JP2856206B2 - Underwater rubble leveling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater rubble leveling device for leveling rubble poured into water.

[0002]

When constructing seawalls and revetment foundations for land reclamation work, rubble is injected into the construction site, the top end of the rubble is leveled, and the height is reduced to the planned height. And build a caisson and so on. Conventionally, as a method of leveling the rubble poured into water, a method of dropping a weight onto the top end surface of the rubble and leveling the unevenness by the falling energy of the weight is known.

[0003] As a method of leveling rubble using the weight,
Japanese Patent Publication No. 59-9696 discloses a steel assembly having a required height corresponding to a structure such as a caisson to be installed on a mound at the top end which is slightly higher than a planned height by throwing rubble into the mound. The weight, which is made of an extra-thick steel plate at the lower end of the support frame, is moved up and down while suspended by a crane to perform the compaction pressure, and the weight is suspended on the mound and erected. A method of leveling the mound top is known, in which the inclination of the mound top is detected based on the degree of inclination, and the height of the mound top is measured by a surveying instrument installed at a fixed point such as an existing caisson.

[0004] In the above-mentioned consolidation method, the height of the top end is measured by measuring the height of the weight using a measuring instrument provided at a fixed point. In such weather, there is a problem that accurate measurement cannot be performed. Also, if the construction site is far from the fixed point,
No measurement can be performed with such instruments. For this reason, there is a case where a measuring device is installed on the ship and the top height is measured by this measuring device.However, the peak height can be accurately measured due to the wave swinging of the ship or the change in the water level due to the tide. Can not be measured. Further, in a construction site far from such a fixed point, it is difficult to accurately control the position of the hoist ship and it is difficult to accurately control the pressing position of the weight.

Accordingly, an object of the present invention is to provide an underwater rubble leveling device capable of accurately controlling the position of the compaction and accurately measuring the height of the top end face.

[0006]

According to the first aspect of the present invention, there is provided an underwater rubble leveling device for dropping a weight lifted by a hoist ship to compact rubble in water, the device having a fixed GPS installed at a known point. A base station and a mobile station having mobile GPS located on the hoist ship,
A differential GPS device that obtains a positioning value of the hoist ship by receiving a PS signal with the fixed GPS and the mobile GPS, and a height measuring device provided on the hoist ship and measuring the height of the weight. Weight position calculating means for calculating the position information of the weight using the positioning value of the moving GPS, and calculating the position information of the height measuring device using the positioning value of the moving GPS. The GPS signal from the satellite is received by the fixed GPS and the mobile GPS, and the positioning value of the mobile GPS corrected by the positioning value obtained by the fixed GPS is obtained. Based on the measured values, the position information of the weight is calculated and the position information of the measuring device is calculated.

According to a second aspect of the present invention, the hoist ship is provided with a tilt detecting means for detecting a tilt angle of the hull. By measuring, the position of the weight can be accurately managed.

According to a third aspect of the present invention, the mobile station includes, as the mobile GPS, first and second GPSs arranged in a predetermined positional relation on the hoist ship, and the fixed GPS and the fixed GPS The first positioning result obtained by the initialization performed with respect to one mobile GPS and the second positioning result obtained by the initialization performed with the fixed GPS are the same as the predetermined position. A GPS signal from a satellite is received by each of the fixed GPS and the first and second mobile GPSs, and the positioning data from the fixed GPS is , To the mobile GPS via a differential GPS transmitter. In the mobile station, the GPS received by the fixed GPS and the first mobile GPS
A predetermined initialization process is performed using the PS signal, and initialization for determining a measurement point that can be regarded as a true solution from among a plurality of candidate points is performed, thereby obtaining a first positioning result. Similarly, the fixed G
Initialization is also performed between the PS and the second mobile GPS, and a second positioning result is obtained. The first and second positioning results regarded as the initial values are guided to the judging means, and the first and second positioning results are obtained.
It is determined whether or not a predetermined positional relationship with respect to the mobile GPS is satisfied. That is, since the first and second positioning results are obtained by measuring the positions of the first and second mobile GPS, by comparing these positioning results with the predetermined positional relationship, the first and second positioning results are obtained. It is determined with a higher probability that the second positioning result is a true positioning value.

