 56 is currently driven in is completed and the pump dredger 36 is to be advanced, the two spuds 56A and 56B are switched, so that the pump dredger 36 is advanced. For example, in the example of Fig. 3(b), with the pump dredger 36 swung downward in the figure until the tip of the ladder 42 exceeds the side end of the recessed channel 66 formed on the bottom, the spud 56A is removed and the spud 56B is driven in. Subsequently, by swinging upward in the figure, the pump dredger 36 will advance slightly along the direction passing through the approximate center in the width direction of the swing.

[0026] Next, with reference to Fig. 1, the configuration of the dredging construction management system 10 according to the embodiment of the present invention will be described. For the configuration of the pump dredger 36, refer to Fig. 3 as appropriate. As shown in FIG. 1, the dredging construction management system 10 according to an embodiment of the present invention includes a position measurement means 12, a plurality of sensors 14, a depth measurement means 16, a tide gauge 18, an arithmetic management means 24, a display means 26, and a control means 28. The position measurement means 12 measures the position (planar position) of the pump dredger 36. In this embodiment, GNSS is used, and a GNSS antenna and receiver are installed at an appropriate position of the pump dredger 36. The measurement by the position measurement means 12 is continuously performed during the dredging construction, and the position information of the pump dredger 36 measured by the position measurement means 12 is transmitted to the arithmetic management means 24.

[0027] The plurality of sensors 14 measures the attitude of the pump dredger 36. In this embodiment, it includes a draft gauge 14A and an inclinometer 14B. The draft gauge 14A measures the draft of the pump dredger 36 and is installed at an appropriate position of the pump dredger 36 where the draft can be measured, as can be confirmed in FIG. 2 for example. Any draft gauge can be used for the draft gauge 14A. The inclinometer 14B is attached to the ladder 42 of the pump dredger 36 and measures the inclination angle of the ladder 42, as can be confirmed in FIG. 2. Any inclinometer is used for the inclinometer 14B. The measurements by these plurality of sensors 14 (14A, 14B) are continuously performed during the dredging construction, and the information related to the attitude of the pump dredger 36 measured by them is transmitted to the arithmetic management means 24.

[0028] The depth measurement means 16 measures the current shape (depth) of the seabed from the pump dredger 36. In this embodiment, a multi-beam sonar is used and is attached to an appropriate position on the pump dredger 36 capable of measuring the shape of the seabed. By continuously performing the measurement by the depth measurement means 16 during the dredging construction, the current seabed shape of the construction range that changes during the dredging construction is transmitted from the depth measurement means 16 to the calculation and management means 24. The tide gauge 18 measures the tide level in the vicinity of the construction range. For example, as can be seen in FIG. 2, it is installed at a solid position 20 (such as a shore, a breakwater, an artificial island, etc.) in the vicinity of the construction range that does not fluctuate due to the influence of waves or the like. The measurement by the tide gauge 18 is continuously performed during the dredging construction, and the tide level in the vicinity of the construction range measured by the tide gauge 18 is wirelessly transmitted to the pump dredger 36 via the transmitter 22 and transmitted to the calculation and management means 24 installed on the bridge 38 of the pump dredger 36. Various measuring devices capable of measuring the tide level are used for the tide gauge 18.

[0029] The calculation and management means 24 performs various calculations and information management necessary for the operation of the dredging construction management system 10 and is installed on the bridge 38 of the pump dredger 36 as described above. Specifically, the calculation and management means 24 takes in the measurement results by each of the position measurement means 12, the plurality of sensors 14 (draft gauge 14A, inclinometer 14B), the depth measurement means 16, and the tide gauge 18 and manages them as information. Further, the calculation and management means 24 is preset with the seabed depth before construction of the construction range, the designed dredging depth of the construction range, the cutter management depth of the construction range, and the sizes of each part of the pump dredger 36, etc., and these data are also managed. Note that the seabed depth before construction is the shape of the seabed of the construction range measured before construction, the designed dredging depth indicates the shape (concave channel shape) to be formed by dredging, and the cutter management depth indicates the depth to which the cutter 54 should ultimately be moved in order to dredge according to the designed dredging depth.

[0030] In addition, the operation management means 24 executes various operations based on the various types of information managed as described above. For example, the operation management means 24 calculates the position (planar position) of the cutter 54 based on information such as the current position of the pump dredger 36 measured by the position measurement means 12, the inclination angle of the ladder 42 measured by the inclinometer 14B, and the size of each part of the pump dredger 36 set in advance. Further, the operation management means 24 calculates the depth of the cutter 54 based on information such as the draft of the pump dredger 36 measured by the draft gauge 14A, the inclination angle of the ladder 42 measured by the inclinometer 14B, the tide level near the construction area measured by the tide gauge 18, and the size of each part of the pump dredger 36 set in advance.

