阅读说明：本技术 一种耙吸挖泥船耙臂姿态测量、显示报警与控制系统 (Posture measuring, displaying, alarming and controlling system for rake arm of trailing suction hopper dredger ) 是由 戴文伯 沈彦超 王伟 肖晔 杨波 于 2021-08-16 设计创作，主要内容包括：一种耙吸挖泥船耙臂姿态测量、显示报警与控制系统,其特征在于,耙臂上安装加速度陀螺仪和超声波传感器,耙臂设备包括上耙管、下耙管、升降上耙管和下耙管的耙中绞车和耙头绞车,使用传感器采集的数据以及数学计算公式,计算机计算并且显示上耙管以及下耙管各自的水平角度和垂直角度、上耙管以及下耙管的夹角,距离船体的距离、耙头深度,耙臂相对于船体的位置和姿态；计算机按实际情况提供上耙管、下耙管、万向节距离船体过近或者过远、上耙管以及下耙管夹角正向或者反向过大的报警并由反馈控制PLC控制耙中、耙头绞车控制上下耙管采取处理动作以解除警告。(A drag arm attitude measurement, display alarm and control system of a drag suction dredger is characterized in that an acceleration gyroscope and an ultrasonic sensor are mounted on a drag arm, drag arm equipment comprises an upper drag pipe, a lower drag pipe, a drag center winch and a drag head winch which lift the upper drag pipe and the lower drag pipe, data collected by the sensors and a mathematical calculation formula are used, and a computer calculates and displays the respective horizontal angle and vertical angle of the upper drag pipe and the lower drag pipe, the included angle of the upper drag pipe and the lower drag pipe, the distance from a ship body, the depth of the drag head, and the position and attitude of the drag arm relative to the ship body; the computer provides an alarm that the upper harrow tube, the lower harrow tube, the universal joint are too close to or too far from the ship body and the included angle between the upper harrow tube and the lower harrow tube is too large in the forward direction or the reverse direction according to actual conditions, and controls the PLC to control the harrow and the harrow head winch to control the upper harrow tube and the lower harrow tube to take processing actions so as to remove the alarm.)

1. A trailing arm attitude measurement, display alarm and control system of a trailing suction hopper dredger is characterized by comprising a trailing arm attitude measurement display alarm subsystem and a trailing arm attitude control subsystem of the trailing suction hopper dredger, wherein the two subsystems are provided;

the drag arm attitude measuring, displaying, alarming and controlling system of the drag suction dredger consists of a set of drag arm equipment, various sensors, a programmable controller and a computer; the harrow arm equipment comprises a harrow arm and an actuating mechanism for controlling the action of the harrow arm, wherein the harrow arm comprises an upper harrow pipe, a universal joint and a lower harrow pipe, and the actuating mechanism comprises a harrow middle and a harrow head winch; an upper rake pipe acceleration gyroscope and a lower rake pipe acceleration gyroscope for detecting the angle change of the rake arm, and an upper rake pipe ultrasonic sensor, a universal joint ultrasonic sensor and a lower rake pipe ultrasonic sensor for detecting the distances between the upper rake pipe, the universal joint and the lower rake pipe and the ship body are arranged on the rake arm;

the installation positions of the sensors are as follows:

the upper rake tube acceleration gyroscope is arranged at the horizontal plane of the upper rake tube and is used for measuring the angular speed delta alpha of the upper rake tube around the X axis₁(t₁) And angular velocity Δ β about the Z-axis₁(t₁)；

The lower harrow tube acceleration gyroscope is arranged at the horizontal plane of the lower harrow tube and is used for measuring the angle of the lower harrow tube around the X axisSpeed Δ α₂(t₁) And angular velocity Δ β about the Z-axis₂(t₁)；

The ultrasonic sensor of the upper harrow tube is arranged at the vertical position of the side edge of the upper harrow tube and is used for measuring the distance D between the upper harrow tube and the ship body_UP；

The universal joint ultrasonic sensor is arranged at the position of the lower harrow tube close to the universal joint and is used for measuring the distance D between the universal joint and the ship body_UF；

The lower harrow tube ultrasonic sensor is arranged at the vertical position of the side edge of the lower harrow tube and is used for measuring the distance D between the lower harrow tube and the ship body_LO。

Each sensor is connected with a detection signal input end of the PLC through a signal cable; and the data gathers all the acquired equipment information into a computer through a network switch to be subjected to data processing calculation, and finally the data is output to an output module of the computer.

