• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an excavating device comprising a floating rig that can be moved in a sailing direction, and to which a drag head (1) is attached, which in use is towed over the bottom (50), loosening soil, and one on the drag head ( 1) connecting suction pipe (4) that drains the loosened soil. The excavating device is provided with a control device (10) for moving the drag head (1) out of the direction of travel. With the excavating device, dredging can take place more accurately and with greater efficiency than with the known excavating device. The invention also relates to a method for excavating subsurface (50) with the aid of the excavating device found out, and a computer program for carrying out the method.
    公开号:BE1018582A3
    申请号:E2009/0345
    申请日:2009-06-05
    公开日:2011-04-05
    发明作者:Bart Peter Verboomen
    申请人:Dredging Int；
    IPC主号:
    专利说明:

    Excavation device for excavating soil under water and method for excavating soil
    The present invention relates to an excavating device for excavating submerged soil, which device comprises a floating rig that can be advanced in a sailing direction, and to which a drag head is attached, which in use is dragged or hanged over the soil and thereby loosens soil and a suction line connecting to the drag head, which drains the loosened soil. The invention also relates to a method for excavating soil under water with the aid of this excavating device.
    An excavation device according to the preamble is known from EP-A-0892116. EP-A-0892116 describes an excavating device of the trailing suction hopper dredger type. This comprises a vessel to which a drag head is attached by means of a drag pipe.
    The drag head is connected to a suction line and comprises a visor open towards the bottom to be dredged. A series of teeth is mounted on the visor on a tooth bar which extends in a direction perpendicular to the direction of movement of the drag head. When excavating or dredging, the trailing head with trailing pipe and suction line is submerged at an oblique angle with a winch at the rear of the trailing suction hopper dredger, until the trailing head hits the bottom or hangs. When the trailing suction hopper dredger sails, the trailing head is dragged under water in the direction of travel over the bottom, whereby the ground is released by engaging the teeth on the bottom. The loosened soil is sucked away via the suction line, for example to a storage space present on the trailing suction hopper dredger. The dredging head exerts pressure on the bottom during dredging due to the relatively large weight of the parts located under water and due to the developed suction power of the suction pipe.
    The known excavating device is capable of excavating large quantities of soil under water in a short time. However, the accuracy of the dredging can be improved, or is only made possible by the use of expensive and complicated GPS-like operating systems such as the DPDT-system known as those skilled in the art (dynamic positioning, dynamic tracking). Due to inaccuracies it may happen that parts of the area to be dredged are not excavated or not excavated properly, so that the trailing suction hopper dredger must return to its rung. This is time-consuming, reducing the efficiency of the trailing suction hopper dredger. In the context of this application, efficiency means the volume of dredged soil per unit of time and per unit of power. The reduced efficiency is caused by the fact that the trailing suction hopper dredger requires a great deal of maneuvering in which the working accuracy is highly dependent on the experience of the skippers and the available power in the trailing suction hopper dredger. When maneuvering, the trailing suction hopper dredger travels around with a suspended trailing pipe without soil being sucked up. Incidentally, the same problem occurs when cleaning up local shallows, which are caused by, for example, the trail of the drag head.
    The object of the present invention is to provide an excavating device which can obviate the aforementioned disadvantages, and with which in particular dredging can be carried out with greater accuracy than is possible with the known excavating device.
    To that end, the excavating device according to the invention is characterized in that it is provided with a control device for moving the drag head out of the sailing direction. By providing, according to the invention, a control device for partially autonomous steering of the towing head, it becomes possible to steer the towing head to a desired zone over the ground without it being necessary with the floating rig, in particular a trailing suction hopper dredger, to zone to maneuver. As a result, the desired zone to be dredged is not only reached faster, but this is also done with the use of considerably less power and with greater accuracy. Due to the greatly reduced required power, considerably less fuel is used and CO2 is emitted, so that the environment is burdened less.
    In principle, the excavating device can comprise any floating rig suitable for this purpose, as long as it can be moved. Suitable vehicles include, for example, a pontoon propelled by an auxiliary vessel, a ship along which a second vessel with cargo hold is moored, a cutter suction dredger, a trailing suction hopper dredger, and other suitable floating vehicles. The floating rig preferably comprises a trailing suction hopper dredger.
