DEVICE FOR DAGGING GROUND MATERIAL UNDER WATER.

专利摘要:
The invention relates to a device for dredging ground material under water. The device comprises a pontoon, provided with an excavator adapted to excavate soil under water, and drive means adapted to control the movement of the pontoon and / or the excavator. The device further comprises first measuring means adapted to determine the position of the excavator; second measuring means adapted to determine the forces experienced by the excavator; and calculating means adapted to calculate control signals for the drive means based on data obtained from the first and second measuring means. The invention also relates to a method for dredging ground material under water, with the aid of the intended device, and to a computer program comprising program instructions which, after loading into a computer, perform the method.
公开号:BE1020103A3
申请号:E2010/0675
申请日:2010-11-15
公开日:2013-05-07
发明作者:Stefaan Vandycke；Wellen Erik Van
申请人:Baggerwerken Decloedt & Zn N V；
IPC主号:

专利说明:

Device for dredging ground material under water
This invention relates to a device, such as a dredger with a hydraulic arm ("backhoe dredger"), for dredging ground material under water to a prescribed depth. The invention also relates to a method for dredging underwater ground material, as well as to a computer program, which comprises program instructions for carrying out the method.
A device, such as a dredger with a hydraulic arm, is generally used for excavating or dredging ground material under water at locations where other dredgers such as trailing suction hopper dredgers and cutter dredgers are less suitable. Such locations include busy access channels, hard soil types, (very) shallow waters and places that are difficult to reach, for example port entrances. A conventional hydraulic arm dredger typically comprises an (sometimes land-based) excavator mounted on a pontoon. The excavator comprises hoists, which are driven by hydraulic cylinders, and a digger for excavating soil material from below the water level. The dredged soil material is brought above the water level and collected in and removed by a cargo ship placed in the vicinity of the pontoon.
A typical dredging cycle with the aid of a dredger with a hydraulic arm involves performing an inspection of the condition of the underwater bottom, which condition comprises at least mapping the depth of the bottom and / or the properties of the ground material in the relevant area. A work plan is then drawn up for the operator of the hydraulic arm and excavator dredger, taking overall account of the state of the bottom area to be dredged and the desired state of the bottom area (typically the desired depth profile). The work plan means that the lines along which the pontoon is to be positioned must be determined, as well as the indication of a rough indication of the excavation depth along said lines. The bottom area is then dredged by the operator, which typically includes the steps of positioning the pontoon on a line to be excavated, excavating soil material along the line, repositioning the pontoon on another line to be dredged, and repeating the above.
However, since the properties of the soil are known only in very few points, this approach is only an average. The actual excavation action is determined by the feeling of the operator, based on very subjective feedback (response of the excavator with regard to noise, vibrations, movement, etc.) and on his previous experience in comparable circumstances. The efficiency of the dredging must be improved.
The present invention therefore has for its object to obviate the drawbacks of the above-described apparatus and method according to the state of the art, and to provide an apparatus and method for dredging ground material under water which enables a higher efficiency of the operation.
In one aspect of the invention, therefore, a device is provided for dredging subsurface soil material, the device comprising: a pontoon provided with an excavator adapted to excavate subsurface underwater; drive means adapted to control the movement of the pontoon and / or the excavator; first measuring means adapted to determine the position of the excavator; the device further comprising: second measuring means adapted to determine forces experienced by the excavator; and calculating means adapted to calculate control signals for the drive means based on data obtained from the first and second measuring means
With the device according to the invention it is possible to quickly and accurately excavate subsoil under water to a predetermined depth profile, wherein the depth and / or the position in the plane of excavation are automatically controlled, depending on the actual position of the excavator and the force values obtained from the second measuring means. The movement of the pontoon involves leveling the pontoon.
The invention also relates to a method for dredging ground material under water, the method comprising the steps of: providing a device according to the invention; positioning the pontoon of the device in a body of water; controlling the movement of the excavator of the device such that soil is dug under water by the driving means; determining the position of the excavator and the forces experienced by the excavator during its movement; calculating control signals for the drive means on the basis of data obtained from the first and second measuring means; wherein the excavator is moved according to these control signals.
The method according to the invention is particularly useful for optimizing a dredging operation along one cut line, i.e. in an embodiment where the pontoon itself is in a (temporary) stationary position. The method of the invention essentially eliminates the variability associated with human actions by providing a control loop in which the movement of the excavator is controlled as a function of its actual position and the forces actually experienced.
