CN104818740B - Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger - Google Patents
Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger Download PDFInfo
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Abstract
The invention relates to a reamer non-tide precision releasing method and a reamer non-tide precision positioning system for a cutter suction dredger. RTK real-time dynamic control systems are used for acquiring the three-dimensional coordinate of a ship fixing point through a land RTK real-time dynamic control system base station; based on a ship structure rigid connecting hypothesis, combining with corresponding ship dimensions and an angle transducer, the precision three-dimensional positioning of a reamer is achieved. The reamer non-tide precision releasing method and the reamer non-tide precision positioning system for the cutter suction dredger have the advantages that compared with an original positioning system, the precision measuring of the real-time three-dimensional coordinate of the ship fixing point is achieved by the RTK real-time dynamic control systems, and the precision three-dimensional positioning of the reamer is achieved by combining corresponding ship parameters. According to the positioning technology, errors caused by ship draught and tide level measuring to positioning in a traditional positioning mode are completely eliminated, and the positioning precision of the reamer is greatly improved. Three-dimensional positioning calculation is achieved through an information processing system, and therefore the non-tide reamer precision releasing and positioning technology is realized.
Description
Technical field
The invention belongs to dredging work location technology, more particularly to a kind of cutter suction dredger reamer is accurately transferred without tidal observation
Method and its accurately transfer alignment system.
Background technology
Dredging work is divided into capital construction dredging and the big class of maintenance dredging two, main work in the majority with capital dredging works
Journey, to excavate the regions such as basin, navigation channel, bank slope, is the Main Means for developing, safeguarding navigation channel, harbour water area.Due to dredging work
Construction product cannot visual test, can only be evaluated by depth of water mapping, pair twist inhale ship for, it is backbreak, ultra-wide limit value phase
It is the same order of magnitude than reamer size, therefore the more difficult control of its construction quality.Twist and inhale ship excavation basin, navigation channel, berth and bank slope matter
During amount layer, the technology of being accurately controlled need to be taken, to the accurate enforcement three-dimensional localization of reamer, avoid ultra-deep, ultra-wide to excavate as far as possible, it is ensured that
Each construction area construction quality is controlled.
At present, original strand inhales ship plane positioning using two DGPS reception satellite-signals, because two DGPS are relative to ship
Body plan position fixing, therefore the plane coordinates at reamer reamer bridge rotary shaft center can be calculated by its plane coordinates,
Then reamer plane coordinates is determined by reamer reamer reamer bridge length and reamer reamer bridge inclination angle.Because DGPS is pseudorange
Differential principle, its plane positioning precision is general, and error is up to 1-3m.
Original strand inhales the empirical method that ship elevation location takes integration tidal level and drinking water, i.e. reamer decentralization depth is high by building berth
Degree, crane span structure length, reamer bridge inclination angle, tidal level, the real-time empirical value of drauht determine jointly.Dredge and be in ship-handling cabin
System integrates above numerical value, finally gives reamer real-time three-dimensional coordinate.Due to tidal level real-time change, and by tide gauge measurement essence
Degree affects, and real time tide level has obvious errors with drauht measurement, therefore the method will to a certain extent cause reamer high
There is deviation in Cheng Dingwei, and its value can exceed 1m, and quality control on construction is had a negative impact.
During Dredging Engineering, need to strictly control reamer lowered position, its positioning occur error shallow point can be caused excessive or
Local ultra-deep phenomenon, shallow point need to again employ dredger and sweep shallow, have a strong impact on the construction period and cause construction cost to increase, if super
It is deep excessively also to cause the problems such as cost increases, construction speed is delayed, off quality.
As it was previously stated, original system is affected the presence of position error by tidal level and drauht etc., how at utmost to reduce on
The impact for stating factor is the key for improving dredger positional accuracy.
To sum up, at present due to using tidal level and drauht value, thus there is larger drawback in original reamer alignment system, in view of
Dredging work acceptance criteria is increasingly strict, and its ultra-deep ultra-wide amount is polarized, and reamer diameter is in therewith the same order of magnitude,
For above-mentioned situation, take more accurate mode strictly to implement reamer positioning, preferably improve dredging excavation technology
Become the inexorable trend of dredging work.