According to a fourth aspect of the present invention, the predetermined positional relationship is three-dimensional position coordinates of the first and second mobile GPS, and the predetermined positional relationship is the first and second mobile GPS. Are used. If the positions of the first and second mobile GPS are stored as three-dimensional position coordinates, the distance between the two can be easily obtained by vector operation.

[0010]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIGS. 1 to 15 show a first embodiment of the present invention. As shown in FIG. 1, a hoist ship 1 is provided with a hoist 3 at the front center of a hull 2 having a substantially rectangular plane. Is pulled to a construction position by a tug boat or the like, and is fixed in position by an anchor (not shown). A weight guide floating frame 4 is provided at the front of the hull 2, and the floating frame 4 is provided at its rear with a left and right rear frame 5 narrower than the hull 2. Left on both ends,
Right frame portions 6L and 6R are provided, and these left and right frame portions 6L and 6R are provided.
A left and right edge portions 8L and 8R are provided on the left and right sides of the front frame portion 7, and a vertical connecting portion is provided on the left and right and center of the rear frame portion 5. 9, 9, 9 are provided. Each part 5, 6L, 6R, 7, 8,
8L, 8R, and 9 are made of steel pipes and are assembled using bolts and nuts (not shown) by flange joints 10. By closing the ends, the guide floating frame 4 itself floats on the water surface. . The front edge of the front frame 7 constitutes a weight guide section 11 in the left-right direction. The weight guide section 11 has a length substantially equal to the left-right width of the hull 2. The connecting portion 9 is vertically movably connected to a mounting portion 12 provided on the hull 2. In this example, a ring-shaped sliding body (not shown) is provided on the connecting portion 9, and the sliding body and the mounting The part 12 is connected by a connecting member 13 such as a wire.

The small weight 27 falls on the reinforcing plate 23 and strikes the plate 17, and has a size capable of moving up and down in the shaft 16 and the connecting steel pipe 18. In this example, A columnar member made of steel is used, and an auxiliary wire 28 is connected to an upper portion thereof. Further, a main wire 30 for lifting a weight is connected to the hanging bracket 26.

[0012] As shown in FIG.
The rear connecting portion 32B and the left connecting portion 32
L and right connecting portions 32R are provided, and these connecting portions 32B and 32R are provided.
L and 32R are detachably connected to the tip of a wire, which will be described later, by a connection fitting (not shown) or the like. The rear connecting part 32
B, the distal end of the central wire 33B is connected, and the proximal end side of the central wire 33B is connected to a winding device 34B as a tensioning means provided on the hull 2. Also, on the left and right of the front frame portion 7,
Guide members 35, 35 such as guide rollers for changing the directions of the left and right wires 33L, 33R are provided,
The left and right wires 33L, 33R having the tips connected to the left and right connecting portions 32L, 32R are respectively routed outward along the weight guide portion 11, and the directions are changed to the hull 2 side by the guide members 35, 35,
The proximal ends of the left and right wires 33L, 33R are connected to winding devices 34L, 34R as tensioning means provided on the hull 2, respectively. Instead of the winding devices 34B, 34L, 34R, a tag line for tensioning the wires 33B, 33L, 33R can be used.