2. The system for measuring, displaying, alarming and controlling the posture of the rake arm of the trailing suction hopper dredger as claimed in claim 1,

the computer includes: the device comprises a measuring module, a calculating module, a judging module, an alarming module, a control module and an output module;

the measurement module is responsible for configuring a data acquisition PLC module, collecting measurement data and providing the measurement data to the calculation module; the calculation module calculates parameters such as horizontal/vertical included angles between the upper rake pipe and the lower rake pipe, the distance between the upper rake pipe and the ship body, the distance between the universal joint and the ship body, the distance between the lower rake pipe and the ship body and the like according to the measurement data and provides the parameters to the judgment module; the judgment module judges whether the parameters obtained by the calculation module are in a safe range or not and determines the action of feedback control; the alarm module is responsible for generating alarm information according to the judgment result of the judgment module and displaying the alarm information through the output module; meanwhile, the control module sends a control command to the control feedback PLC module according to the judgment result of the judgment module, and the control feedback PLC module controls the drag winch or the drag winch to complete posture correction;

the measurement data collected by the measurement module includes: angular velocity delta alpha of rake-up pipe around X axis₁(t₁) And angle around Z axisSpeed Δ β₁(t₁) Angular speed delta alpha of lower harrow tube around X axis₂(t₁) And angular velocity Δ β about the Z-axis₂(t₁) The distance D between the upper harrow tube and the ship body_UPDistance D between universal joint and ship body_UFThe distance D between the lower harrow tube and the ship body_LO. This is the raw measurement data;

the raw measurement data is further processed by a calculation module to obtain the following parameters, and the calculation process is as follows:

1) calculate the vertical angle and horizontal angle of the rake pipe

Measuring the current moment t through an upper rake tube acceleration gyroscope of a rake arm₁The angular velocity of the rake-mounting pipe around the X axis, i.e. the variation delta alpha of the vertical angular velocity of the rake-mounting pipe₁(t₁) And then calculate the current time t₁The vertical angle alpha of the upper harrow tube₁(t₁) Namely:

α₁(t₁)＝α₁(t₀)+Δα₁(t₁)×(t₁-t₀)+ω₁

wherein alpha is₁(t₀) Representing the previous time t₀The vertical angle of the upper harrow tube is adjusted; omega₁The compensation quantity representing the vertical angle of the upper rake pipe is determined by the installation position of the acceleration gyroscope:

measuring the current moment t through an upper rake tube acceleration gyroscope of a rake arm₁The angular velocity around the Z axis of the rake-rake pipe, i.e. the change amount delta beta of the horizontal angular velocity of the rake-rake pipe₁(t₁) And then calculate the current time t₁The horizontal angle beta of the upper harrow tube₁(t₁) Namely:

β₁(t₁)＝β₁(t₀)+Δβ₁×(t₁-t₀)+γ₁

wherein, beta₁(t₀) Representing the previous time t₀The horizontal angle of the upper harrow tube; gamma ray₁And the compensation quantity representing the horizontal angle of the upper rake pipe is determined by the installation position of the acceleration gyroscope.

2) Calculating the vertical angle and the horizontal angle of the lower harrow tube

Similarly, the angular speed of the lower harrow tube rotating around the X axis, namely the vertical angular speed variation delta alpha of the upper harrow tube is measured by the acceleration gyroscope of the lower harrow tube of the harrow arm₂(t₁) And then calculate the current time t₁Lower harrow pipe vertical angle alpha₂(t₁)：

α₂(t₁)＝α₂(t₀)+Δα₂(t₁)×(t₁-t₀)+ω₂

Wherein alpha is₂(t₀) Representing the previous time t₀The lower harrow tube vertical angle; omega₂The compensation quantity representing the vertical angle of the lower rake pipe is determined by the installation position of the acceleration gyroscope:

the angular speed of the lower harrow tube rotating around the Z axis, namely the horizontal angular speed variation delta beta of the upper harrow tube is measured by the acceleration gyroscope of the lower harrow tube of the harrow arm₂(t₁) And further calculating the horizontal angle beta of the lower rake pipe at the current moment₂(t₁)：

β₂(t₁)＝β₂(t₀)+Δβ₂(t₁)×(t₁-t₀)+γ₂

Wherein, beta₂(t₀) Representing the previous time t₀The horizontal angle of the lower harrow tube; gamma ray₂The compensation quantity representing the horizontal angle of the lower rake pipe is determined by the installation position of the acceleration gyroscope:

3) calculate the vertical angle and horizontal angle between the upper rake pipe and the lower rake pipe

Based on the results of 1) and 2), calculating the current time t₁The vertical included angle alpha between the upper harrow tube and the lower harrow tube_MID(t₁)：

α_MID(t₁)＝α₁(t₁)+α₂(t₁)

Wherein alpha is₁(t₁) Representing the current time t₁The vertical angle alpha of the upper harrow tube₁(t₁)，α₂(t₁) Representing the current time t₁The lower harrow tube of (1) is perpendicular to the angle.