[0031] Furthermore, the operation management means 24 is configured to be switchable between a learning mode and an automatic control mode. Although it will be described in detail later, in the learning mode, when manually dredging operations are performed where the ladder winch 44 and the swing winch 60 are manually operated, the operation logs related to those operations are recorded. Also, in the automatic control mode, control data for transmission to the control means 28 is calculated based on the operation logs recorded during the learning mode. In addition, the operation management means 24, although it will be described in detail later, performs correction to suppress the influence of external factors such as waves when calculating the control data in the automatic control mode. The operations and information management by the operation management means 24 as described above are continuously performed during the dredging construction, and a part of the operation results and management information is transmitted to the display means 26 and the control means 28. Note that the operation management means 24 can be constituted by various computers.

[0032] The display means 26 is installed on the bridge 38 of the pump dredger 36, just like the operation management means 24, and displays the information calculated and managed by the operation management means 24. For example, the display means 26 displays a management screen 82 that is displayed for the operator on the bridge 38 as shown in FIG. 6. The details of this display content will be described later in detail. Each display by the display means 26 is continuously performed during the dredging construction while the display content is always updated to the latest information by the operation management means 24. Various display devices can be used for the display means 26. For example, it may be a display device of a computer that constitutes the operation management means 24.

[0033] The control means 28 controls the ladder winch 44 and the swing winch 60 based on the control data obtained from the operation management means 24, thereby adjusting the depth and the position in the width direction of the recess 66 of the cutter 54 provided at the tip of the ladder 42. Specifically, the control means 28 controls the ladder winch 44 and the swing winch 60 according to the control data so that the cutter 54 is positioned at a depth according to the cutter management depth set in the operation management means 24 while confirming the position and depth of the cutter 54 calculated by the operation management means 24. In the present embodiment, the ladder winch 44 is controlled via a ladder control panel 46 installed in the engine room 40, and the swing winch 60 is controlled via a swing control panel 62 installed in the engine room 40. The control of the ladder winch 44 and the swing winch 60 by the control means 28 is continuously performed during the dredging construction. The control means 28 is constituted by various computers and control mechanisms and is installed, for example, on the bridge 38.

[0034] Next, while referring to the flowchart shown in FIG. 4, the specific procedures and control flow when performing pump dredging using the dredging construction management system 10 according to the embodiment of the present invention will be described. Regarding the configurations of the dredging construction management system 10 and the pump dredging vessel 36, refer to FIGS. 1 to 3 as appropriate. Note that the flowchart shown in FIG. 4 shows an example of the procedures for explaining specific procedures and controls. Therefore, the construction procedures are not limited to the flowchart of FIG. 4, and for example, depending on the configuration and situation of the dredging construction management system 10, etc., a flowchart in which some of the steps shown in FIG. 4 are deleted, changed, or appropriately added may be used.

[0035] S10 (Operator operation start): As described above, since the arithmetic management means 24 needs to record the operation log in the learning mode, here, the procedures when the arithmetic management means 24 records the operation log will be schematically described. First, for the recording of the operation log by the arithmetic management means 24, the operator starts the manual operation of the ladder winch 44 and the swing winch 60. During this manual operation, actually, pump dredging for constructing the recessed channel 66 on the water bottom is performed. The operations specifically performed by the operator include, for example, as operations related to the ladder winch 44, the lowering switch operation of the ladder 42, the raising switch operation of the ladder 42, the speed adjustment of the lowering or raising of the ladder 42, the stop operation of the lowering or raising of the ladder 42, and the like. Also, as operations related to the swing winch 60, the selection operation of the swing direction (left or right), the notch operation for swing speed adjustment, the stop operation of the swing, and the like can be mentioned. During such manual dredging work for recording the operation log, it is preferable that a skilled operator performs the operation.

[0036] S20 (Recording Start): When a manual operation by the operator is started, the operation management means 24 switched to the learning mode starts recording the operation logs related to the operations of the ladder winch 44 and the swing winch 60. For example, as operation logs, the operation management means 24 records an ascending command of the ladder winch 44, a descending command of the ladder winch 44, a speed setting of the ladder winch 44, a swing direction, a swing speed setting, a tension setting of each of the two swing wires 58 by the swing winch 60, a rotational speed setting of the swing winch 60, and a control current value of the swing winch 60. Further, the operation management means 24 may record, as operation logs, a control current value of the cutter 54, a suction negative pressure of the pump, and a discharge pressure of the pump. These operation logs are recorded, for example, at a cycle of 1 second.