With the device and method of the invention, the shortening of the duration of interference due to overloaded mechanical structures, the protection against overload, and the maintenance of a more constant quality of dredging over time is made possible. It is also possible with the device and method of the invention to take into account different properties of soil deposition - precisely the nature of deposition is the cause of such a variation - which are not generally known, for example because of the generally low lattice resolution at taking samples.
In a further aspect of the invention, a device is provided in which the computing means are arranged to calculate the control signals for the driving means such that an optimum criterion is minimized. The optimum criterion can be chosen as desired. In a particularly advantageous device, the optimum criterion comprises the average power per unit volume of excavated soil material from the excavator used. The power of the excavator can be easily obtained by multiplying the instantaneous movements of the excavator and the forces experienced by the excavator, and adding up these products. The power of the excavator can, for example, be minimized or kept below a certain limit value by reducing forces. The reduction of forces can be achieved by limiting the excavation speed and / or the cutting depth of excavation, the cutting depth being the depth at which the bucket is driven into the ground. The forces also generally depend on the properties of the soil, with denser or harder soil leading to higher forces, and vice versa.
In another aspect of the invention, a device is provided in which the optimum criterion comprises the longest expected excavation time per unit volume of excavated soil material.
A typical dredger with hydraulic arm is equipped with an excavator comprising a boom pivotally mounted on a substructure present on the deck of the pontoon, a stick pivotally provided on one end of the boom, and a bucket that is pivotable is provided on one end of the stick. The pivotal movement of the boom relative to the pontoon, the stick relative to the boom, and the bucket, with respect to the stick, are effected by hydraulic cylinders, respectively provided on the substructure of the pontoon, on the tree, and on the stick. The dredger with a hydraulic arm preferably has the following degrees of freedom to be able to perform its tasks: 3 rotations of the excavator around a horizontal axis (corresponding to the 3 pivot points of the main body and the stick, and the bucket: this makes it possible to position the bucket under water, to dig (drag) into the ground and to lift the material above water: 1 rotation around a vertical axis: this degree of freedom allows the rotation positioning of the bucket as well as the transport of the soil material to the 1 horizontal translation (step): when the digging of soil within the reach of the excavator is finished, the pontoon must be moved to the next position, this is called steps and is achieved by moving one of the spud poles of the pontoon: 3 vertical translations that provide lift and stability and leveling the pontoon (reaching a horizontal position) enable.
Under specific circumstances, trim tanks can be used to distribute the weight to achieve, for example, horizontal leveling of the pontoon. The specific rotations around a vertical axis locally lead to a typical round digging pattern around a central point corresponding to the boom's tilt. Due to the stepping nature of the pontoon, the global patterns are intersecting lines next to each other at the same or changing depth along the central line or next to the central line.
With the device and method according to the invention, it becomes possible to accurately excavate soil under water according to a predetermined depth profile. When a water bottom such as a seabed or a navigation route is dug out at the turn of a quay, it is generally particularly dangerous to excavate the seabed or the navigation route beyond a prescribed excavation depth because such a deep excavation is the foundation of the quay or into can destroy the seabed formed walls. If excavation is carried out too deeply, the need arises to reload such an excavation part that has been excavated too far, which, however, requires additional manpower and time. The device and method according to the invention help prevent this drawback.
In another aspect of the invention, a device is provided in which the excavator comprises hoists, which are driven by hydraulic cylinders forming part of a hydraulic circuit, and the second measuring means comprise hydraulic pressure sensors which are adapted to determine the pressure in the hydraulic circuit and / or the cylinders. Hydraulic pressure sensors are known per se, but not in the context of controlling the movement of, for example, a dredger with a hydraulic arm.
In yet another aspect of the invention, a device is provided in which the excavator comprises hoists, which are driven by hydraulic cylinders, which form part of a hydraulic circuit, and the first measuring means comprise displacement sensors which are adapted to the relative displacement of the hoists. to decide.
Although in principle the provision of first and second measuring means is sufficient to carry out the method according to the invention, a device comprising third measuring means which are arranged to determine the position of the pontoon is preferred. In this way the movement of the harvesting implement can be related to the condition of the underwater bottom as mapped by means of an inspection, which condition comprises at least the depth profile of the bottom and / or the properties of the ground material in the relevant area. In fact, an inspection carried out before the actual start of the dredging operation provides an initial depth profile. After a passage of the dredger with a hydraulic arm, and with knowledge of the amount of dredged soil material, the new local depth can be calculated. By determining the position of the pontoon next to the position of the excavator, a revised depth profile is obtained.