The content of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned technology, there is provided a kind of cutter suction dredger reamer is accurate without tidal observation
Pay-off method and its alignment system is accurately transferred, realize that hull fixing point real-time three-dimensional is sat using RTK Real-time and Dynamic control systems
Target accurate measurement, realizes that reamer accurate three-dimensional is positioned with reference to corresponding hull parameters.
The present invention for achieving the above object, is employed the following technical solutions：A kind of cutter suction dredger reamer is accurate without tidal observation
Pay-off method, is characterized in that：Pass through RTK without group RTK Real-time and Dynamic control system of tidal observation Precise Position System, i.e., two using reamer
Real-time and Dynamic control system base station obtains hull fixing point three-dimensional coordinate, with reference to corresponding hull size and angular transducer, realizes
The accurate three-dimensional positioning of reamer, Specific construction step is as follows：
First, RTK kinetic-control systems base station is set up on land by known control point, inhales affixed at the top of ship straddle truck twisting
First group of RTK Real-time and Dynamic control system mobile station, there is provided the plane coordinates of the point, twisting ship driver's cabin top laying second is inhaled
Group RTK Real-time and Dynamic control system mobile stations, there is provided the three-dimensional coordinate of the point, setting angle is passed in reamer bridge tail end plane
Sensor, angular transducer and reamer bridge synchronous axial system, there is provided level inclination during reamer bridge construction；Ship driver's cabin is inhaled twisting
Interior mount message processing system, three-dimensional localization is carried out by the system operations to reamer；
2nd, reamer plane coordinates and real-time elevation are determined
(1) the following data are input into information processing system：First group and second group of RTK Real-time and Dynamic control system shifting
The plane coordinates of dynamic platform output；By actually measuring the two groups of RTK Real-time and Dynamic control system mobile station installation site phases for obtaining
Plane coordinates to hull, information processing system is calculated the plane coordinates at reamer bridge rotary shaft center；Information processing system
Reamer bridge length value and the reamer bridge inclination angle united in conjunction with input, determines the plane coordinates of reamer after calculating；
(2) the following data are input into information processing system：Second group of RTK Real-time and Dynamic control system moving table measuring
Height value and angular transducer measurement inclination angle；The installation site distance of second group of RTK Real-time and Dynamic control system mobile station
The vertical dimension and reamer bridge length at reamer bridge rotary shaft center, the reality for determining reamer is calculated by information processing system
Shi Gaocheng；
3rd, the calculating of reamer three-dimensional coordinate
1. by the plane coordinates of first group and second group RTK Real-time and Dynamic control systems mobile station output, reamer is obtained
Plane coordinates (the x at bridge rotary shaft center1, y1)；
2. the angle theta of reamer bridge and horizontal plane is obtained by angular transducer numerical value；
3. by the folder of the plane coordinates, reamer bridge length and reamer bridge and horizontal plane at reamer bridge rotary shaft center
Angle obtains reamer plane coordinates (x, y)；
4. by the altitude data of second group of RTK Real-time and Dynamic control systems mobile station output, obtain driver's cabin top and work as
The real-time elevation H of front point0；
5. by measuring hull parameters, obtain second group of top of driver's cabin RTK Real-time and Dynamic control systems mobile station and install
Vertical dimension H of the point away from reamer reamer bridge rotary shaft centerW, it is known that reamer bridge length L；
Reamer elevation H is calculated according to below equation3：
H3=H0-Hw-L sinθ
H3--- reamer elevation
H0--- the real-time elevation of RTK points
Hw--- vertical dimensions of the RTK away from reamer reamer bridge rotary shaft center
L--- reamer reamer bridge lengths
θ --- crane span structure and horizontal plane angle
The real-time accurate decentralization depth in reamer head relative datum face is calculated through information processing system.
The plane coordinates precision is 0.03m.
The three-dimensional coordinate precision is 0.03m.
The reamer reamer bridge is 0-60 ° with the angle measurement range of horizontal plane, and measurement angle is accurate to 0.005 °.