Similarly, calculate the current time t₁The horizontal included angle beta between the upper harrow tube and the lower harrow tube_MID(t₁)：

β_MID(t₁)＝β₁(t₁)+β₂(t₁)

Wherein, beta₁(t₁) Representing the current time t₁Horizontal angle of upper rake pipe, beta₂(t₁) Representing the current time t₁The lower harrow tube horizontal angle.

4) Calculating gimbal depth

Calculating the current time t through the vertical and horizontal angles of the rake feeding pipe₁Universal joint depth H_UP(t₁)

H_UF(t₁)＝L_UP×cos(β₁(t₁))×sin(α₁(t₁))

Wherein L is_UPThe length of the rake pipe is indicated.

5) Calculating the drag head depth

Similarly, the current time t is calculated through the vertical and horizontal angles of the upper and lower harrow tubes₁Drag head depth H_HEAD(t₁)

H_HEAD(t₁)＝L_UP×cos(β₁(t₁))×sin(α₁(t₁))+L_LO×cos(β₁(t₁)+β₂(t₁))×sin(α₁(t₁)+α₂(t₁))

Wherein L is_UPIndicates the length of the rake pipe, L_LOThe length of the lower rake pipe is shown.

6) Calculating the shortest distance between the upper harrow pipe and the hull

The minimum distance between the rake arm and the ship body and the universal joint ultrasonic sensor are calculated by combining the distance change measured by the ultrasonic sensor with the acceleration gyroscope of the rake-up tube, and the current time t is calculated₁The shortest distance between the upper harrow tube and the ship body is as follows:

D_{UP_min}(t₁)＝min{D_UP(t₁)，L_UP×sin(β₁(t₁))-D_ELBOW×sgn(D_ELBOW+L_UP×sin(β₁(t₁)))}

wherein D is_UP(t₁) Indicates the current time t₁The ultrasonic sensor of the upper rake pipe measures the distance between the position of the ultrasonic sensor and the ship body, D_ELBOWRepresenting the length of the rake tube perpendicular to the suction opening, sgn is a sign function.

7) Calculating the shortest distance between the lower harrow tube and the ship body

Similarly, the minimum distance between the rake arm and the ship body and the universal joint ultrasonic sensor are calculated by combining the distance change measured by the ultrasonic sensor with the acceleration gyroscope of the rake-up tube, and the current time t is calculated₁The shortest distance D between the lower harrow tube and the ship body_{LO_min}(t₁)：

D_{LO_min}(t₁)＝min{D_LO(t₁)，L_LO×sin(β₂(t₁))-D_{UP_min}(t₁)×sgn(L_LO×sin(β₂(t₁))-D_{UP_min})}

Wherein D is_LO(t₁) Indicates the current time t₁The ultrasonic sensor of the lower harrow tube measures the distance between the position of the ultrasonic sensor and the ship body.

8) Calculating the shortest distance between the harrow tube and the ship body

Finally, the shortest distance D between the harrow tube and the ship body at the current time t1 is calculated_min(t₁)：

D_min(t₁)＝min{D_{UP_min}(t₁)，D_UF(t₁)，D_{LO_min}(t₁)}

Wherein D is_UF(t₁) Indicates the current time t₁The distance between the position of the universal joint ultrasonic sensor and the ship body is measured.

3. The system for measuring, displaying, alarming and controlling the posture of the rake arm of the trailing suction hopper dredger as claimed in claim 2,

after the parameters are obtained through calculation, the computer judgment module judges whether the parameters exceed the safety value range or not, and performs the following feedback control

Feedback control one

After the distances between the positions of the upper harrow tube, the universal joint and the lower harrow tube and the ship body are calculated, the judging module compares the distances with an engineering safety value, if the distances exceed the safety value range, the control module sends a control command to the control feedback PLC module through the network switch, and the control feedback PLC module controls the harrow center winch and the harrow head winch to correct the positions of the upper harrow tube, the universal joint and the lower harrow tube; if the current value is within the safe value range, no feedback control is carried out; the specific process is as follows:

if the judging module judges that the distance between the position of the upper harrow tube, the universal joint or the lower harrow tube and the ship body is less than the engineering safety minimum value (the set distance minimum value), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, a harrow winch and a harrow head winch are started, the harrow winch is lifted upwards, the harrow head winch is lifted upwards, and the position of the upper harrow tube, the universal joint or the lower harrow tube from the ship body is increased until the position is positioned in the interval between the engineering minimum value and the engineering maximum value;

if the judging module judges that the distance between the positions of the upper harrow tube, the universal joint or the lower harrow tube and the ship body is greater than the maximum engineering safety value (the set maximum distance value), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, a harrow winch and a harrow head winch are started, the harrow winch is lifted upwards, the harrow head winch is lifted upwards, the distance between the positions of the upper harrow tube, the universal joint or the lower harrow tube and the ship body is reduced until the distance is positioned in an interval between the minimum engineering value and the maximum engineering value;

feedback control 2

After the included angle between the upper harrow tube and the lower harrow tube is calculated, the judgment module compares the included angle with an engineering safety value, if the included angle exceeds the safety value range, the control module sends a control command to a control feedback PLC module through a network switch, and the control feedback PLC module controls a winch in the harrow so as to correct the included angle between the upper harrow tube and the lower harrow tube; if the current value is within the safe value range, no feedback control is performed. As shown in fig. 3. The specific process is as follows:

if the judgment module judges that the included angle between the upper rake pipe and the lower rake pipe is a negative value and the absolute value is greater than the engineering safety value (the maximum value of the included angle is set), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, a winch in the rake is started to lift the upper rake pipe, so that the included angle between the upper rake pipe and the lower rake pipe is increased until the included angle between the upper rake pipe and the lower rake pipe is within the engineering safety value range.

If the judgment module judges that the included angle between the upper rake pipe and the lower rake pipe is a positive value and the absolute value is greater than the engineering safety value (the maximum value of the included angle is set), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, the winch in the rake is started to lower the upper rake pipe, so that the included angle between the upper rake pipe and the lower rake pipe is reduced until the included angle between the upper rake pipe and the lower rake pipe is within the engineering safety value range.

Technical Field

The invention belongs to measurement and control equipment of dredging engineering, in particular to a system for measuring the posture of a drag pipe, calculating and displaying an angle and a position, alarming and controlling the posture of a drag suction dredger in a construction state.

Background

A drag suction dredger is a dredging engineering ship and can excavate silt at a dredging site, pump and load the silt in the excavating process and unload the silt at a mud unloading site. The harrow arm comprises a harrow head winch, a harrow middle winch, an upper harrow pipe, a lower harrow pipe and a universal joint. In the dredging process of the trailing suction hopper dredger, a drag arm is easily influenced by self large-amplitude steering or waves, so that an upper drag pipe, a lower drag pipe and a universal joint are too close to a ship body to be impacted with the ship body, or a winch and a drag head winch in a drag. Therefore, a dredging worker needs to control the construction state of the harrow arm in water by controlling the winch, keep a certain distance from the ship body so as to avoid ship damage caused by collision with the ship body, and simultaneously keep a certain included angle between an upper harrow pipe and a lower harrow pipe of the harrow arm so as to avoid damage of a universal joint between the upper harrow pipe and the lower harrow pipe. In the dredging process of the traditional dredge boat, a sensor and an alarm system for direct measurement are not arranged on a rake pipe of the traditional dredge boat for reminding approaching, over-far and over-small angle alarm, and an automatic control drag winch and a drag head winch are not arranged for adjusting the distance between an upper rake pipe, a lower rake pipe and a universal joint and a boat body and the included angle between the upper rake pipe and the lower rake pipe in real time. Furthermore, the accurate measurement of the rake arm attitude is not only related to the safe distance between the rake arm and the hull and the angle of the upper and lower rake pipes, but also to the dredging yield. Therefore, a system for measuring, displaying, alarming and controlling the posture of the rake arm of the trailing suction hopper dredger is needed.

Disclosure of Invention

The invention aims to solve the technical problem of providing a system which can help an operator to accurately master the posture of a harrow arm in an underwater construction state, can simultaneously provide measurement and alarm for the distance between an upper harrow tube and a ship body and the included angle between the upper harrow tube and the lower harrow tube, and provides a harrow-in-harrow winch and a harrow-head winch for automatically controlling the distance between the upper harrow tube and the ship body, the distance between the lower harrow tube and a universal joint and the ship body and the included angle between the upper harrow tube and the lower harrow tube.