In one aspect of the invention, a device is provided in which the third measuring means comprise a "global positioning system".
In yet another aspect of the invention, the device comprises an input / output device adapted to transfer the signals from the first measuring means to the computing means.
In yet another aspect of the invention, the device comprises an input / output device which is adapted to transfer the signals from the second and / or third measuring means to the computing means.
In yet another aspect of the invention, the device comprises displays adapted to display the position of the rotary tool and / or the pontoon, as well as the forces experienced by the excavator.
In yet another aspect of the invention, the device comprises a display which is adapted to display the depth of the ground under water.
The above and other objects, features and advantages of the present invention will be apparent from the following description and the appended claims, in conjunction with the accompanying drawings, in which:
Figure 1 is a side view of the contour construction of a dredger with a hydraulic arm;
Figure 2 is a top view of the dredger with hydraulic arm shown in Figure 1;
Figure 3 is a schematic diagram of the device according to an embodiment of the invention; and
Figure 4 schematically shows the degrees of freedom of an excavator according to an embodiment of the invention.
With reference to Figure 1, a dredger with hydraulic arm 1 is shown schematically. The dredger with hydraulic arm 1 comprises a pontoon 6 which is positioned in body of water 2 above a water bed to be dredged 3. Pontoon 6 is provided with a number of spud poles 4 that can rest on the water bed 3. The pontoon 6 becomes such by a number of swivels 7 held on the spud poles 4 that the pontoon 6 can be slid up and down in the vertical direction 5 along the spud poles 4, but is essentially retained to move horizontally across the water mass 2. The pontoon 6 rises along the spud poles 4 as the level rises under the influence of the tides, and falls down along the spud poles 4 as the level falls under the influence of the tides. The depth h1 of the water bottom 3 (as well as the distance between the water bottom 3 and the pontoon 5) can therefore change in accordance with the ebb and flood level. The dredger with hydraulic arm 1 is further equipped with a bridge 8 which comprises at least the drive means which are adapted to control the movement of the pontoon and an excavator with hydraulic arm 10.
Excavator with hydraulic arm 10 comprises a boom 11 pivotally supported on the deck of pontoon 6, a stick 12 pivotably supported on the boom 11 around hinge 13, and a bucket 14 pivotally supported on the stick 12 around hinge 15. The hoists (11, 12) and excavator bucket 14 of excavator 10 are driven by hydraulic cylinders (16, 17 and 18), which form part of a hydraulic circuit (not shown). In the embodiment shown, the degrees of freedom of dredger with hydraulic arm 10 required for performing its task comprise 3 rotations of the excavator about a horizontal axis corresponding to the 3 pivot points of the boom 11, the stick 12, and the bucket 14, and are driven by hydraulic cylinders (16, 17 and 18). This makes it possible to position the bucket 14 under water, as shown by the position in the dotted line in Figure 1, to dig into the soil of soil 3 by dragging, and to lift the soil material above the water mass 2. Another degree of freedom comprises the rotation of the boom 11 about a turntable 19. This degree of freedom allows the rotation positioning of the bucket 14, as well as the transport of the dredged ground material 20 to a cargo ship 21, which is adjacent to the pontoon 6, as shown in figure 2. Another degree of freedom includes the horizontal translation of the pontoon 6 (a 'step'). When the excavation of soil material 20 within the area 22 of the excavator 10 is finished, the pontoon 6 must be moved to a next position, this process being referred to as "steps." This is achieved by withdrawing from the bottom 3 at least one of the spud poles 4 of the pontoon 6, moving (or swinging) the pontoon 6 and lowering the spud pole 4 into the bottom 3 to put the pontoon 6 back into the pontoon 6. fix its new position. It is also possible to add 3 other degrees of freedom, viz. Vertical translations of the pontoon 6 along the spud poles 4, which provide lift and stability and allow leveling of the pontoon in a substantially horizontal position.
The dredger with hydraulic arm 1 comprises drive means (7, 16, 17, 18, 19) which are adapted to control the movement of the pontoon 6 and of the excavator 10.
The drive means include inter alia the swivels 7 for the spud poles 4 and drive means (not shown) for positioning pontoon 6, as well as turntable 19 and hydraulic cylinders (16, 17, 18) that form part of a hydraulic circuit that controls the movement of the excavator 10. The drive means (7, 16, 17, 18, 19) are controlled by means of calculating means as will be described in more detail below.