[0037] Also, the operation management means 24 records the above operation logs for each area of the recessed groove 66 divided into a plurality of areas. Here, referring to FIG. 5, the recessed groove 66 constructed on the bottom of the water is illustrated with its width direction as the left-right direction. The recessed groove 66 has a normal surface 68 formed at one end on the left side in the figure and a normal surface 74 formed at the other end on the right side in the figure. The recessed groove 66 in FIG. 5 is divided into 10 areas A to J along its width direction. Therefore, the operation management means 24 of the present embodiment records the operation logs for each of the 10 areas A to J. That is, when recording the operation logs, by simultaneously recording in which area the cutter 54 is located, the operation logs are recorded in association with each area.

[0038] In FIG. 5, as the dividing positions of the ten areas A to J, the position S1 of the shoulder 70 of the normal surface 68 at one side end, the intermediate position S2 of the normal surface 68 at one side end, the position S3 of the end 72 of the normal surface 68 at one side end, the position S4 at a predetermined distance from the end 72 of the normal surface 68 at one side end, the center position S5 in the width direction of the concave groove 66, the position S6 at a predetermined distance from the end 78 of the normal surface 74 at the other side end, the position S7 of the end 78 of the normal surface 74 at the other side end, the intermediate position S8 of the normal surface 74 at the other side end, and the position S9 of the shoulder 76 of the normal surface 74 at the other side end are used. Among these nine dividing positions S1 to S9, the position S1 of the shoulder 70, the position S3 of the end 72, the position S7 of the end 78, and the position S9 of the shoulder 76 are positions where the shape changes significantly in the width direction of the concave groove 66.

[0039] The intermediate position S2 of the normal surface 68 is a preparation position for switching from area C to D at position S3 when swinging to the right in the figure, and a preparation position for switching from area B to A at position S1 when swinging to the left in the figure, and is set at an arbitrary position on the normal surface 68. Similarly, the intermediate position S8 of the normal surface 74 is a preparation position for switching from area I to J at position S9 when swinging to the right in the figure, and a preparation position for switching from area H to G at position S7 when swinging to the left in the figure, and is set at an arbitrary position on the normal surface 74. Also, the position S4 at a predetermined distance from the end 72 is mainly a preparation position for switching from area D to C at position S3 when swinging to the left in the figure, and is set at an arbitrary distance from the end 72. Similarly, the position S6 at a predetermined distance from the end 78 is mainly a preparation position for switching from area G to H at position S7 when swinging to the right in the figure, and is set at an arbitrary distance from the end 78. The center position S5 in the width direction of the concave groove 66 is mainly used as an alignment index or the like.

[0040] Furthermore, when the operation log is recorded by the operation management means 24, a management screen 82 as shown in FIG. 6 is displayed by the display means 26. As shown in the figure, the management screen 82 includes a recording pattern specifying section 84, an operation pattern specifying section 86, a start instruction section 88, a depth display section 90, and a swing display section 92. The recording pattern specifying section 84 is provided with buttons numbered from 1 to 10 and a recording ON / OFF button. The buttons numbered from 1 to 10 each indicate a pattern in which the operation log is recorded. That is, in the present embodiment, 10 patterns of operation logs of recording patterns 1 to 10 can be recorded. When recording the operation log, any one of the buttons numbered from 1 to 10 of the recording pattern specifying section 84 is selected by the operator, and the currently operated operation log is recorded as the recording pattern corresponding to the selected button number. Also, when the recording ON button of the recording pattern specifying section 84 is pressed by the operator, the operation management means 24 may be switched to the learning mode. Other display elements of the management screen 82 will be described later.

[0041] S30 (Operator operation completed): The operator who started the manual operation in S10 above finishes the operation for forming the recessed path 66 on the bottom. At this time, it is preferable to perform operations in all 10 areas A to J as shown in FIG. 5, and it is also preferable to perform swings in the left and right directions respectively. S40 (Recording completed): When the manual operation by the operator is completed, the recording of the operation log by the operation management means 24 is terminated. At this time, it is preferable that the operation logs in all 10 areas A to J as shown in FIG. 5 are recorded in the recording pattern started in S20. That is, a series of operation logs in 10 areas A to J can be recorded in each of the recording patterns 1 to 10.

[0042] S50 (Operation Log Judgment): The operator or the like determines whether the operation log has been sufficiently recorded by the operation management means 24. At this time, it may be determined by considering whether all of the recording patterns 1 to 10 have been recorded, whether operation logs of various patterns with different construction conditions have been recorded, and the like. If it is determined that the operation log has been sufficiently recorded (YES), the process proceeds to S60. If it is determined that the operation log has not yet been sufficiently recorded (NO), the process returns to S10 above, and S10 to S40 are repeatedly executed until it is determined that the recording is sufficient. S60 (Mode Switching): Since a sufficient operation log has been recorded in S10 to S50 above, the automatic dredging operation by the dredging construction management system 10 will be described from here. First, the operator switches the operation management means 24 to the automatic control mode. This switching to the automatic control mode may be executed at the timing when the operation ON button, which will be described later, of the operation pattern designation unit 86 shown on the management screen 82 in FIG. 6 is pressed. Note that the site using the automatic control mode may be the same construction site as in the learning mode or a different construction site.