    A trailing head for a trailing suction hopper dredger can have a weight of more than 20 tons. In addition, the drag head is in use with great force being sucked onto the substrate by the suction action of the suction line. It therefore appears that a large power is required to move such a drag head. Surprisingly, it appears that it does not require a particularly large amount of power to move the drag head out of the sailing direction. As a result, the control means require a modest capacity, at least related to the capacities customarily used in the dredging industry.
    Although not strictly necessary, a preferred embodiment of the excavating device according to the invention comprises control means for operating the steering device from the floating gear. The accuracy of the excavation is further increased by such a remote control. A crew member on the floating rig generally has equipment at his disposal with which the subsurface, and more particularly the depth profile of the subsurface from the water line (the unevenness of the subsurface therefore), can be visualized. Because this happens in real time, this crew member usually has a view of the position of the drag head. The present variant makes it possible to adjust the position of the drag head on the basis of knowledge of the depth profile of the substrate.
    The control device according to the invention can be designed in many different ways. In a first embodiment of the excavating device according to the invention, it is provided with a control device which comprises a pulling cable which from a fixing point on the drag head, or on a lower part of the suction pipe, via a goat mounted on the floating rig, to the winch or winch mounted on the floating rig. By pulling the pulling cable, for example, on the port side, the drag head is steered in the port direction.
    In a second embodiment of the excavating device according to the invention, it is provided with a control device which comprises a body of revolution such as a caterpillar track, which caterpillar extends on the contact side of the drag head with the ground, and substantially transversely of the drag direction. By rotating the body of rotation in a clockwise direction, the drag head is steered to the right, and by rotating the body of rotation in a counter-clockwise direction, the drag head is steered to the left.
    In a third embodiment of the excavating device according to the invention, it is provided with a control device which comprises a nozzle, the axis of which extends substantially transversely to the towing direction. Upon the release of a high pressure jet in a jet pipe with jet mouth on the port side, the drag head will be moved in the direction of the starboard side, and vice versa.
    In a fourth embodiment of the excavating device according to the invention, it is provided with a control device which comprises a driving screw, the axis of rotation of which extends substantially transversely of the towing direction. When the drive screw is rotated, the drag head will be moved in the direction forward for the screw.
    In a fifth embodiment of the excavating device according to the invention, it is provided with a control device which is adapted to apply a friction force to the bottom that is unevenly distributed over the width of the friction surface. Due to the uneven distribution of the friction, a force is created which is not located in the axis of the main direction of movement indicated by the sailing ship. As a result of this play of forces, a resulting force is created which causes the drag head to move in a direction which is different from the main direction of movement indicated by the sailing ship. The uneven distribution of the frictional force on the friction surface can be obtained by way of example by providing a barb at both ends of the drag head which can be pressed into the ground or removed from it via control. When this barb presses into the soil, the frictional force on the soil increases locally, which provides the desired reaction force.
    In a sixth embodiment of the excavating device according to the invention, it is provided with a control device which comprises means which are adapted to shift the reaction force as a result of the downward pressure of the drag head on the bottom relative to the center of the drag head, whereby the drag head can make a cross movement. This downward pressure has several causes, the main one being gravity, but also the pressure drop over the head caused by the suction process. By shifting the center of gravity (center of gravity in case of gravity) of the drag head from the neutral point on the axis of the drag head, part of the ground reaction force can be shifted in the transverse direction. This corresponds to an apparent lateral force on the drag head. A particularly suitable control device comprises means which are adapted to rotate the drag head about the axis of the suction tube. With this, both the reaction force of the soil and the frictional force of the soil can be influenced. More preferably, the suction tube comprises for this purpose rotation means for forced rotation of the part of the suction tube that is in contact with the drag head, for example in the turning piece of the suction tube, which is a known part of a suction tube. A suitable rotary means comprises a hydraulic cylinder which engages the turn piece. The rotation of the suction pipe section alters the weight distribution of the drag head on the bottom, so that on the one hand the gravity force acquires a transverse component, as well as locally higher friction that causes frictional force and a lateral movement.