With reference to figure 3, the dredger with hydraulic arm 1 is equipped with first measuring means (30, 35) which are adapted to determine the position of the excavator 10, and in particular the position of the bucket 14 thereof, second measuring means 31 , which are adapted to determine the forces experienced by the excavator 10, third measuring means 32 which are arranged to determine the position of the pontoon 6, and calculating means 33 which are adapted to, based on data obtained from the first and the second measuring means (30, 31), control signals for the driving means (7, 16, 17, 18, 19). To transfer the position signals from the excavator from the first measuring means to the calculating means.
The first measuring means (30, 35) comprise a number of position and / or angle sensors (not shown) mounted at various positions on the excavator 10. Figure 4 schematically shows a typical configuration, in which: the spindle A of the boom 11 carried on the deck of the pontoon 6, the spindle B of the stick 12 carried on the boom 11, the spindle C of the digger bin 14 carried on the stick 12 and the front edge D of the digger bin 14. Also shown are the length L1 of line AB, the length L2 of line BC, the length L3 of line CD, the angle α between a vertical line and the line AB, the angle β between the line AB and the line BC and the angle γ between the line BC and the CD line. Furthermore, hi defines the current depth of soil 3 and h2 the height of spindle A relative to the water level. By way of illustration, the excavated depth hi from the water level can easily be expressed as a function of the angles α, β and y, and the lengths Lj, L2, L3 as well as height h2. Since the lengths L1, L2, L3 and height h2 are known, the excavated depth hi with respect to the water level can be determined when the relative angles α, β and γ are detected by means of suitable angle detectors. The angle signals 34 generated by the angle sensors are transmitted by a suitable input / output device 35 to processing unit 30 for first measuring means, at least comprising a memory for storing the angle signal data. If desired, the position of the excavator 10 can be visualized for the operator of the dredger with hydraulic arm 1 on a screen 40.
The third measuring means (32, 36) arranged to determine the position of the pontoon 6 comprises a "dynamic positioning / dynamic tracking" (DP / DT) system 32, an input / output device 36 which is arranged to position the to transmit force signals from the second and / or third measuring means to the calculating means, and a number of pontoon position sensors (not shown). The DP / DT system 32 allows the operator of the hydraulic arm dredger to view a map of the bottom depth profile online by means of a display device 38. Such a profile is obtained by entering previously obtained depth measurement data in the DP / DT system 32. The depth profile of the bottom 3 is updated in real time as a result of the dredging operation. The DP / DT system 32 also includes a "global positioning system" with which the global position of the pontoon 6 can be found. When a dredger with a hydraulic arm is operated manually, people generally rely on the above-mentioned collection of measuring equipment. Since the operator works below the water level, visibility of the bucket 14 is nil. The operator must therefore rely on a real-time visualization of the pontoon 6 and in particular of the excavator 10. The first measuring means (30, 35) are based on sensors for monitoring the boom / stick / bucket and turn / pivot angles and provide part of the input. This information is combined with the system dimensions to reconstruct the bucket position. When this information is combined with a "global positioning system" signal from the DP / DT system 32, a real-time visualization of the position of the bucket 14 relative to the bottom 3 is obtained.
According to the invention, the second measuring means 31 are adapted to determine the forces experienced by the excavator 10, and they comprise a number of pressure or force sensors (not shown), typically included in the hydraulic cylinders (16, 17, 18). The force signals 39 from the sensors are transmitted via the input / output device 36 to the computing means (31, 33) for further processing. If desired, a display screen 41 can be provided that is adapted to display the force signals 39 as experienced by the excavator 10. Control signals (42, 43) generated by the computing means (33) can also be displayed on screen 41.
The calculating means (33) are arranged, based on the position signal data (34, 37), obtained from the first and third measuring means (30, 32), as well as on the basis of the force signal data (39), obtained from the second measuring means 31 control signals (42, 43) for the drive means (7, 16, 17, 18, 19).
The parameters involved in dredging a soil 3 are numerous. Typically, an inspection of the depth profile of the water bottom 3 is first performed by recording depth measurement data and storing it in the DP / DT system 32. A desired dredging profile depends on many properties such as underwater stability of the bottom 3 and the theological properties of the ground material. Other factors that may be important include construction aspects of the dredging equipment (maximum loading levels and the like), vessel stability, position control, tidal behavior and water flow, and so on. The device according to the invention makes it possible to take account of an overwhelming part of these parameters through a closed loop control system in which position and force data are combined to calculate optimum actuator signals. The force data is the result of the operation of a considerable number of relevant parameters with regard to the soil and soil properties, which makes taking this force data particularly useful for the present purpose. The invention is not limited to the choice of a certain optimum criterion and can actually use any criterion that appears to be useful. Preferably, the optimum criterion comprises the average power of the excavator used per unit volume of excavated soil material, or the longest expected excavation time per unit volume of excavated soil material. Typical limitations include dynamic limitations, such as power and power restrictions.