[0043] S70 (Operation Pattern Selection): The operator selects an operation pattern suitable for the current construction site. As shown in FIG. 6, the operation pattern designation unit 86 on the management screen 82 is provided with buttons numbered 1 to 10 and a recording ON / OFF button, and the buttons numbered 1 to 10 correspond to the buttons numbered 1 to 10 of the recording pattern designation unit 84. For example, when the button numbered 1 (operation pattern 1) of the operation pattern designation unit 86 is selected, the operation log recorded as recording pattern 1 is used, and when the button numbered 7 (operation pattern 7) of the operation pattern designation unit 86 is selected, the operation log recorded as recording pattern 7 is used. This selection of the operation pattern may be made from among the operation patterns 1 to 10 associated with the recording patterns 1 to 10 in consideration of various conditions (such as the similarity of the shape of the concave road 66) between the current construction site and the construction site in the learning mode. Here, the following description will continue assuming that operation pattern 1 corresponding to recording pattern 1 has been selected.

[0044] S80 (Swing Direction Selection): The operator selects the direction (left or right in the width direction of the recess 66) in which the ladder 42 is swung together with the hull. The selection of the swing direction may be performed, for example, at the start instruction section 88 of the management screen 82 shown in FIG. 6. Here, assuming that the swing direction from left to right in FIG. 5 is selected, the following description will continue. Here, on the management screen 82 shown in FIG. 6, the depth display section 90 displays the current depth of the cutter 54, the target depth (cutter management depth), and the difference between them, and further displays the moving direction of the ladder 42 with an up or down arrow. Also, the swing display section 92 displays the swing distance and swing speed, and further displays the swing direction with a left or right arrow. Note that the management screen 82 may be one without a part of the display shown in FIG. 6 or one with another display not shown in FIG. 6 added.

[0045] S90 (Start Operation with Control Data Calculated from Operation Log): For example, when the operator presses the operation ON button in the operation pattern designation section 86 of the management screen 82, the automatic dredging operation in the currently selected operation pattern 1 is started. Here, the arithmetic management means 24 calculates control data for each area shown in FIG. 5 so as to reproduce the movement of the cutter 54 during the manual dredging operation based on the recorded operation log. Therefore, among the operation logs recorded as the record pattern 1, first, the operation log in area A is used to calculate the control data by the arithmetic management means 24. At this time, the arithmetic management means 24 adjusts the control data while checking the current depth and position of the cutter 54 so that dredging is performed according to the designed dredging depth of the current construction site, in other words, so that the cutter 54 is positioned at the depth according to the cutter management depth.

[0046] Further, the operation management means 24 always compares the current position of the cutter 54 that is constantly measured with the designed position of the recessed path 66 set in advance, etc., to grasp in which area of the recessed path 66 under construction the cutter 54 is currently located. Then, at the timing when it is determined that the area where the cutter 54 is currently located has changed, the operation log used for calculating the control data is changed from that of the area before the change to that of the area after the change, and the control data is calculated. For example, when it is determined that the cutter 54 has reached the division position S1, the operation log corresponding to area A of recording pattern 1 is changed to the operation log corresponding to area B of recording pattern 1, and the calculation of the control data is continued. The control data calculated in this way is transmitted from the operation management means 24 to the control means 28, and the control means 28 controls the ladder winch 44 and the swing winch 60 based on the received control data, thereby advancing the dredging work.

[0047] S100 (Area matching determination): The operation management means 24 determines whether or not the area of the operation log currently used for calculating the control data matches the area where the cutter 54 is currently located during automatic operation. The former area is grasped from the area recorded together with the operation log, and the latter area is grasped from the position of the cutter 54 that is constantly measured. As a result, if it is determined that the two areas match (YES), the process proceeds to S140, and if it is determined that the two areas do not match (NO), the process proceeds to S110. S110 (Leading determination): The operation management means 24 determines whether or not the area of the operation log currently used for calculating the control data is ahead of the area where the cutter 54 is currently located during automatic operation. That is, since it is considered that one of the two areas determined not to match in S100 is ahead, a determination is made to clarify this.