    It is also possible to have control means in the form of a hydraulic cylinder or other means act on, for example, the suction pipe so that it can be pushed off the floating gear, as a result of which the drag head will move out of the sailing direction. Such a control means can, for example, engage the suction pipe at the level of the floating rig's deck, or just below the cardan joint, which is usually located below the center of the suction pipe.
    In a particularly advantageous seventh embodiment of the excavating device according to the invention, it is provided with a control device comprising a rudder blade, wherein the rudder blade extends in a substantially vertical plane and engages in use with a side edge thereof in the ground or in the water. The rudder blade - or, if desired, several rudder blades - can be connected to the drag pipe and / or to the drag head, for example with the visor or the helmet of the drag head. The correct placement of the rudder blade will in many cases depend on the distribution of forces on site. The rudder blade is preferably mounted in front of the heel plate of the drag head, so that the rudder blade, when dragging upstream of the heel plate (and the visor), engages the flow and / or the substrate. The forward movement of the floating rig, in particular the trailing suction hopper dredger, creates a reaction force during dredging on the rudder blade which pushes the towing pipe suspended from a winch cable in a direction which is determined by the position of the rudder blade. In this way the trailing head is displaced relative to the trailing suction hopper dredger.
    The rudder blade, in use with a side edge thereof, engages in the soil or exerts a reaction force on the surrounding water. The rudder blade should preferably be positioned sufficiently low for this, so that the rudder blade is pressed into the ground under the weight of the drag head and suction pipe during dredging. Although the rudder blade cuts through the surface during use, the associated friction does not appear to be noticeably greater than for a drag head executed without rudder blade. As stated, the ambient water can also provide a reaction force on the rudder blade.
    The rudder blade is preferably controlled by control means comprising a piston, or hydraulic cylinder, that engages the rudder blade. In this embodiment the cylinder is electronically connected to the floating rig for control thereof, in particular the trailing suction hopper dredger (possibly wireless). A hydraulic cylinder in particular makes it possible to operate the rudder blade from the bridge of the trailing suction hopper dredger in a simple and reliable manner, for example by the crew member who also monitors the movement of the trailing pipe. All the usual aids such as, for example, a control screen on which the profile of the substrate is made visible, are advantageous in this regard.
    The rudder blade according to the invention must be sufficiently strong to withstand the forces acting on it. The forces to be overcome are typically in the order of the force exerted on the substrate by the drag head. For a typical trailing suction hopper dredger, such a force is in the order of magnitude of 20 to 30 tons, at least when the force is exerted at the level of the trailing head, which is preferred. A hydraulic cylinder with a diameter of 15 to 20 cm is capable of overcoming such forces. Cylinders of such a size are also used for operating the sight of the known drag head.
    The dimensions of the rudder blade, in particular its length, as well as the depth over which the rudder blade presses into the subsurface, are in principle determined by the resistance that the soil can evoke. For a rudder blade, for example, it is expected that a subsurface (such as sand) that offers a great deal of resistance to displacement of the drag head requires a smaller stirring blade than a subsurface that offers less resistance (such as sludge, for example). After all, a sandy-like surface will produce a higher reaction pressure on the rudder blade than a silt-like surface. On the other hand, the frictional force experienced by the towing head will be higher with a sandy surface than with sludge-like soil, which in turn indicates a larger rudder blade. Because both effects more or less cancel each other out, the required dimensions of the rudder blade for a sludge or sandy substrate are of approximately the same order of magnitude. It is therefore possible to use the same rudder blade for different types of substrate, which is an additional advantage.
    In principle, the trailing head can move away from the trailing suction hopper dredger over any desired distance in the manner indicated above. The maximum possible distance or deviation is determined by, among other things, the length of the suspension wire of the towing pipe and the angle that the suspension wire makes with the horizontal. It is advantageous to provide means for measuring the suspension wire angle in particular. This makes it possible to prevent the trailing pipe from moving too far away from the trailing suction hopper dredger or even coming loose from it.
    When removing the drag head further, the drag head should preferably remain in contact with the ground. This can be achieved by lengthening the suspension wire of the trailing pipe so that this contact remains intact. Use can herein advantageously be made of a swell compensating device known per se. Such a device ensures that the drag head continues to press on the ground with the same force during dredging during swell. The same device can also be used to ensure that the drag head continues to press on the ground with the same force when this drag head moves away from the direction of travel of the trailing suction hopper dredger.