The technical scheme of the invention is as follows:

a trailing arm attitude measurement, display alarm and control system of a trailing suction hopper dredger is characterized by comprising a trailing arm attitude measurement display alarm subsystem and a trailing arm attitude control subsystem of the trailing suction hopper dredger, wherein the two subsystems are provided;

the drag arm attitude measuring, displaying, alarming and controlling system of the drag suction dredger consists of a set of drag arm equipment, various sensors, a programmable controller and a computer; the harrow arm equipment comprises a harrow arm and an actuating mechanism for controlling the action of the harrow arm, wherein the harrow arm comprises an upper harrow pipe, a universal joint and a lower harrow pipe, and the actuating mechanism comprises a harrow middle and a harrow head winch; an upper rake pipe acceleration gyroscope and a lower rake pipe acceleration gyroscope for detecting the angle change of the rake arm, and an upper rake pipe ultrasonic sensor, a universal joint ultrasonic sensor and a lower rake pipe ultrasonic sensor for detecting the distances between the upper rake pipe, the universal joint and the lower rake pipe and the ship body are arranged on the rake arm;

the installation positions of the sensors are as follows:

the upper rake tube acceleration gyroscope is arranged at the horizontal plane of the upper rake tube and is used for measuring the angular speed delta alpha of the upper rake tube around the X axis₁(t₁) And angular velocity Δ β about the Z-axis₁(t₁)；

The lower harrow tube acceleration gyroscope is arranged at the horizontal plane of the lower harrow tube and is used for measuring the angular speed delta alpha of the lower harrow tube around the X axis₂(t₁) And angular velocity Δ β about the Z-axis₂(t₁)；

The ultrasonic sensor of the upper harrow tube is arranged at the vertical position of the side edge of the upper harrow tube and is used for measuring the distance D between the upper harrow tube and the ship body_UP；

Universal joint ultrasonic sensorIs arranged at the position of the lower harrow pipe close to the universal joint and is used for measuring the distance D between the universal joint and the ship body_UF；

The lower harrow tube ultrasonic sensor is arranged at the vertical position of the side edge of the lower harrow tube and is used for measuring the distance D between the lower harrow tube and the ship body_LO。

Each sensor is connected with a detection signal input end of the PLC through a signal cable; and the data gathers all the acquired equipment information into a computer through a network switch to be subjected to data processing calculation, and finally the data is output to an output module of the computer.

The invention has the beneficial technical effects

Based on the posture measuring, displaying, alarming and controlling system of the rake arm of the trailing suction hopper dredger, the position states of all parts of the rake arm can be determined through the detection signals of all novel sensors, and the space posture of the rake arm of the trailing suction hopper dredger is obtained. In the construction process of the rake arm, the angular change of the rake arm is continuously detected by the acceleration gyroscopes of the upper rake pipe and the lower rake pipe, and the vertical angle and the horizontal angle of the upper rake arm and the lower rake arm as well as the angular change at the universal joint of the rake arm, namely the change of the included angle of the upper rake pipe and the lower rake pipe are calculated; the ultrasonic sensors of the upper and lower universal joint harrow tubes continuously detect the distance between the harrow arm and the ship body, and the minimum distance between the upper harrow tube and the ship body can be accurately calculated by combining the vertical angle and the horizontal angle change of the upper and lower harrow arms and the lengths of the upper and lower harrow tubes of the harrow arm through a mathematical calculation formula; the horizontal angle and the vertical angle of the upper rake pipe and the lower rake pipe and the change trend of the space posture of the rake arm, namely the change value of the horizontal angle of the upper rake pipe and the horizontal angle of the lower rake pipe can be calculated through the acceleration information measured by the acceleration gyroscopes of the upper rake pipe and the lower rake pipe. Based on the algorithm of the rake arm attitude measurement display alarm system of the trailing suction hopper dredger, the calculated angle, depth and distance related to the rake arm are displayed on a computer, so that an operator can check the underwater real-time attitude of the rake arm through the computer. Meanwhile, the included angle of the upper and lower harrow tubes and the distance between the upper and lower harrow arms, the universal joint and the ship body are obtained, compared with a preset engineering safety value, an alarm is given according to the actual situation, and the automatic safety control of the angle and the distance of the harrow arms is synchronously carried out according to the preset engineering safety value.

Drawings

Fig. 1 is a schematic view of the sensor mounting location of the present invention.

Fig. 2 is a signal data flow diagram of the present invention.

Fig. 3 is a flow chart of the automatic control of the safe included angle between the upper and lower harrow tubes.

Fig. 4 is a flow chart of the automatic control of the safe distance between the upper and lower drag arms, the universal joint and the hull of the invention.

Fig. 5 is a schematic view of the rake arm and the angle model of the present invention. Wherein AB is an upper harrow pipe, BC is a lower harrow pipe, B point is a universal joint, and C is a harrow head.