, without the accurate pay-off method of tidal observation, the reamer is without tidal observation Precise Position System, bag for a kind of cutter suction dredger reamer
Include land RTK Real-time and Dynamic control systems base station, first group and second group of RTK Real-time and Dynamic control system mobile stations, angle biography
Sensor and information processing system, the land RTK Real-time and Dynamic control systems base station is set up by known control point on land；Institute
State first group and second group of RTK Real-time and Dynamic control system mobile station provides respectively the Data Source of reamer three-dimensional localization, it is described
First group of RTK Real-time and Dynamic control system mobile station is fixed in strand and inhales ship straddle truck top, there is provided the plane coordinates of the point；It is described
Second group of RTK Real-time and Dynamic control systems mobile station is arranged on driver's cabin top, there is provided the three-dimensional coordinate of the point；The angle is passed
Sensor is fixed in reamer bridge tail end plane, and with reamer bridge synchronous axial system, there is provided level during reamer bridge construction is inclined
Angle；Described information processing system is arranged on to twist inhales ship driving interior.
Described first group and second group of RTK Real-time and Dynamic control systems mobile station are measured using real time dynamic differential formula GPS
Device.
Beneficial effect：Compared with original alignment system, the invention advantage is to be realized using RTK Real-time and Dynamic control system
The accurate measurement of hull fixing point real-time three-dimensional coordinate, realizes that reamer accurate three-dimensional is positioned with reference to corresponding hull parameters.The positioning
Technology has thoroughly abandoned drauht and tidal level in traditional positioning mode and has measured the error produced to positioning, and reamer greatly improved
Positioning precision；Above-mentioned three-dimensional localization is calculated and completed by information processing system, so as to realize accurately descending blow-down without tidal observation reamer
Position technology.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is present system workflow structure schematic diagram；
Fig. 3 is the mathematical model that localization method is accurately transferred without tidal observation reamer.
In figure：1- land RTK Real-time and Dynamic control systems base station, first group of RTK Real-time and Dynamic control system mobile station of 2-,
Second group of RTK Real-time and Dynamic control system mobile station of 3-, 4- angular transducers, 5- information processing systems, 6- are twisted and are inhaled ship, 7- steel
Stake, 8- reamer bridges, 9- reamers, 10- twist inhale ship driver's cabin, 11- datum levels, 12, twist inhale ship straddle truck.
Specific embodiment
The specific embodiment of the present invention is described in detail with reference to preferred embodiment.
Refer to accompanying drawing, compared with prior art, the invention provides a kind of cutter suction dredger reamer without tidal observation it is accurate under
Method is put, hull fixing point three is obtained by RTK Real-time and Dynamic control systems base station using two groups of RTK Real-time and Dynamic control systems
Dimension coordinate, with reference to corresponding hull size and angular transducer, realizes the accurate three-dimensional positioning of reamer, and Specific construction step is as follows：
First, RTK kinetic-control systems base station is set up on land by known control point, inhales affixed at the top of ship straddle truck twisting
First group of RTK Real-time and Dynamic control system mobile station, there is provided the plane coordinates of the point, twisting ship driver's cabin top laying second is inhaled
Group RTK Real-time and Dynamic control system mobile stations, there is provided the three-dimensional coordinate of the point, setting angle is passed in reamer bridge tail end plane
Sensor, angular transducer and reamer bridge synchronous axial system, there is provided level inclination during reamer bridge construction；Ship driver's cabin is inhaled twisting
Interior mount message processing system, three-dimensional localization is carried out by the system operations to reamer；
2nd, reamer plane coordinates and real-time elevation are determined
(1) the following data are input into information processing system：First group and second group of RTK Real-time and Dynamic control system shifting
The plane coordinates of dynamic platform output；By actually measuring the two groups of RTK Real-time and Dynamic control system mobile station installation site phases for obtaining
Plane coordinates to hull, information processing system is calculated the plane coordinates at reamer bridge rotary shaft center；Information processing system
Reamer bridge length value and the reamer bridge inclination angle united in conjunction with input, determines the plane coordinates of reamer after calculating；
(2) the following data are input into information processing system：Second group of RTK Real-time and Dynamic control system moving table measuring