    In yet another preferred embodiment, the excavating device is provided with a plurality of control devices, examples of which were given above, for moving the drag head out of the sailing direction. It is thus possible to provide the drag head with a rudder blade and the suction pipe with a drive screw or traction cable. A plurality of control devices of the same type can also be arranged on the excavating device. The use of several control means, also in combination, has the advantage that the reaction force exerted on the control means by the substrate or flow will be lower.
    The invention also relates to a device for controlling the control device. The device comprises a central computer which is connected directly or via a digital network to the control device and which is adapted to perform a method comprising at least the steps of: A) presetting an optimum criterion, B) collecting information about the current state of the ground C) collecting information about the current state of the control device including at least its setting D) calculating the control of the control device for which the optimum criterion is minimized.
    To this end, according to the invention, the computer is loaded with a computer program which contains program instructions for setting the control device. The advantages of such a device make it possible to calculate an optimum. The device according to the invention collects the information via the (digital) network in the form of incoming signals from instruments included in the network such as GPS system, DTM or a DPDT system (not limited list). These signals are processed after which the device sends control signals via the digital network to the control device for controlling the latter, or where information is displayed on a digital screen, on the basis of which an operator performs the control of the control device. The computer calculates the control, which preferably comprises at least that route of the drag head, which minimizes the optimum criterion (the "optimum" route). The control calculated in this way is continuously adjusted by the computer in function of the changes recorded by the instruments. According to the invention, the computer calculation takes into account, inter alia, the position, the processing pace, the sailing speed, and the technical possibilities of the trailing suction hopper dredger, and preferably drives a trailing suction hopper dredger by, for example, the position of the visor, the position of the rudder, the adjust the position of the drag head and so on.
    The drag head according to the invention is relatively easy to realize and can ensure that much less maneuvering time is required to dredge small zones. Moreover, dredging can be done much more accurately. Other details and advantages of the invention will become apparent from the following description of an excavating device according to the invention. This description is only given by way of example and does not limit the invention in any way. The reference numerals relate to the attached figures. Herein: figure 1 shows a schematic side view of a drag head that forms part of the excavating device according to the invention; figure 2 shows a schematic top view of the drag head of figure 1; figure 3 schematically an embodiment of a device according to the invention; and - figure 4 shows a schematic top view of a trailing suction hopper dredger provided with a trailing head according to the invention.
    With reference to Figure 1, a drag head 1 according to the invention is shown. Drag head 1 comprises a visor 2 which is dragged over a bottom 50 to be dredged. A suction line 4 is connected to the visor 2 via the helmet 3. The drag head 1 further comprises a heel plate 5 with which the drag head 1 rests on the bottom 50 during dredging. The visor 2 is provided with tooth bar 6 (or other excavation device) in which a number of teeth are received. The toothed bar extends substantially perpendicularly to the towing direction 40. According to the invention, the towing head 1 is also provided with a control device in the form of a rudder blade 10, which extends in a substantially vertical plane in the embodiment shown. This surface will generally be perpendicular to the bottom 50. The rudder blade 10, in use with its lower side edge 11, will engage in the bottom 50, and penetrate with a portion into the bottom under the weight of the drag head and drag pipe. This part is shown in shaded form in Figure 1.
    The rudder blade 10 is connected to a hydraulic cylinder 30 (see Figure 2), which serves as a control means for the rudder blade 10. In the variant shown, the hydraulic cylinder 30 is connected to the heel plate 5, and on the other side to the rudder blade 10, via a piston rod 31. Furthermore, the hydraulic cylinder 30 is electrically connected to the trailing suction hopper dredger (not shown), so that it is from the trailing suction hopper dredger can be operated, possibly wirelessly. The crew member who also monitors the movement of the drag pipe 4 can control the rudder blade 10 using conventional aids such as, for example, a control screen on which smaller unevennesses of the subsurface have been made visible. In the position 10a of rudder blade 10 shown in figure, the drag head will be steered in the drag direction 40, as would also be the case for the known drag head. With the rudder blade 10 in position 10b, the drag head 1 will deviate from the drag direction and be steered sideways in the direction 70. As a result, the drag head 1 will follow a course which will run substantially along the line 80.