The hoist 3 includes a swing arm 41 that swings around a center 41S of the hoist body 3A, swing drive means 42 such as a swing drum that swings the swing arm 41, and a swing drive that swings the swing arm 41. Means 43, and a winding device 44 for winding the main wire 30 and the auxiliary wire 28, and the winding device 44 can wind the main wire 30 and the auxiliary wire 28 separately. I have. The swing drive means 42 is of a hydraulic drive type, and operates a control valve 42B by an electromagnetic valve 42A to rotate a swing drum 42C by a hydraulic motor or the like, thereby swinging and driving the hoist body 3A. The raising / lowering driving means 43 is of a hydraulic drive type, and operates a control valve 42 by an electromagnetic valve 43A to rotate a raising / lowering drum 43C by a hydraulic motor or the like.
Is driven up and down. And the main wire 30
Is vertically provided via the tip of the turning arm 41.
In the drawing, LA is the length of the swing arm 41. As shown in FIG. 7, a turning angle θ of the turning arm 41 with respect to the hull length direction is provided to the hoist 3 by a computer or the like.
An undulation follow-up control means 45 for controlling S and the undulation angle θK with respect to a horizontal plane is provided. This undulation follow-up control means 45
Has a rotary angle meter 46 equipped with a rotary encoder, etc.
The turning angle meter 46 detects the turning angle θS of the turning arm 41 and outputs data relating to the turning angle θS to the up / down tracking control means 45 as an electric signal. , And the turning angle meter 47
Detects the undulation angle θK of the turning arm 41 and outputs data on the undulation angle θK to the undulation follow-up control means 45 as an electric signal. As shown in FIG. 8, in the direction perpendicular to the weight guide section 11, the interval L between the turning center position 3S of the hoist body 3A and the lifting center position of the weight 14 is constant. The follow-up control means 45 calculates the undulation angle θK at which the interval L is constant in accordance with the change of the turning angle θS of the turning arm 41, and drives the undulation driving means 43 based on this, and the weight 14 It is controlled so as to move in parallel along the weight guide section 11. The undulation follow-up control means 45 may, if necessary, change the actual undulation angle θK obtained from the undulation angle meter 47 and the undulation angle θ obtained by the calculation.
In contrast to K, the weight 14 is controlled to move in parallel along the weight guide portion 11. In FIG. 7, reference numeral 48 denotes an operation unit of the turning arm 41. When an operation lever (not shown) is operated so as to turn the turning arm 41 right and left, the above-described control is performed by the up / down tracking control means 45.

An automatic tracking type light wave measuring device 51 is provided at the front of the hull 2. The light wave measuring device 51 is a light wave distance meter, and a light from a target prism 52 provided on the shaft 16. The prism 52 is automatically tracked by detecting the amount of deviation from the center of the light receiving optical axis, and driving an X-axis and Y-axis servo motors (not shown) to automatically track the height of the prism 52 with respect to the hull 2. Calculate and in this example,
As shown in FIG. 10, the measured height h is
The height is based on K. Further, the prism 52
Are provided at the same height in a range of approximately 360 degrees at the rear portion of the outer periphery of the shaft 16. At the front side of the hull 2, as shown in FIG. 8 and the like, central, left and right draft gauges 53B, 53L and 53R as tilt detecting means are provided.
53L and 53R are pressure type, and pressure is transmitted to the diaphragm of the pressure receiving part via silicon oil which does not come in direct contact with seawater, thereby improving the durability of the diaphragm against repeated pressure sensing. The center draft meter 53B is arranged at the center of the left and right draft meters 53L and 53R, and outputs detection data of the draft corresponding height HK between the water surface W and the deck 2K of the hull 2, respectively. .

A living area 2A for workers is provided at the rear of the hull 2 which is a mobile station, and a pair of GPS antennas 61, 61 is provided at a required height on the ceiling of the living area 2A. 71 are arranged. As shown in FIG. 11, the GPS receivers 60 and 70 are provided in the operation room of the hoist body 3A, and are connected to the GPS antennas 61 and 71 via signal lines, respectively. The positions of the GPS antennas 61 and 71 are not limited to the ceiling of the living part 2A, but may be any two positions on the hull 2. In the present embodiment,
The GPS antennas 61 and 71 are located at a distance L2 in the stern direction from the center of rotation 3S, which is a position corresponding to the deck 2K of the slewing axis provided on the line in the bow and stern direction. They are arranged in a positional relationship separated from each other by a distance L1 / 2. Reference numeral 81 denotes a data antenna for receiving transmission data described later from a base station (not shown) spread on the ground. The GPS antenna 61,
The 71 is mounted at an appropriate height to minimize the influence of radio interference caused by a multi-bus or the like. In this example, the turning center position 3S is the position of the intersection between the turning axis and the deck 2K.