Height value and angular transducer measurement inclination angle；The installation site distance of second group of RTK Real-time and Dynamic control system mobile station
The vertical dimension and reamer bridge length at reamer bridge rotary shaft center, is calculated by information processing system and determines reamer
Real-time elevation；
3rd, the calculating of reamer three-dimensional coordinate, refers to accompanying drawing 3,
1. by the plane coordinates of first group and second group RTK Real-time and Dynamic control systems mobile station output, reamer is obtained
Plane coordinates (the x at bridge rotary shaft center1, y1)；
2. the angle theta of reamer bridge and horizontal plane is obtained by angular transducer numerical value；
3. by the folder of the plane coordinates, reamer bridge length and reamer bridge and horizontal plane at reamer bridge rotary shaft center
Angle obtains reamer plane coordinates (x, y)；
4. by the altitude data of second group of RTK Real-time and Dynamic control systems mobile station output, obtain driver's cabin top and work as
The real-time elevation H of front point0；
5. by measuring hull parameters, obtain second group of top of driver's cabin RTK Real-time and Dynamic control systems mobile station and install
Vertical dimension H of the point away from reamer reamer bridge rotary shaft centerW, it is known that reamer bridge length L；
Reamer elevation H is calculated according to below equation3：
H3=H0-Hw-L sinθ
H3--- reamer elevation
H0--- the real-time elevation of RTK points
Hw--- vertical dimensions of the RTK away from reamer reamer bridge rotary shaft center
L--- reamer reamer bridge lengths
θ --- crane span structure and horizontal plane angle
Land RTK Real-time and Dynamic control systems base station receive satellite-signal and by real time differential signal be sent to first group and
Second group of RTK Real-time and Dynamic control system mobile station, by integrating above-mentioned data through being calculated reamer relative datum face 11
Real-time accurate decentralization depth.
The plane coordinates precision is 0.03m.
The three-dimensional coordinate precision is 0.03m.
The reamer reamer bridge is 0-60 ° with the angle measurement range of horizontal plane, and measurement angle is accurate to 0.005 °.
The data of said method are rigidly connected hypothesis based on Ship Structure.
Realize that a kind of cutter suction dredger reamer of said method is real-time without tidal observation Precise Position System, including land RTK
1, first group and second group of kinetic-control system base station RTK Real-time and Dynamic control systems mobile station 2,3, angular transducer 4 and letter
Breath processing system 5, the land RTK Real-time and Dynamic control systems base station is set up by known control point on land；Described first
Group and second group of RTK Real-time and Dynamic control system mobile station provide respectively the Data Source of reamer three-dimensional localization, described first group
RTK Real-time and Dynamic control system mobile stations are fixed in strand and inhale the top of ship straddle truck 12, there is provided the plane coordinates of the point；Described second
Group RTK Real-time and Dynamic control systems mobile station is arranged on the top of driver's cabin 10, there is provided the three-dimensional coordinate of the point；The angle sensor
Device is fixed in reamer bridge tail end plane, and with reamer bridge synchronous axial system, there is provided level inclination during reamer bridge construction；
Described information processing system is arranged on to twist inhales ship driving interior, collectively forms reamer without tidal observation Precise Position System.
Described first group and second group of RTK Real-time and Dynamic control systems mobile station are measured using real time dynamic differential formula GPS
Device.Satellite data is gathered using two DGPS (DGPS), by pseudo range difference principle, using corresponding pseudorange
Difference number determines plane coordinates.The present invention adopts two RTK Real-time and Dynamic control systems (carrier phase difference principle) mobile stations
Original DGPS Radio Beacons are replaced to carry out plane positioning, because RTK Real-time and Dynamic control system adopts carrier phase difference principle,
Its precision greatly improves dredging vessel plane positioning precision up to Centimeter Level.At present by debugging and check, new system plane
Up within 50cm, the precision for comparing original system 1-3m is significantly increased positioning precision.
In elevation location system, the reamer decentralization depth H of current positioning mode3For：
H3=H+H1-H2- D=H+H1-H2-L sinθ
The reamer decentralization depth H of positioning mode of the present invention3For：
H3=H0-Hw- D=H0-Hw-L sinθ
Wherein：
Computational methods show, due to H0, L, θ be known or output valve, by strictly measuring corresponding hull parameters (i.e.
Hw), check and ensure that the measurement error within 3cm, is capable of achieving being accurately positioned for reamer elevation.The location technology is thoroughly abandoned
Drauht and tidal level measure the error produced to positioning in traditional positioning mode, at present by rationally debugging and calibration experiment,
The vertical error has been controlled within 10cm, realizes being substantially improved than original system.