The algorithms loaded into the computing means are now described. Once the pontoon is substantially stable in its initial position, the excavation model loaded in the computing means is executed. The excavation model comprises a per se known continuous path geometric path tracking algorithm. Such an algorithm is based on trajectories to follow, as indicated in best practice training manuals and / or power tables from the manufacturer for a given excavator arrangement (i.e., a boom / stick / bucket combination). The input to the algorithm is provided by the results of a soil inspection and a first most likely estimate for a track to be followed for the excavator, including the depth and range of the bucket. By range is meant the distance from the point of rotation of the excavator to the position where the bucket touches the ground. The output of the algorithm provides the excavator with kinematics that provides the required boom / stick / bucket bucket angles for each stage of the excavation.
A second algorithm uses ground cut theory to calculate forces experienced by the excavator components as a result of the interaction between the bucket and the ground (when the bucket actually moves through the ground), and drag theory to calculate the forces exerted by water flow on parts of the excavator that are under water. This fashion! gives the total expected forces to which the excavator will be exposed during digging. The output gives the general model a starting point from which further progress can be made.
The starting point is preferably chosen on the basis of the most suitable combination of cutting depth, cutting speed and range or scraping length. The scrape length is typically selected at about 65% of the maximum range at a certain depth, with a generally accepted minimum of 6 m.
When the two above algorithms have been loaded into the computing means and an excavation has been started, the measurements of forces and kinematic parameters allow the operational parameters, preferably the depth of excavation, the speed of excavation, and the reach of the bucket to be redone. to calculate. With the knowledge of the above output of the two models, as well as of power capacities of the individual hydraulic components of the excavator, the excavation operation can be optimized by the excavator operator by limiting the forces in each stage of the operation in the excavator by turning back the drive settings so as not to exceed the maximum allowable loads. The settings for the maximum allowable load for the hydraulic components, such as the hydraulic cylinders, are known from the manufacturer of these components and are given for a hydraulic cylinder, for example, in terms of the product of maximum pressure p and flow Q. Given the speed at which forces vary in the hydraulic system, such a rather static system (controlled by an operator) would always try to intervene too late. Moreover, the combination of actuators, hydraulic system and excavator system / actual interaction will result in a system that is highly non-linear.
As such, prior to the operations, a number of open loop experiments are preferably performed that correlate drive devices with characteristics of the hydraulic system (measurements of pressure p and flow Q) and readings of the geometric measuring devices (ie the devices for standard angle measurements that are boom / determine stick / bucket bucket angles). These will serve as input for the refined, instrument variable identification resulting in a proportional integral plus control algorithm for each section in the excavator system. Once the parameters are known, the non-linear control algorithm (ie the proportional integral plus algorithm) can control the articulation angles using the feedback from the angle measurement devices on the articulation without the need for additional pressure or discharge sensors while being as close as possible to the allowable hydraulic settings for each system component.
The invention is not limited to any optimization algorithm and a large number can be used. Such algorithms are well known to those skilled in the art and generally minimize some function f (x) that must satisfy a condition such as h (x)> 0. In the present embodiment, for example, the function f (x) may be the average capacity of the excavator used per unit volume of excavated soil material. For example, the condition h (x)> 0 could include the condition that the depth h (x) of the bucket 14 must be greater than a certain depth hj. The condition then becomes hi - h (x)> 0 (when depths are indicated by negative numbers). An optimization scheme is started by choosing initial values for x, and calculating search directions Ax, using numerical algorithms such as the well-known Newton method. A step to a new point is then made and the calculations are repeated until the minimum is found. In the context of the present invention, the output of the optimization scheme yields a subsequent movement of the bucket 14 of the excavator 10, including horizontal and vertical movement, tilt angles, defining the insert angle and speed of movement. It thus becomes possible to optimize the throughput capacity and to obtain a more uniform quality. An additional advantage is that by obtaining the force data, data about the soil properties is also obtained during dredging. With the method and device according to the invention, therefore, it is also possible to continuously update the soil properties that were previously obtained by the depth measurement data.