FIG. 11 is a block diagram of a differential GPS device used in the present device. In FIG. 11, a base station 200 is installed at a specific point on the ground near a port, has a fixed GPS comprising a GPS antenna 81 and a GPS receiver 80, and transmits data measured by the fixed GPS to a mobile station. A data transmitter 82 and a data antenna 83 for transmission toward the hull 2 are provided.

On the other hand, the hull 2 which is a mobile station has the G
It includes PS receivers 60 and 70 and GPS antennas 61 and 71, as well as a data antenna 91 for receiving data transmitted from the base station 200 and a data receiver 90 for decoding the received data.

Reference numeral 100 denotes a management system unit, and the control unit 10
1 and a positioning value monitoring unit 102. The control unit 101 includes a hull position display unit 103, a weight position calculating unit 104 for calculating position information of the weight 14, and a measurement position calculating unit 105 for calculating position information of the light wave measuring device 51. Have been. The control unit 101 includes the turning angle meter 46,
Undulation angle meter 47, light wave measurement device 51 and draft meters 53B, 53L,
53R is electrically connected, and each detection data is taken in. The detection data of the turning angle meter 46 is the turning angle θS, the detection data of the undulation angle meter 47 is the undulation angle θK, the detection data of the light wave measuring device 51 is the measurement height h, The detection data of 53B, 53L, and 53R are the draft corresponding heights HK.

The control unit 101 determines the predetermined position of the hull 2 (for example, the turning center position 3) from the three-dimensional positions of the GPS antennas 61 and 71, which are the positioning data 1 and 2 from the GPS receivers 60 and 70.
S, the position of the light wave measuring device 51), the distance L2, L3, the turning angle θS, the undulation angle θK, and the draft corresponding height HK, and the position of the turning arm 41 is calculated.
The weight position calculation unit 104 calculates the position of the weight 14, and the measurement position calculation unit 105 calculates the position of the light wave measurement device 51. Then, the display data indicating the position of the turning arm 41 is provided for an operation instruction on the hoist body 3A. In the present invention,
Since the three-dimensional position is measured by the GPS receiver, the height of the top end face 55 of the rubble 54 can be obtained by obtaining the vertical position of the light wave measuring device 51.

More specifically, the control unit 101 receives detection data of each draft corresponding height HK from each of the draft gauges 53B, 53L, 53R. 2 is calculated in the horizontal direction. The weight position calculator 104 calculates the turning center position 3S from the three-dimensional positions of the GPS antennas 61 and 71, and calculates the distance L2, the positional relationship between the turning center position 3S and the undulating center position 41S, and the turning arm.
Using the length of 41, the turning angle θS, the undulating angle θK, and the horizontal inclination angle θH, the tip position of the turning arm 41 is calculated as a three-dimensional position, and the weight 14 suspended at the tip of the turning arm 41 is calculated. Are obtained. The position of the weight 14 thus obtained is controlled by the control unit 101 in FIG.
As shown in FIG. 5, it is displayed on the hull position display section 103. For example, FIG. 14 shows a display of the hull position display unit 103. 141A, 141B, and 141C display the area of the top end face 55 of the weight 14 which has been compacted, and 142 is the current position of the weight 14. And a pair of area lines 143, 143 are displayed corresponding to the width of the top end face 55. As shown in FIG. 15, the control unit 101 calculates the position of the hull 2 from the obtained positions of the GPS antennas 61 and 71, and displays the contour 144 of the hull 2 on the display of the hull position display unit 103. . The measurement position calculating means 105 calculates the three-dimensional position of the light wave measuring device 51 on the deck 2K from the three-dimensional positions of the GPS antennas 61 and 71. Therefore, as shown in FIG. The height of the top end face 55 is calculated from the measured height h detected by the light wave measuring device 51 and the height HJ between the lower end of the weight 14 and the prism 52, and this calculation is performed by the control unit 101.

The positioning value monitoring unit 102 includes GPS receivers 60 and 70
Is used to determine whether or not the positioning data 1 and 2 are true positioning values by using the positioning data 1 and 2 and the distance L1 written in advance. Especially used. The positioning value monitoring unit 102 monitors the positioning value error even after initialization,
When the error of the side data exceeds a certain threshold value, a reset for initialization (initialization reset) is instructed.