The preferred embodiments of the present invention：
(1) base station 1 is arranged on land according to known control point in advance, it is public that the distance that its distance strand inhales ship 6 may be configured as 15
In within, 5 kilometers for optimum；First group of Real-time and Dynamic control system 2 is arranged on to twist inhales the top fixing point of ship straddle truck 12, and second
Group RTK Real-time and Dynamic control systems mobile station 3 is arranged on to twist inhales the top fixing point of ship driver's cabin 10, and should be arranged on higher position
Put, to avoid hull surrounding devices and ship after piling bar 7 signal interference, accurate measurement determine and second group of RTK Real-time and Dynamic
Vertical dimension Hw of the installation site of control system mobile station 3 apart from the reamer reamer bridge rotary shaft center of reamer reamer bridge 8；Angle
Degree sensor 4 is arranged on to twist inhales ship reamer reamer bridge tail end plane；
(2) twist suction ship 6 to bring in position in construction area, during construction, the base station receives satellite-signal and known coordinate pair
Than and the real time differential signal for obtaining is sent to into two groups of RTK Real-time and Dynamic control system mobile stations；First group of RTK Real-time and Dynamic
Control system mobile station 2 calculates the plane coordinates of its position and passes the signal by receiving satellite-signal and differential signal
Deliver to information processing system；Second group of RTK Real-time and Dynamic control systems mobile station 3 is by receiving satellite-signal and differential signal meter
The three-dimensional coordinate of its position is calculated, and plane coordinates signal is sent to into information processing system for the plane positioning of reamer 9,
Elevation signal is sent to into information processing system for reamer elevation location；When reamer is transferred, cut with scissors by the actual measurement of angular transducer 4
Knife reamer bridge inclination angle theta simultaneously calculates the signal output to information system for reamer three-dimensional localization；Information processing system is received
Above-mentioned data signal, two pre-entered in coupling system group RTK Real-time and Dynamic control system mobile station installation site coordinates, hinge
Knife reamer reamer bridge length, second group of installation site of RTK Real-time and Dynamic control systems mobile station 3 are rotated away from reamer reamer bridge
The ship machine Size calculation such as the vertical dimension at axle center can obtain the lowered position in reamer relative datum face 11.
The above, is only presently preferred embodiments of the present invention, not makees any pro forma to the structure of the present invention
Limit.Any simple modification, equivalent variations and modification that every technical spirit according to the present invention is made to above example,
Still fall within the range of technical scheme.
Claims (4)
1. a kind of cutter suction dredger reamer is characterized in that without the accurate pay-off method of tidal observation：It is accurately positioned without tidal observation using reamer
Group RTK Real-time and Dynamic control system of system, i.e., two obtains the three-dimensional seat of hull fixing point by RTK Real-time and Dynamic control systems base station
Mark, with reference to corresponding hull size and angular transducer, realizes the accurate three-dimensional positioning of reamer, and Specific construction step is as follows：
First, RTK kinetic-control systems base station is set up on land by known control point, is inhaled affixed first at the top of ship straddle truck twisting
Group RTK Real-time and Dynamic control system mobile stations, there is provided the plane coordinates of the point, twisting second group of ship driver's cabin top laying is inhaled
RTK Real-time and Dynamic control system mobile stations, there is provided the three-dimensional coordinate of the point, the setting angle sensing in reamer bridge tail end plane
Device, angular transducer and reamer bridge synchronous axial system, there is provided level inclination during reamer bridge construction；Ship driving interior is inhaled twisting
Mount message processing system, three-dimensional localization is carried out by the system operations to reamer；
2nd, reamer plane coordinates and real-time elevation are determined
(1) the following data are input into information processing system：First group and second group of RTK Real-time and Dynamic control system mobile station
The plane coordinates of output；By actually measuring the relative ship of the two groups of RTK Real-time and Dynamic control system mobile stations installation sites for obtaining
The plane coordinates of body, information processing system is calculated the plane coordinates at reamer bridge rotary shaft center；Information processing system is again