Detailed Description

The system comprises a drag pipe attitude measurement display alarm subsystem and a drag arm attitude control subsystem of the drag suction dredger, wherein the two subsystems are composed of a set of drag arm equipment, various sensors, a programmable controller and a computer; the harrow arm equipment comprises a harrow arm and an actuating mechanism for controlling the action of the harrow arm, wherein the harrow arm comprises an upper harrow pipe, a universal joint and a lower harrow pipe, and the actuating mechanism comprises a harrow middle and a harrow head winch; an upper rake pipe acceleration gyroscope 1 and a lower rake pipe acceleration gyroscope 2 for detecting the angle change of the rake arm, and an upper rake pipe ultrasonic sensor 3, a universal joint ultrasonic sensor 4 and a lower rake pipe ultrasonic sensor 5 for detecting the distance between the upper rake pipe, the universal joint and the ship body are arranged on the rake arm.

The drag pipe attitude measurement display alarm subsystem of the drag suction dredger mainly uses an upper drag pipe acceleration gyroscope, a lower drag pipe acceleration gyroscope, a universal joint ultrasonic sensor, a data acquisition processing PLC module, a signal cable, a network switch and a computer; the rake arm attitude control subsystem mainly uses a rake center, a rake head winch, a control feedback PLC module, a signal cable, a network switch and a computer; the two subsystems share a network switch and a computer.

The installation positions of the sensors are as follows:

the upper rake tube acceleration gyroscope is arranged at the horizontal plane of the upper rake tube and is used for measuring the angular speed delta alpha of the upper rake tube around the X axis₁(t₁) Andangular velocity Δ β about the Z-axis₁(t₁)；

The lower harrow tube acceleration gyroscope is arranged at the horizontal plane of the lower harrow tube and is used for measuring the angular speed delta alpha of the lower harrow tube around the X axis₂(t₁) And angular velocity Δ β about the Z-axis₂(t₁)；

The ultrasonic sensor of the upper harrow tube is arranged at the vertical position of the side edge of the upper harrow tube and is used for measuring the distance D between the upper harrow tube and the ship body_UP；

The universal joint ultrasonic sensor is arranged at the position of the lower harrow tube close to the universal joint and is used for measuring the distance D between the universal joint and the ship body_UF；

The lower harrow tube ultrasonic sensor is arranged at the vertical position of the side edge of the lower harrow tube and is used for measuring the distance D between the lower harrow tube and the ship body_LO。

Each sensor is connected with a detection signal input end of the PLC through a signal cable; and the data gathers all the acquired equipment information into a computer through a network switch to be subjected to data processing calculation, and finally the data is output to an output module of the computer.

The computer includes: the device comprises a measuring module, a calculating module, a judging module, an alarming module, a control module and an output module. The measurement module is responsible for configuring a data acquisition PLC module, collecting measurement data and providing the measurement data to the calculation module; the calculation module calculates parameters such as horizontal/vertical included angles between the upper rake pipe and the lower rake pipe, the distance between the upper rake pipe and the ship body, the distance between the universal joint and the ship body, the distance between the lower rake pipe and the ship body and the like according to the measurement data and provides the parameters to the judgment module; the judgment module judges whether the parameters obtained by the calculation module are in a safe range or not and determines the action of feedback control; the alarm module is responsible for generating alarm information according to the judgment result of the judgment module and displaying the alarm information through the output module; meanwhile, the control module sends a control command to the control feedback PLC module according to the judgment result of the judgment module, and the control feedback PLC module controls the drag winch or the drag head winch to complete posture correction.

The measurement data collected by the measurement module includes: angular velocity delta alpha of rake-up pipe around X axis₁(t₁) And angular velocity Δ β about the Z-axis₁(t₁)、Angular velocity delta alpha of lower harrow tube around X axis₂(t₁) And angular velocity Δ β about the Z-axis₂(t₁) The distance D between the upper harrow tube and the ship body_UPDistance D between universal joint and ship body_UFThe distance D between the lower harrow tube and the ship body_LO. This is the raw measurement data.

The raw measurement data is further processed by a calculation module to obtain the following parameters, and the calculation process is as follows:

1) calculate the vertical angle and horizontal angle of the rake pipe

Measuring the current moment t through an upper rake tube acceleration gyroscope of a rake arm₁The angular velocity of the rake-mounting pipe around the X axis, i.e. the variation delta alpha of the vertical angular velocity of the rake-mounting pipe₁(t₁) And then calculate the current time t₁The vertical angle alpha of the upper harrow tube₁(t₁) Namely:

α₁(t₁)＝α₁(t₀)+Δα₁(t₁)×(t₁-t₀)+ω₁

wherein alpha is₁(t₀) Representing the previous time t₀The vertical angle of the upper harrow tube is adjusted; omega₁And the compensation quantity representing the vertical angle of the upper rake pipe is determined by the installation position of the acceleration gyroscope.