The positioning operation by D-GPS (Differential GPS) will be briefly described as follows.
m) or L2 (wavelength 24 cm) carrier GPS
Since it is necessary to confirm which cycle the phase information obtained is in the signal, a plurality of satellites are used, and at least five satellites are used when performing three-dimensional positioning. In the invention, three-dimensional positioning, a satellite clock and each G
GPS signals from at least five satellites in the artificial shelter are used for correcting errors between the clocks of the PS receiver.

Each of the GPS antennas 81, 61, and 71 receives a GPS signal from a satellite, for example, an L1 carrier (wavelength: 19 cm). The GPS receiver 80 transmits carrier wave phase information from the received GPS signal to the sea from the data antenna 83 via the data transmitter 82. At the same time, GPS antenna 6
The GPS signals received at 1,71 are GPS receivers 60,70
Then, the phase information is detected, and using the phase data of the base station 200 received by the data antenna 91, (in the hyperboloid of the own GPS antennas 61 and 71, respectively (wavelength 19 cm)
Obtain (possible) positioning candidate points. A plurality of such processes, for example, 5
By performing the above operation on the satellites, grid points in five hyperboloids are obtained as candidate points for true positioning points. GPS
The receivers 60 and 70 respectively select from the obtained candidate points,
A grid point whose position does not change with time is determined using a known analysis method or the like, and a positioning value that can be regarded as a true positioning point is determined. By adopting the differential system using the L1 carrier, the positioning accuracy can be improved to about several centimeters, which is a fraction of the wavelength used. And GP
When initialization is completed in the S receivers 60 and 70, an initialization completion signal is output.

The positioning value monitoring unit 102 is supplied with a positioning value and an initialization completion signal, which are the positioning results obtained by the initialization, and obtains a true positioning value based on the information. The determination is made using a circuit block described later.

FIG. 12 is an internal block diagram of the positioning value monitoring unit 102. Numerals 321 and 322 denote AND circuits for guiding positioning data 1 and 2 and an initialization completion signal. 323 is a computing unit, calculates a distance D ₁ of the between the two positions obtained by the positioning data 1 and 2. 324 is an averaging circuit. 325 is a judgment unit,
Distance D ₁ of the between two positions obtained from the positioning data 1 and 2 to determine whether exceeds a predetermined threshold, i.e., the specified value.

Hereinafter, the positioning value monitoring process will be described with reference to FIG.
Will be described. Now, the GPS antennas 61 and 71
Coordinate the position with respect to a fixed point (for example, the turning center position 3S)
(X _Ten, Y_Ten, Z_Ten), (X₂₀, Y₂₀, Z₂₀)
And the distance D between the two points is

[0027]

(Equation 1)

This value is written in the positioning value monitoring unit 102 in advance.

On the other hand, the positioning data 1 and 2 output from the AND circuits 321 and 322 are converted into coordinates (x ₁ , y ₁ , x ₁ ), (x
₂ , y ₂ , z ₂ ), the distance D ₁ between the two points is calculated by the arithmetic unit 323 as shown in Equation 2.

[0030]

(Equation 2)

## EQU1 ##

The distance D ₁ between the two points based on the positioning data 1 and 2 should match the distance D if the positioning data 1 and 2 are true positioning values.
The judgment unit 325 compares the value D ₁ obtained from the GPS positioning with the value D ₁ for correctness. That is, in the determination formula shown in Expression 3, D ₁ is

[0033]

(Equation 3)

Is satisfied.

However, in order to improve the measurement accuracy, in the averaging circuit 324, for example, three consecutive times D _ll , D ₁₂ ,
Distance data D ₁₃ is the average. For example, D ₁ 4
The third value is averaged as (D ₁₁ + D ₁₂ 12D ₁₃ ) / 3.

The value D ₁ is within the specified value, that is, D ₁
There greater than D-dD, and D ₁ is less than D + dD, a signal indicating a NO from decision 325 is output as a normal status signal. Conversely, if D ₁ is smaller than D−dD or D ₁ is larger than D + dD, the measured value is determined to be not a true measured value, and a signal indicating YES is issued from the determination unit 325 to instruct re-initialization. Is output as an initialization reset signal.