Reamer bridge length value and reamer bridge inclination angle with reference to input, determines the plane coordinates of reamer after calculating；
(2) the following data are input into information processing system：The height of second group of RTK Real-time and Dynamic control system moving table measuring
The measurement inclination angle of journey value and angular transducer；The installation site of second group of RTK Real-time and Dynamic control system mobile station is apart from reamer
The vertical dimension and reamer bridge length at bridge rotary shaft center, the real-time height for determining reamer is calculated by information processing system
Journey；
3rd, the calculating of reamer three-dimensional coordinate
1. by the plane coordinates of first group and second group RTK Real-time and Dynamic control systems mobile station output, reamer bridge is obtained
Plane coordinates (the x at rotary shaft center1, y1)；
2. the angle theta of reamer bridge and horizontal plane is obtained by angular transducer numerical value；
3. obtained by the angle of the plane coordinates, reamer bridge length and reamer bridge and horizontal plane at reamer bridge rotary shaft center
Take reamer plane coordinates (x, y)；
4. by the altitude data of second group of RTK Real-time and Dynamic control systems mobile station output, driver's cabin top current point is obtained
Real-time elevation H0；
5. by measure hull parameters, obtain driver's cabin top second group of RTK Real-time and Dynamic control system mobile station mount point away from
Vertical dimension H at reamer bridge rotary shaft centerw, it is known that reamer bridge length L；
Reamer elevation H is calculated according to below equation3：
H3=H0-Hw-Lsinθ
H3--- reamer elevation
H0--- the real-time elevation of RTK points
Hw--- vertical dimensions of the RTK away from reamer bridge rotary shaft center
L--- reamer bridge lengths
θ --- crane span structure and horizontal plane angle
The real-time accurate decentralization depth in reamer head relative datum face is calculated through information processing system.
2. cutter suction dredger reamer according to claim 1 is characterized in that without the accurate pay-off method of tidal observation：The plane
Coordinate precision is 0.03m.
3. cutter suction dredger reamer according to claim 1 is characterized in that without the accurate pay-off method of tidal observation：The three-dimensional
Coordinate precision is 0.03m.
4. cutter suction dredger reamer according to claim 1 is characterized in that without the accurate pay-off method of tidal observation：The reamer
Bridge is 0-60 ° with the angle measurement range of horizontal plane, and measurement angle is accurate to 0.005 °.
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| CN201510113231.8A CN104818740B (en) | 2015-03-16 | 2015-03-16 | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger |
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| CN201510113231.8A CN104818740B (en) | 2015-03-16 | 2015-03-16 | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020061763A1 (en) * | 2018-09-25 | 2020-04-02 | 符瑶 | Cutter suction dredger |
| CN110686597A (en) * | 2019-10-28 | 2020-01-14 | 中交第三航务工程局有限公司 | Three-dimensional positioning system of slant chute tube |
| CN115288221B (en) * | 2022-08-19 | 2023-12-15 | 中交广州航道局有限公司 | Accurate positioning system of hydraulic impact hammer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1740462A (en) * | 2004-08-27 | 2006-03-01 | 天津航道勘察设计研究院 | Automatic dredging depth controller for cutter suction dredger |
| CN102518161A (en) * | 2011-12-31 | 2012-06-27 | 中交广州航道局有限公司 | Direct elevation control dredging method for dredge ship |
| CN102817388A (en) * | 2012-08-02 | 2012-12-12 | 中交天津航道局有限公司 | Dynamic positioning and dynamic tracking system of drag suction dredger and control method thereof |
| CN204626486U (en) * | 2015-03-16 | 2015-09-09 | 天津港航工程有限公司 | Cutter suction dredger reamer is without tidal observation Precise Position System |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050268499A1 (en) * | 2004-06-04 | 2005-12-08 | Weinrib Harry P | Method and apparatus for pumping with a dredge |
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2015
- 2015-03-16 CN CN201510113231.8A patent/CN104818740B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1740462A (en) * | 2004-08-27 | 2006-03-01 | 天津航道勘察设计研究院 | Automatic dredging depth controller for cutter suction dredger |
| CN102518161A (en) * | 2011-12-31 | 2012-06-27 | 中交广州航道局有限公司 | Direct elevation control dredging method for dredge ship |
| CN102817388A (en) * | 2012-08-02 | 2012-12-12 | 中交天津航道局有限公司 | Dynamic positioning and dynamic tracking system of drag suction dredger and control method thereof |
| CN204626486U (en) * | 2015-03-16 | 2015-09-09 | 天津港航工程有限公司 | Cutter suction dredger reamer is without tidal observation Precise Position System |
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