Measuring the current moment t through an upper rake tube acceleration gyroscope of a rake arm₁The angular velocity around the Z axis of the rake-rake pipe, i.e. the change amount delta beta of the horizontal angular velocity of the rake-rake pipe₁(t₁) And then calculate the current time t₁The horizontal angle beta of the upper harrow tube₁(t₁) Namely:

β₁(t₁)＝β₁(t₀)+Δβ₁×(t₁-t₀)+γ₁

wherein, beta₁(t₀) Representing the previous time t₀The horizontal angle of the upper harrow tube; gamma ray₁And the compensation quantity representing the horizontal angle of the upper rake pipe is determined by the installation position of the acceleration gyroscope.

2) Calculating the vertical angle and the horizontal angle of the lower harrow tube

In the same way, TongThe acceleration gyroscope of the lower harrow tube passing through the harrow arm measures the angular speed of the lower harrow tube rotating around the X axis, namely the vertical angular speed variation delta alpha of the upper harrow tube₂(t₁) And then calculate the current time t₁Lower harrow pipe vertical angle alpha₂(t₁):

α₂(t₁)＝α₂(t₀)+Δα₂(t₁)×(t₁-t₀)+ω₂

Wherein alpha is₂(t₀) Representing the previous time t₀The lower harrow tube vertical angle; omega₂The compensation quantity representing the vertical angle of the lower rake pipe is determined by the installation position of the acceleration gyroscope;

the angular speed of the lower harrow tube rotating around the Z axis, namely the horizontal angular speed variation delta beta of the upper harrow tube is measured by the acceleration gyroscope of the lower harrow tube of the harrow arm₂(t₁) And further calculating the horizontal angle beta of the lower rake pipe at the current moment₂(t₁):

β₂(t₁)＝β₂(t₀)+Δβ₂(t₁)×(t₁-t₀)+γ₂

Wherein, beta₂(t₀) Representing the previous time t₀The horizontal angle of the lower harrow tube; gamma ray₂The compensation quantity representing the horizontal angle of the lower rake pipe is determined by the installation position of the acceleration gyroscope;

3) calculate the vertical angle and horizontal angle between the upper rake pipe and the lower rake pipe

Based on the results of 1) and 2), calculating the current time t₁The vertical included angle alpha between the upper harrow tube and the lower harrow tube_MID(t₁)：

α_MID(t₁)＝α₁(t₁)+α₂(t₁)

Wherein alpha is₁(t₁) Representing the current time t₁The vertical angle alpha of the upper harrow tube₁(t₁)，α₂(t₁) Representing the current time t₁The lower harrow tube of (1) is perpendicular to the angle.

Similarly, calculate the current time t₁Upper rakeThe horizontal included angle beta between the tube and the lower harrow tube_MID(t₁)：

β_MID(t₁)＝β₁(t₁)+β₂(t₁)

Wherein, beta₁(t₁) Representing the current time t₁Horizontal angle of upper rake pipe, beta₂(t₁) Representing the current time t₁The lower harrow tube horizontal angle.

4) Calculating gimbal depth

Calculating the current time t through the vertical and horizontal angles of the rake feeding pipe₁Universal joint depth H_UP(t₁)

H_UF(t₁)＝L_UP×cos(β₁(t₁))×sin(α₁(t₁))

Wherein L is_UPThe length of the rake pipe is indicated.

5) Calculating the drag head depth

Similarly, the current time t is calculated through the vertical and horizontal angles of the upper and lower harrow tubes₁Drag head depth H_HEAD(t₁)

H_HEAD(t₁)＝L_UP×cos(β₁(t₁))×sin(α₁(t₁))+L_LO×cos(β₁(t₁)+β₂(t₁))×sin(α₁(t₁)+α₂(t₁))

Wherein L is_UPIndicates the length of the rake pipe, L_LOThe length of the lower rake pipe is shown.