The positioning value monitoring unit 102 constantly executes monitoring processing during the positioning operation, so that an erroneous positioning result is obtained both during initialization and during positioning after initialization. It is possible to issue an initialization reset instruction. Therefore, it can be said that the device is extremely accurate and highly reliable as compared with a conventional case where it is impossible to judge it in an erroneous state unless several tens minutes elapse.
And since the position can be measured accurately at the centimeter level,
It is possible to sufficiently cope with demands for high working accuracy of several centimeters to several tens centimeters as in the recent rubble leveling work.

As described above, when the normal status signal is output to the control unit 101, the control unit 101 uses one of the GPS antennas 61 and 71 based on the obtained positioning data 1 and 2. The turning center position 3S is calculated using the positioning result, and the horizontal position of the weight 14 (the tip position of the turning arm 41) is further calculated using the detected data of the turning angle θS, the undulation angle θK, and the horizontal inclination angle θH. Is calculated. Further, the position of the light wave measuring device 51 is calculated using the positioning result of one of the GPS antennas 61 and 71, and the position, the measured height h and the height HJ are used to calculate the top end face. A height of 55 is obtained.

The position of the weight 14 with respect to the turning center position 3S is determined by the distance L2, the turning center position 3S and the undulating center position 41.
S, the length of the swing arm 41, and the swing angle θS
Is calculated by the weight position calculating means 104 based on the undulation angle θK and the horizontal inclination angle θH. The horizontal distance L3 between the turning center position 3S and the tip of the turning arm 41 is:
The length of the swing arm 41, the undulation angle θK, the slewing angle θS, the positional relationship between the undulation center position 41S and the slewing center position 3S, and the horizontal tilt angle θH are obtained based on the horizontal tilt angle θH of the deck 2K. Deck 2
The movement of the tip position due to the inclination of the hoist 3 provided on K is calculated based on the detection data of the horizontal inclination angle θH.

In this embodiment, the GPS antenna 6
Although the coordinates of the positions 1, 71 are set with reference to the turning center position 3S, the position may be determined by defining only the position coordinates of the other GPS antenna with reference to one of the GPS antennas. The coordinate value can be made small, the storage capacity can be made small, and the calculation is convenient. Further, distance data may be directly stored in place of the coordinate data.
There is no need to calculate the distance between 1,71.

Next, the rubble leveling method of the present invention will be described. First, the weight 14 is mounted on the hull 2, and after moving the hoist ship 1 to the construction position, the weight 14 is lifted by the hoist 3, and the shaft 16 is set on the weight guide portion 11. In this case, since the guide floating frame 4 is open on the front side, the weight 14
Can be easily set. The center wire 33B and the left and right wires 33L, 33R are connected to the shaft 16, respectively. The weight 14 is positioned by the hoist 3, and on the top end face 55 of the rubble 54 formed higher than the planned height,
The plate 17 at the lower end of the weight 14 is landed. And the winding device
The wires 33B, 33L, 33R are wound up and tensioned by the wires 34B, 34L, 34R, and the weight 14 is supported upright. In this state, the main wire 29 can be loosened, and the height of the weight 14 in the upright state is measured by the lightwave measuring device 51. In this manner, the weight 14 is supported from three sides by the tensioned wires 33B, 33L, and 33R, and the main wire 29 is loosened and the height is measured by moving the main wire 29 along the guide floating frame 4. Therefore, the height of the prism 52 can be accurately measured, and the obtained measurement height h, the known height HJ, and the lightwave obtained from the positioning result of one of the GPS antennas 61 and 71 can be obtained. The height of the top end face 55 is obtained based on the height position of the measuring device 51. And the main wire 29
And the weight 14 is lifted, and the position of the weight 14 is calculated by the weight position calculating means 104, and this is displayed on the display as a weight display section 142. In addition, weight 14
Is lifted, the winding devices 34B, 34L, 34R are made free, and the suspended weight 14 is dropped freely to compress the top end face 55. This drop is performed the required number of times to perform the compaction, and the height of the top end face 55 is measured in a state where the bottom is reached. The position of the weight 14 is calculated by the weight position calculating means 104, and the weight display section 142 displays the position on the display. In this case, for example, the weight 14 is lifted while the turning arm 41 is turned,
If there is a wave, the hull 2 may be inclined as shown in FIG. 13, but the control unit 101 is controlled by the respective draft corresponding heights HK measured by the draft meters 53B, 53L, 53R.
Makes the horizontal tilt angle θH of the hull 2 and calculates the position of the weight 14 using the horizontal tilt angle θH.
It is possible to accurately control the position of the pressing by means of 14. And, when the height of the top end face 55 is finished close to the planned height,
The plate 17 of the weight 14 is landed on the top end face 55, and the winding device 34
The wires 33B, 33L, 33R are wound and tensioned by B, 34L, 34R, the weight 14 is supported in an upright state, and the main wire 29 is loosened. Next, the auxiliary wire 28 is wound up, the small weight 27 in the shaft 16 is lifted, the small weight 27 is freely dropped, and the plate 17 is hit. Finish.