[0048] FIG. 7 shows an example where the operation log area precedes the automatic driving area, indicated by the position of the notch for adjusting the swing speed. Note that the time in the table of FIG. 7 indicates the flow of time in ascending order of the numbers, and does not indicate the actual magnitude of time. As shown in FIG. 7, at times 1 and 2, both the operation log area and the automatic driving area match at "C", and the notch position of the automatic driving is set to the same "5" as the notch position of the operation log area C. In contrast, at the timing of time 3, the operation log area is "D" and the automatic driving area is "C", and the operation log area precedes. That is, although the cutter 54 under construction is still located in area C, the operation log area being used has switched from "C" to "D". Such an event can occur, for example, when the size of area C in the operation log being used is smaller than the size of area C at the current construction site. When it is determined that the operation log area precedes the automatic driving area (YES) as in this example, the process proceeds to S120, and when it is determined that the automatic driving area precedes the operation log area (NO), the process proceeds to S130.

[0049] S120 (Calculate control data from the operation log before precedence): The arithmetic management means 24 calculates control data from the operation log before the area precedence is determined in S110, rather than from the operation log where the area precedence is determined. For example, as shown in FIG. 7, at time 3, although the operation log area has switched from "C" to "D", since the automatic driving area is still area "C", the operation log corresponding to area "C" before the operation log area precedes is used to calculate the control data, here the notch position. Since the notch position of the operation log corresponding to area "C" is "5" as shown at times 1 and 2, in the automatic driving at time 3, the notch position remains "5" unchanged from times 1 and 2. And in the example of FIG. 7, at the timing of time 5, since the cutter 54 under construction has moved to area D, the automatic driving area has switched from "C" to "D", and the operation log area and the automatic driving area match again.

[0050] S130(Calculate control data from the operation log corresponding to the area under construction): This step is reached when the area of autonomous driving is ahead of the area of the operation log. As described in S90 above, this is an event that can occur during normal processing by the arithmetic management means 24 in the automatic control mode. That is, when the arithmetic management means 24 determines that the area where the cutter 54 is currently located has changed, it changes the operation log to be used from the one for the area before the change to the one for the area after the change. Therefore, this is an event immediately after the change. Accordingly, in this step, normal processing is performed to calculate control data from the operation log corresponding to the changed area under construction, and the process returns to S100 above.

[0051] S140(Continue operation with the control data calculated from the operation log): For example, as shown at times 1, 2, 5, and 6 in FIG. 7, since the area of the operation log and the area of autonomous driving coincide, the autonomous driving using the control data calculated from the operation log corresponding to the coinciding area is continued as it is. Here, the calculation of the control data by the arithmetic management means 24 in S90, S120, S130, and S140 may be corrected in order to suppress the influence of external factors. That is, taking into account differences in the soil quality of the dredged sediment, differences in the dredged soil thickness, differences in the driving position of the swing wire 58 with respect to the pump dredger 36, etc., between when the operation log is being recorded (during the learning mode) and when autonomous driving is being performed (during the automatic control mode), the control data may be calculated so as to suppress those influences. Also, the influence of waves and wind during autonomous driving may be taken into account to calculate the control data.

[0052] Furthermore, the calculation of control data by the operation management means 24 and the transmission to the control means 28 are preferably executed at a timing that takes into account the response delay of machines such as the ladder winch 44 and the swing winch 60. That is, since there is a time lag from when the control data is transmitted from the operation management means 24 to the control means 28 until the control content based on the control data is actually reflected in the depth and position of the cutter 54, it is preferable to transmit the control data at a timing that takes into account that time lag in advance. FIG. 8 shows how the error in automatic operation is improved by the above-described correction and timing adjustment in the test of the dredging construction management system 10. FIG. 8(a) shows the state before improvement, and FIG. 8(b) shows the state after improvement. In FIG. 8, the vertical direction corresponds to the depth, and the horizontal direction corresponds to the width direction of the concave channel 66. The designed dredging depth is indicated by a dashed line, and the dredging depth in automatic operation is indicated by a solid line. As shown in the figure, in FIG. 8(a), there is a delay in the left and right side slopes, and furthermore, the left side bottom is largely displaced. On the other hand, in FIG. 8(b), it can be seen that the delay in the left side slope is almost eliminated, the displacement of the left side bottom is also eliminated, and the delay in the right side slope is also improved.

[0053] S150 (Dredging area determination): The operation management means 24 determines whether or not all areas have been dredged. That is, it is determined whether or not all of the ten areas A to J as shown in FIG. 5 have been dredged along the swing direction selected in S80 above. As a result, if it is determined that all have been dredged (YES), the explanation of the automatic dredging operation by the dredging construction management system 10 here ends. If it is determined that not all have been dredged yet (NO), the process returns to S100 above and the dredging operation continues until all areas have been dredged. Here, the automatic operation for one swing has been described. However, when the pump dredger 36 is advanced and swung again, the process may return to S70 above and the dredging operation may continue.