    As shown in Figure 1, the suction line in another variant is provided with a second control device in the form of a driving screw 60, which if desired can move the drag head simultaneously with the rudder blade 10. This ensures even better controllability of the drag head, especially in harder surfaces.
    With reference to Figure 3, a possible embodiment of a device for controlling the control device according to the invention is shown. The device comprises a computer (CPU) which performs optimizing calculations on the basis of information gathered via the (digital) network in the form of incoming signals from instruments included in the network such as GPS system, DTM or a DPDT system (not limited) list). Incoming signals include but are not limited to the sailing speed 42, the position 43 of the trailing head and the current position 46 of the rudder, optionally supplemented with other relevant input data 44 such as, for example, the technical possibilities of the trailing suction hopper dredger. The result of the calculation leads at least to a control signal 45 for a new position of the rudder. Optionally, the updated data is made visible by sending a modified signal 41 to a screen or to a DPDT system.
    The signals (1-6) are processed, whereafter the device sends control signals 5 via the digital network to the control device for controlling the latter, or wherein information 41 is shown on a digital screen, on the basis of which an operator performs the control of the control device . The computer calculates the driver 45, which preferably comprises at least that route of the drag head, which minimizes the optimum criterion (the "optimum" route). The thus calculated control 45 is continuously adjusted by the computer in function of the changes recorded by the instruments.
    With reference to Figure 4, a method for excavating a subsurface (50) is shown, wherein a floating rig in the form of a trailing suction hopper dredger (100) is provided. The trailing head (1) of the trailing suction hopper dredger (100) comprises a suction pipe (4) which is submerged at an oblique angle with a winch at its rear, until the trailing head (1) touches the bottom (50). The drag head is dragged under water over the bottom (50) so that soil is released which is discharged via the suction line (4). According to the invention, the control means (10) of the drag head (1) are controlled by means of the control means (30) such that the drag head (1) moves out of the sailing direction (110) and follows a path (115). With a drag head according to the prior art, the drag head is only able to follow the trajectory (116). The reachable (desired) position (120) of the drag head (1) is shown in dotted line in Figure 4. The current position (130) of the drag head (1) is shown in full line. The desired position (120) cannot be achieved by following the trajectory (110) of the trailing suction hopper dredger (100). The optimum criterion in the present example comprises reaching the desired position (120).
    The invention is not limited to the embodiment described above and modifications thereof could be made insofar as they fall within the scope of the appended claims.
    权利要求:
    Claims (15)
    [1]
    An excavating device, comprising a floating rig that can be advanced in a sailing direction, and to which a drag head (1) is attached, which in use is dragged over the bottom (50) and thereby loosens soil, and one on the drag head (1) connecting suction line (4) which discharges the loosened soil, characterized in that the excavating device is provided with a control device (10) for moving the drag head (1) out of the sailing direction.
    [2]
    An excavating device according to claim 1, characterized in that the excavating device comprises control means (30) for operating the control device (10) from the floating gear.
    [3]
    Digging device according to claim 1 or 2, characterized in that the control device (10) comprises a rudder blade, wherein the rudder blade extends in a substantially vertical plane and engages the ground in use with a side edge thereof.
    [4]
    Excavation device according to claim 3, characterized in that the control means comprise a hydraulic cylinder which engages the rudder blade.
    [5]
    Digging device according to claim 1 or 2, characterized in that the control device (10) comprises a driving screw, the axis of rotation of which extends substantially transversely to the direction of travel.
    [6]
    Excavation device according to claim 1 or 2, characterized in that the control device (10) comprises means which are adapted to unequally distribute the frictional force of the drag head on the bottom relative to the sailing direction, whereby the drag head can make a transverse movement .
    [7]
    An excavating device according to claim 1 or 2, characterized in that the control device (10) comprises means which are adapted to shift the reaction force as a result of the downward pressure of the drag head on the bottom relative to the center of the drag head, whereby the drag head can make a transverse movement.
    [8]
    An excavating device according to any one of the preceding claims, characterized in that the drag head is provided with the control device.