After finishing the top end surface 55 having the width of the plate 17 in this manner, the weight 14 is lifted by the hoist 3 and
The swivel arm 41 is driven by 48 to move the weight 14 in the left-right direction, and the same pressure is applied to the top end face 55 next to the finished part in the same manner. When the crimping of the top end face 55 of the minute is completed, the crane ship 1 is moved to perform the consolidation of the top end face 55 of the adjacent part in the front-rear direction. In this case, the hull 2 is determined using the positioning results of the GPS antennas 61 and 71.
Position and orientation can be accurately managed.

As described above, according to the present embodiment, in the underwater rubble leveling device for dropping the weight 14 lifted by the hoist ship 1 and compacting the rubble 54 in the water, the apparatus is installed at a known point. A fixed base station 200 having a fixed GPS, a mobile station having a mobile GPS disposed on the hoist ship 1, a GPS antenna 81 serving as a fixed GPS for receiving GPS signals from satellites, and a first and a second mobile GPS. 2 GPS antennas 61 and 71 to receive the positioning value of the hoist ship 1 by receiving the signals, and a light wave measuring device 51 provided on the hoist ship 1 and measuring the height of the weight 14 as a height measuring device 51. A weight position calculating means 104 for calculating the position information of the weight 14 using the positioning value of the moving GPS, and a measuring position for calculating the position information of the light wave measuring device 51 using the positioning value of the moving GPS. Calculation means 105 Since it is one provided,
The GPS signal from the satellite is received by the fixed GPS and the mobile GPS, and the positioning value of the mobile GPS corrected by the positioning value obtained by the fixed GPS is obtained.
And the position information of the lightwave measurement device 51 can be calculated, so that it is not necessary to perform measurement from a fixed point as in the related art, and the weight is not affected by weather conditions and the like. The position management of 14 and the height management of the top end face 55 can be easily performed.

As described above, according to the present embodiment, claim 2
Corresponding to the horizontal inclination angle θK of the hull 2
Since the draft meters 53B, 53L, 53R are provided as tilt detecting means for detecting the load, the draft meters 53B, 53L, 53R measure the tilt of the hoist ship 1 due to the lifting of the weight 14 or waves, etc. The position of the weight 14 can be accurately managed.

As described above, according to the present embodiment, claim 3
In response to the above, the mobile station is provided with a first GPS and a second GPS which are arranged with a predetermined positional relationship on the hoist ship 1 as mobile GPS.
With fixed GPS antennas 61 and 71, fixed GPS
The first positioning result obtained by the initialization performed between the GPS antenna 81 as the first mobile GPS and the GPS antenna 61 as the first mobile GPS, and the initialization performed between the GPS antenna 81 as the fixed GPS and Since the obtained second positioning result includes the positioning value monitoring unit 102 which is a determining means for determining whether or not the predetermined positional relationship is satisfied, the GPS signal from the satellite is transmitted to the fixed GPS antenna 81. And receivers 80, of the first and second mobile GPS antennas 61, 71, respectively.
The positioning data received at 60 and 70 from the fixed GPS is sent to the mobile GPS via the differential GPS transmitter 82. In the mobile station, the fixed GPS and the first mobile GPS
A predetermined initialization process is performed using the GPS signal received in the above, initialization is performed to determine a measurement point that can be regarded as a true solution from a plurality of candidate points, and a first positioning result is obtained, Similarly, initialization is performed between the fixed GPS and the second mobile GPS, and a second positioning result is obtained. The first and second positioning results regarded as the initial values are led to the determining means and
It is determined whether a predetermined positional relationship with respect to the second mobile GPS is satisfied. That is, since the first and second positioning results are obtained by measuring the positions of the first and second mobile GPS antennas 61 and 71, by comparing these positioning results with the predetermined positional relationship, It can be determined with higher probability that the first and second positioning results are true positioning values.