[0054] Here, the dredging construction management system 10 according to the embodiment of the present invention and the pump dredger 36 to which the dredging construction management system 10 is applied are not limited to the configurations shown in FIGS. 1 to 8, and may have other configurations. For example, the position measuring means 12 may be a measuring device other than GNSS as long as it can measure the position of the pump dredger 36, and the depth measuring means 16 may be a measuring device other than a multi-beam sonar as long as it can measure the current underwater depth of the construction area. Further, the plurality of sensors 14 are not limited to the configuration of the draft gauge 14A and the inclinometer 14B, and may include other measuring devices as long as they can measure the attitude of the pump dredger 36. Furthermore, the arithmetic management means 24 and the control means 28 are not divided in terms of the actual hardware (including software) that constitutes them, but are functionally divided for convenience of explanation. Therefore, the functions of the arithmetic management means 24 and the control means 28 as described above may be realized by one piece of hardware, or may be realized by two or three or more pieces of hardware. And the specific functions assigned to each piece of hardware, the data content communicated between the hardware, etc. are arbitrarily set within the range that satisfies the functions of the arithmetic management means 24 and the control means 28.

[0055] In addition, the display means 26 may have two or more configurations. On the same display means 26, a plurality of types of display screens may be switched and displayed. A number of display means 26 corresponding to the types of display screens may be installed, and different display screens may be displayed for each display means 26. Further, in addition to the management screen 82 shown in FIG. 6, other screens may be displayed by the display means 26. For example, the display means 26 may three-dimensionally display various depth information managed by the arithmetic management means 24, that is, the underwater depth before construction, the designed dredging depth, the cutter management depth, and the current underwater depth, etc., while changing the color according to the depth, together with an image display of the pump dredger 36. Also, an image display of the cross-section of the concave channel 66 as shown in FIG. 8 may be displayed with the designed dredging depth, the current underwater depth, etc. Further, the concave channel 66 constructed on the underwater using the dredging construction management system 10 according to the embodiment of the present invention is not limited to the concave channel 66 having the slopes 68 and 74 at both side ends as shown in FIG. 5, and may be a concave channel 66 having a slope only at one side end.

[0056] Now, according to the embodiment of the present invention having the above configuration, the following operational effects can be obtained. That is, as shown in FIGS. 1 to 3, the dredging construction management system 10 according to the embodiment of the present invention includes the position measurement means 12, the tide gauge 18, a plurality of sensors 14, the arithmetic management means 24, and the control means 28. The position measurement means 12 measures the position (planar position) of the pump dredger 36, the tide gauge 18 measures the tide level in the vicinity of the construction area, and the plurality of sensors 14 measure the attitude of the pump dredger 36. By continuously performing these measurements during construction, the latest situation is always reflected in each measurement result.

[0057] The arithmetic operation management means 24 manages the arithmetic operations and information necessary for the operation of the system 10. As one of the arithmetic operations, based on the measurement results of the position measurement means 12, the tide gauge 18, and the plurality of sensors 14, it calculates the position (planar position) and depth of the cutter 54. At this time, the position of the cutter 54 is calculated by adding the size of each part (hull, ladder 42, etc.) of the pump dredger 36 preset in the arithmetic operation management means 24 to the position of the pump dredger 36 measured by the position measurement means 12, and taking into account the attitude of the pump dredger 36 measured by the plurality of sensors 14. Also, the depth of the cutter 54 is calculated from the tide level near the construction range measured by the tide gauge 18, the attitude of the pump dredger 36, the size of the ladder 42 of the pump dredger 36, and the like. By continuously performing such calculations of the position and depth of the cutter 54 during construction, the current position and depth of the cutter 54 can be grasped in real time.

[0058] The control means 28 controls the ladder winch 44 mounted on the pump dredger 36 to swing the ladder 42 in the vertical direction, thereby changing the inclination angle (swing angle) of the ladder 42 and adjusting the depth of the cutter 54 provided at the tip of the ladder 42. Further, the control means 28 controls the swing winch 60 mounted on the pump dredger 36 to wind up and pay out the two swing wires 58 stretched from both sides in the width direction of the recessed channel 66 near the tip of the ladder 42, thereby swinging the hull together with the ladder 42 around the spud 56 and adjusting the position of the cutter 54 in the width direction of the recessed channel. At this time, the control means 28 controls both the ladder winch 44 and the swing winch 60 based on the control data received from the arithmetic operation management means 24.

[0059] That is, the arithmetic management means 24 calculates and transmits control data used by the control means 28 for controlling the ladder winch 44 and the swing winch 60. For this purpose, the arithmetic management means 24 is configured to be switchable between a learning mode and an automatic control mode. In the learning mode, the arithmetic management means 24 records an operation log related to the operations of the ladder winch 44 and the swing winch 60 during a manual dredging operation in which the ladder winch 44 related to depth adjustment and the swing winch 60 related to swing adjustment are manually operated by an operator. Therefore, usually, an operation log when a skilled operator with rich experience and excellent skills manually operates as described above is recorded. Also, in the automatic control mode, the arithmetic management means 24 calculates control data to be transmitted to the control means 28 based on the operation log recorded in the learning mode so as to be dredged according to a preset designed dredging depth.