6) Calculating the shortest distance between the upper harrow pipe and the hull

The minimum distance between the rake arm and the ship body and the universal joint ultrasonic sensor are calculated by combining the distance change measured by the ultrasonic sensor with the acceleration gyroscope of the rake-up tube, and the current time t is calculated₁The shortest distance between the upper harrow tube and the ship body is as follows:

D_{UP_min}(t₁)＝min{D_UP(t₁),L_UP×sin(β₁(t₁))-D_ELBOW×sgn(D_ELBOW+L_UP×sin(β₁(t₁)))}

wherein D is_UP(t₁) Indicates the current time t₁The ultrasonic sensor of the upper rake pipe measures the distance between the position of the ultrasonic sensor and the ship body, D_ELBOWRepresenting the length of the rake tube perpendicular to the suction opening, sgn is a sign function.

7) Calculating the shortest distance between the lower harrow tube and the ship body

Similarly, the minimum distance between the rake arm and the ship body and the universal joint ultrasonic sensor are calculated by combining the distance change measured by the ultrasonic sensor with the acceleration gyroscope of the rake-up tube, and the current time t is calculated₁The shortest distance D between the lower harrow tube and the ship body_{LO_min}(t₁):

D_{LO_min}(t₁)＝min{D_LO(t₁),L_LO×sin(β₂(t₁))-D_{UP_min}(t₁)×sgn(L_LO×sin(β₂(t₁))-D_{UP_min})}

Wherein D is_LO(t₁) Indicates the current time t₁The ultrasonic sensor of the lower harrow tube measures the distance between the position of the ultrasonic sensor and the ship body.

8) Calculating the shortest distance between the harrow tube and the ship body

Finally, the current time t is calculated₁The shortest distance D between the harrow tube and the ship body_min(t₁):

D_min(t₁)＝min{D_{UP_min}(t₁),D_UF(t₁),D_{LO_min}(t₁)}

Wherein D is_UF(t₁) Indicates the current time t₁The distance between the position of the universal joint ultrasonic sensor and the ship body is measured.

After the parameters are obtained through calculation, the computer judgment module judges whether the parameters exceed the safety value range or not, and performs the following feedback control

Feedback control one

After the distances between the positions of the upper harrow tube, the universal joint and the lower harrow tube and the ship body are calculated, the judging module compares the distances with an engineering safety value, if the distances exceed the safety value range, the control module sends a control command to the control feedback PLC module through the network switch, and the control feedback PLC module controls the harrow center winch and the harrow head winch to correct the positions of the upper harrow tube, the universal joint and the lower harrow tube; if the current value is within the safe value range, no feedback control is performed. As shown in fig. 4. The specific process is as follows:

if the judging module judges that the distance between the position of the upper harrow tube, the universal joint or the lower harrow tube and the ship body is less than the engineering safety minimum value (the set distance minimum value), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, a harrow winch and a harrow head winch are started, the harrow winch is lifted upwards, the harrow head winch is lifted upwards, and the position of the upper harrow tube, the universal joint or the lower harrow tube from the ship body is increased until the position is positioned in the interval between the engineering minimum value and the engineering maximum value;

if the judging module judges that the distance between the positions of the upper harrow tube, the universal joint or the lower harrow tube and the ship body is greater than the maximum engineering safety value (the set maximum distance value), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, a harrow winch and a harrow head winch are started, the harrow winch is lifted upwards, the harrow head winch is lifted upwards, the distance between the positions of the upper harrow tube, the universal joint or the lower harrow tube and the ship body is reduced until the distance is positioned in an interval between the minimum engineering value and the maximum engineering value;

feedback control 2

After the included angle between the upper harrow tube and the lower harrow tube is calculated, the judgment module compares the included angle with an engineering safety value, if the included angle exceeds the safety value range, the control module sends a control command to a control feedback PLC module through a network switch, and the control feedback PLC module controls a winch in the harrow so as to correct the included angle between the upper harrow tube and the lower harrow tube; if the current value is within the safe value range, no feedback control is performed. As shown in fig. 3. The specific process is as follows:

if the judgment module judges that the included angle between the upper rake pipe and the lower rake pipe is a negative value and the absolute value is greater than the engineering safety value (the maximum value of the included angle is set), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, a winch in the rake is started to lift the upper rake pipe, so that the included angle between the upper rake pipe and the lower rake pipe is increased until the included angle between the upper rake pipe and the lower rake pipe is within the engineering safety value range.

If the judgment module judges that the included angle between the upper rake pipe and the lower rake pipe is a positive value and the absolute value is greater than the engineering safety value (the maximum value of the included angle is set), the computer alarm module displays an alarm, meanwhile, the control module sends a control command to the control feedback PLC module, the winch in the rake is started to lower the upper rake pipe, so that the included angle between the upper rake pipe and the lower rake pipe is reduced until the included angle between the upper rake pipe and the lower rake pipe is within the engineering safety value range.