    [9]
    An excavating device according to any one of the preceding claims, characterized in that the suction line is provided with the control device.
    [10]
    An excavating device according to any one of the preceding claims, characterized in that the excavating device is provided with a plurality of control devices for moving the drag head (1) out of the sailing direction.
    [11]
    Method for excavating subsurface (50), wherein an excavating device according to one of the preceding claims is provided, the drag head (10) of which with the suction line (4) at an oblique angle with a winch at the rear of the floating rig under water is left until the drag head touches the bottom (50), is then dragged under water over the bottom (50) so that soil is released that is discharged via the suction line (4), and wherein the control device (10) is controlled by means of of the control means (30) that the drag head (1) moves out of the sailing direction.
    [12]
    A computer program comprising program instructions for causing a computer to perform the method according to any one of claims 1-11.
    [13]
    A computer program according to claim 10, characterized in that the computer program is arranged on a physical carrier.
    [14]
    A computer program according to claim 12 that the computer program is at least partially stored in a computer memory.
    [15]
    A computer adapted to execute a computer program according to any of claims 12-14.
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    同族专利:
    公开号 | 公开日
    AR075328A1|2011-03-23|
    HK1158282A1|2012-07-13|
    ES2400793T3|2013-04-12|
    ZA201105066B|2012-03-28|
    DK2386001T3|2013-03-18|
    PT2386001E|2013-03-13|
    KR20110126600A|2011-11-23|
    US20120000098A1|2012-01-05|
    WO2010079193A1|2010-07-15|
    JP2012514705A|2012-06-28|
    EP2386001A1|2011-11-16|
    RU2011133351A|2013-02-20|
    EP2386001B1|2012-12-05|
    SG172869A1|2011-08-29|
    AU2010204327A1|2011-07-28|
    TW201030212A|2010-08-16|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    BE200900011|2009-01-10|
    BE200900011|2009-01-10|PCT/EP2010/050098| WO2010079193A1|2009-01-10|2010-01-07|Excavating device for excavating ground under water, and method for excavating ground|
    AU2010204327A| AU2010204327A1|2009-01-10|2010-01-07|Excavating device for excavating ground under water, and method for excavating ground|
    RU2011133351/03A| RU2011133351A|2009-01-10|2010-01-07|EXCAVATOR DEVICE FOR DIGGING SOIL UNDER WATER AND METHOD OF DIGGING SOIL|
    PT107001091T| PT2386001E|2009-01-10|2010-01-07|Excavating device for excavating ground under water, and method for excavating ground|
    SG2011049178A| SG172869A1|2009-01-10|2010-01-07|Excavating device for excavating ground under water, and method for excavating ground|
    US13/143,176| US20120000098A1|2009-01-10|2010-01-07|Excavating Device for Excavating Ground Under Water, and Method for Excavating Ground|
    ES10700109T| ES2400793T3|2009-01-10|2010-01-07|Excavator device for digging soil below water and procedure for digging the ground|
    KR1020117017585A| KR20110126600A|2009-01-10|2010-01-07|Excavating device for excavating ground under water, and method for excavating ground|
    JP2011544861A| JP2012514705A|2009-01-10|2010-01-07|Drilling device for drilling the bottom of the water and method of drilling the bottom of the water|
    EP10700109A| EP2386001B1|2009-01-10|2010-01-07|Excavating device for excavating ground under water, and method for excavating ground|
    DK10700109.1T| DK2386001T3|2009-01-10|2010-01-07|EXCAVATION DEVICE FOR EXCAVATION OF SOILS UNDER WATER AND PROCEDURE FOR EXCAVATION OF SOILS|
    ARP100100047A| AR075328A1|2009-01-10|2010-01-08|EXCAVATION DEVICE FOR EXCAVING LAND UNDER WATER AND METHOD FOR EXCAVING THE EARTH|
    TW099100529A| TW201030212A|2009-01-10|2010-01-11|Excavating device for excavating ground under water, and method for excavating ground|
    ZA2011/05066A| ZA201105066B|2009-01-10|2011-07-08|Excavating device for excavating ground under water, and method for excavating ground|
    HK11112456.9A| HK1158282A1|2009-01-10|2011-11-17|Excavating device for excavating ground under water, and method for excavating ground|
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