[0060] That is, the arithmetic management means 24 calculates control data such that the movement of the cutter 54 during the manual dredging operation as described above is reproduced from the recorded operation log. Moreover, the arithmetic management means 24 adjusts the control data so as to be dredged to the designed dredging depth while confirming the position and depth of the cutter 54 calculated as described above. As a result, during dredging construction, it is possible to reproduce the movement of the cutter 54 operated by a skilled operator and dredge to the designed dredging depth. Therefore, regardless of the skill and experience of the operator using the system 10, it is possible to stably perform pump dredging with high precision. Further, since the operator is released from delicate operations that require concentration, such as the operation of the swing speed and the ladder depth, the burden during work can be significantly reduced.

[0061] In addition, as shown in FIG. 5, in the dredging construction management system 10 according to the embodiment of the present invention, the arithmetic management means 24 virtually divides the recessed channel 66 constructed on the water bottom into a plurality of areas (A to J) along the width direction of the recessed channel 66, for example, based on a position where the shape changes. Then, when recording the operation log in the learning mode, the arithmetic management means 24 records the operation log for each of the divided areas, and when calculating the control data in the automatic control mode, the arithmetic management means 24 calculates the control data for each of the divided areas. As a result, since recording and calculation can be performed so that features such as the shape peculiar to each area are reflected, it is possible to improve the accuracy of pump dredging during construction.

[0062] Further, in the dredging construction management system 10 according to the embodiment of the present invention, when the arithmetic management means 24 divides the recessed channel 66 having the side slopes 68 and 74 at both ends into a plurality of areas, the following positions are used as the division positions. That is, the arithmetic management means 24 uses at least the position S1 of the shoulder 70 of the side slope 68 at one end of the recessed channel 66, the position S3 of the heel 72 of the side slope 68 at one end of the recessed channel 66, the position S7 of the heel 78 of the side slope 74 at the other end of the recessed channel 66, and the position S9 of the shoulder 76 of the side slope 74 at the other end of the recessed channel 66 as the division positions of the plurality of areas. As a result, since the recessed channel 66 can be divided into a plurality of areas at a position where the shape in the width direction changes greatly, it is possible to accurately reproduce the shape of each area during construction.

[0063] Furthermore, in the dredging construction management system 10 according to the embodiment of the present invention, as the operation log recorded by the arithmetic management means 24 in the learning mode, at least one of the following is recorded. That is, the raise command of the ladder winch 44, the lower command of the ladder winch 44, the speed setting of the ladder winch 44, the swing direction, the swing speed setting, the tension setting of the swing winch 60, and the rotation speed of the swing winch 60. By recording such various operation elements, it is possible to reproduce finer movements during the automatic control mode, so that it is possible to further improve the construction accuracy.

[0064] In addition, when the dredging construction management system 10 according to the embodiment of the present invention performs dredging construction in the automatic control mode based on the operation log recorded by the arithmetic management means 24 during the learning mode, it may correct the deviation of the position and depth of the cutter 54 caused by the difference in the conditions of mainly external factors between the recording time and the construction time. That is, the arithmetic management means 24 takes into account at least one of the difference in the soil quality of the dredged sediment between the learning mode and the automatic control mode, the difference in the dredged soil thickness between the learning mode and the automatic control mode, the difference in the driving position of the swing wire 58 connected to the swing winch 60 with respect to the pump dredger 36 between the learning mode and the automatic control mode, and the influence of waves and / or wind during the automatic control mode, and calculates the control data. As a result, since the arithmetic management means 24 can calculate the control data so as to correct the deviation of the position and depth of the cutter 54 due to external factors, the construction accuracy of pump dredging can be further improved.

[0065] Furthermore, the dredging construction management system 10 according to the embodiment of the present invention may transmit the control data to the control means 28 at a timing taking into account the time lag from when the arithmetic management means 24 transmits the control data to the control means 28 until the control content is actually reflected in the depth and position of the cutter 54. Thereby, since the influence of the time lag mainly due to the response delay of the machine can be suppressed, the construction accuracy of pump dredging can also be improved thereby. Moreover, as described in relation to S100, S110, etc. in FIG. 4, since it also corresponds to the deviation between the area of the operation log currently used for calculating the control data and the area where the cutter 54 is currently located during automatic operation, it is possible to flexibly respond to changes in the start position of dredging, and cut-off and restart during the dredging operation. Note that the dredging construction management method according to the embodiment of the present invention can be executed by the dredging construction management system 10 according to the embodiment of the present invention described above, and can achieve the same operational effects as the dredging construction management system 10.