The calculating means 33 control the movement of the excavator 10, and in particular the excavator bin 14 thereof, as well as the movement of the pontoon 6, mainly by generating control signals (42, 43) for the excavator 10 and pontoon 6, respectively. in particular, after the pontoon 6 has been positioned, a zone within reach of the excavator booms (11, 12) is dredged by automatically lowering the bucket 14 to a calculated depth, by positioning the bucket 14 and scraping soil material 20 to filling the bucket 14 to a desired level, and then lifting the bucket 14 and swinging it to empty its contents into cargo ship 21. Meanwhile, a new position is calculated by the optimization routine and the bucket 14 is swung back to this optimum next position. After a zone within the range of the excavator 10 has been dredged, the pontoon 6 is "stepped" to a next position, which is also calculated by the optimization algorithm, and the cycle is repeated.
The foregoing disclosure is set forth solely to illustrate the invention and is not intended to limit it. Since modifications of the disclosed embodiments incorporating the spirit and letter of the invention will impose upon those skilled in the art, the invention is to be understood to include anything that is within the scope of the appended claims and equivalents. it falls.

权利要求:
Claims (17)
[1]
An apparatus for dredging ground material under water, the apparatus comprising: a pontoon, provided with an excavator adapted to excavate ground under water; drive means adapted to control the movement of the pontoon and / or the excavator; first measuring means adapted to determine the position of the excavator; the device further comprising: second measuring means adapted to determine the forces experienced by the excavator; and calculating means adapted to calculate control signals for the drive means based on data obtained from the first and second measuring means.
[2]
Device as claimed in claim 1, wherein the calculating means are adapted to calculate the control signals for the driving means in such a way that an optimum criterion is minimized.
[3]
Device according to claim 2, wherein the optimum criterion comprises the average power per unit volume of excavated soil material of the excavator used.
[4]
Device according to claim 2, wherein the optimum criterion comprises the longest expected excavation time per unit volume of excavated soil material.
[5]
Device as claimed in any of the foregoing claims, wherein the excavator comprises hoists, which are driven by hydraulic cylinders forming part of a hydraulic circuit, and the second measuring means comprise hydraulic pressure sensors which are adapted to determine the pressure in the hydraulic circuit and / or cylinders.
[6]
Device as claimed in any of the foregoing claims, wherein the excavator comprises hoists, which are driven by hydraulic cylinders that form part of a hydraulic circuit, and the first measuring means comprise displacement sensors which are adapted to determine the relative displacement of the hoists.
[7]
Device as claimed in any of the foregoing claims, wherein the device comprises third measuring means which are adapted to determine the position of the pontoon.
[8]
Device as claimed in claim 7, wherein the third measuring means comprise a global positioning system.
[9]
9. Device as claimed in any of the foregoing claims, wherein the device comprises an input / output device which is adapted to transfer the signals from the first measuring means to the calculating means.
[10]
Device as claimed in any of the foregoing claims, wherein the device comprises an input / output device which is adapted to transfer the signals from the second and / or third measuring means to the calculating means.
[11]
11. Device as claimed in any of the foregoing claims, wherein the device comprises displays adapted to display the position of the excavator and / or the pontoon, as well as the forces experienced by the excavator.
[12]
12. Device as claimed in any of the foregoing claims, wherein the device comprises a screen adapted to display the depth of the ground under water.
[13]
A method for dredging ground material underwater, the method comprising the steps of: providing a device according to any of claims 1-12; positioning the pontoon in a body of water; controlling the movement of the excavator in such a way that soil is dug under water; determining the position of the excavator and the forces experienced by the excavator during its movement; calculating control signals for the drive means on the basis of data obtained from the first and second measuring means; after which the excavator is moved according to these control signals.
[14]
A method according to claim 13, wherein the control signals for the drive means are calculated such that an optimum criterion is minimized.
[15]
The method of claim 14, wherein the optimum criterion comprises the average power per unit volume of excavated soil material from the excavator used.
[16]
The method of claim 14, wherein the optimum criterion comprises the longest expected excavation time per unit volume of excavated soil material.
[17]
A computer program comprising program instructions which after loading into a computer performs the method according to any one of claims 13-16.

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法律状态:
2018-08-31| MM| Lapsed because of non-payment of the annual fee|Effective date: 20171130 |

优先权:

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申请号 | 申请日 | 专利标题

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NL2003800A|NL2003800C2|2009-11-13|2009-11-13|Device for dredging soil material under water.|

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NL2003800|2009-11-13|

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