Explanation of Reference Numerals

[0066] 10: Dredging construction management system, 12: Position measurement means, 14: A plurality of sensors, 18: Tide gauge, 24: Calculation management means, 28: Control means, 36: Pump dredger, 42: Ladder, 44: Ladder winch, 54: Cutter, 56(56A, 56B): Spud, 58: Swing wire, 60: Swing winch, 66: Depression, 68: Slope at one side end, 70: Shoulder slope, 72: Buttock slope, 74: Slope at the other side end, 76: Shoulder slope, 78: Buttock slope, S1 to S9: Division positions, A to J: Areas

Claims

1. In order to construct a recessed channel with at least one side end formed by a normal plane on the bottom of a water body, a ladder attached to the bow so as to be swingable in the vertical direction swings the entire hull in the width direction of the recessed channel around a spud provided at the stern, and a dredging construction management system for a pump dredger that excavates sediment on the bottom of the water body with a cutter provided at the tip of the ladder and sucks and pumps the excavated sediment by a pump, comprising: position measuring means for measuring the position of the pump dredger; a tide gauge for measuring the tide level in the vicinity of the construction area; a plurality of sensors for measuring the attitude of the pump dredger; operation management means for performing operations and information management necessary for the operation of the system, including calculating the position and depth of the cutter based on the measurement results of the position measuring means, the tide gauge, and the plurality of sensors; control means for controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data received from the operation management means to adjust the depth and the position in the width direction of the cutter; the operation management means is configured to be switchable between a learning mode in which, during manual dredging work in which the ladder winch and the swing winch are manually operated, an operation log related to the operation of the ladder winch and the swing winch is recorded, and an automatic control mode in which, while reproducing the movement of the cutter during the manual dredging work, the control data is calculated based on the operation log so as to be dredged according to a designed dredging depth; the operation management means virtually divides the recessed channel into a plurality of areas along the width direction, records the operation log for each area in the learning mode, and calculates the control data for each area in the automatic control mode; the operation management means, when recording the operation log in the learning mode, records the operation log associated with each area by simultaneously recording the area where the cutter is located, and when calculating the control data in the automatic control mode, at the timing when it is determined that the area where the cutter is currently located has switched, changes the operation log used for calculating the control data from that of the area before the switch to that of the area after the switch. A dredging construction management system characterized by this.

2. The dredging construction management system according to claim 1, wherein the arithmetic management means uses at least the shoulder position of the normal plane of the concave groove and the bottom position of the normal plane of the concave groove as the division positions of the plurality of areas.

3. The dredging construction management system according to claim 1 or 2, wherein the arithmetic management means records at least one of the raising command of the ladder winch, the lowering command of the ladder winch, the speed setting of the ladder winch, the swing direction, the swing speed setting, the tension setting of the swing winch, and the rotation speed of the swing winch as the operation log.

4. The dredging construction management system according to any one of claims 1 to 3, wherein the arithmetic management means calculates the control data in consideration of at least one of the difference in the soil quality of the dredged sediment between the learning mode and the automatic control mode, the difference in the excavation depth between the learning mode and the automatic control mode, the difference in the driving position of the swing wire connected to the swing winch with respect to the pump dredger between the learning mode and the automatic control mode, and the influence of waves and / or wind in the automatic control mode.

5. The dredging construction management system according to any one of claims 1 to 4, wherein the arithmetic management means transmits the control data to the control means at a timing taking into account the time lag from when the control data is transmitted until the control data is reflected in the depth and position of the cutter.

6. A dredging construction management method for a pump dredger that excavates underwater sediment with a cutter provided at the tip of a ladder attached to the bow so as to be swingable in the vertical direction while swinging the hull in the width direction of the concave groove around a spud provided at the stern to construct a concave groove having at least one side end formed by a normal plane, comprising: measuring the position of the pump dredger, the tide level near the construction range, and the attitude of the pump dredger; calculating the position and depth of the cutter based on the measurement results; controlling a ladder winch for swinging the ladder and a swing winch for swinging the ladder based on control data to adjust the depth of the cutter and the position in the width direction; virtually dividing the concave groove into a plurality of areas along the width direction; When manually dredging by manually operating the ladder winch and the swing winch, record the operation logs related to the operations of the ladder winch and the swing winch for each of the areas. Including calculating the control data for each area based on the operation log so as to dredge according to the designed dredging depth while reproducing the movement of the cutter during the manual dredging operation. When recording the operation log, record the operation log associated with each area by simultaneously recording the area where the cutter is located. A dredging construction management method characterized in that when calculating the control data, at the timing when it is determined that the area where the cutter is currently located has switched, the operation log used for calculating the control data is changed from that of the area before the switch to that of the area after the switch.

Images