According to a fourth aspect of the present invention, the predetermined positional relationship is defined by three of the first and second mobile GPS antennas 61 and 71.
Since these are three-dimensional position coordinates, if the positions of the first and second mobile GPS antennas 61 and 71 are stored in three-dimensional position coordinates,
The distance between the two can be easily obtained by vector operation.

As an effect in the embodiment relating to the GPS, as the predetermined positional relationship, information of the second mobile GPS antenna 71 based on the first mobile GPS antenna 61 is used or the second mobile GPS antenna 71 is used. Since the information of the first mobile GPS antenna 61 based on the GPS antenna 71 is used, the amount and value of information defining the positional relationship between the two mobile GPSs can be reduced, which is convenient for storage capacity and calculation. Further, since the distance information between the mobile GPS antennas 61 and 71 is used as the predetermined positional relationship, the distance data can be directly stored and the calculation can be omitted. Further, the determining means may determine the first and second moving GPs from the first measurement result and the second measurement result.
An arithmetic unit 323 that is a distance calculating unit that calculates the distance between the S antennas 61 and 71, and a coincidence determining unit 325 that determines whether the calculated distance obtained by the arithmetic unit 323 corresponds to the predetermined positional relationship. With this configuration, initialization can be performed with higher accuracy only by determining the distance between the first and second mobile GPS antennas 61 and 71 and determining whether or not this distance information satisfies a predetermined positional relationship. Further, the distance calculation unit averages the calculated distances a plurality of times, and sets the value obtained by the averaging circuit 324, which is an averaging means for averaging the calculation results of the plurality of times, as the calculated distance. Since it is provided, the reliability of the determination accuracy can be improved. Further, in the differential GPS positioning device according to claim 3, an operation as calculation means for calculating position information of a predetermined portion (turning center position 3S) of the moving object using at least one of the positioning values of the first and second moving GPS. Since the unit 323 is provided, the predetermined position of the hull 2 is simply set in relation to the first and second mobile GPS antennas 61 and 71, and the mobile GPS associated with this relation is set.
The position of a predetermined location can be easily obtained from the positioning information.

As an effect of the embodiment relating to the leveling device, the hull 2 provided with the hoist 3 on the front side, the weight 14 suspended on the hoist 3, and the guide float for the weight connected to the front side of the hull 2. A center wire as a wire between the shaft 16 of the weight 14 and the hull 2, comprising a frame 4 and a horizontal weight guide portion 11 provided in the front side of the guide floating frame 4 so as to be opened;
33B is provided, and this central wire 33B is tensioned to make the shaft
Take-up device 34B as tensioning means for causing 16 to follow weight guide 11
The wire is provided by the winding device 34B.
By tensioning the shaft 33B, the shaft 16 is moved along the weight guide portion 11, and it is possible to correctly manage the pressing position with reference to the weight guide portion 11. Further, left and right wires 33L and 33R are provided between the left and right of the shaft 16 and the hull 2, and these left and right wires 33L and 33R are provided.
Since the winding devices 33L and 33R are provided as left and right tensioning means for tensioning the L and 33R along the weight guide portion 11, the weight 14 is landed and the shaft 16 is connected to the weight guide portion 11. In addition, the center, left, and right wires 33B, 33L, and 33R are tensioned to erect the weight 14, and the main wire 29 that pulls the weight 14 upward can be loosened. By measuring the height, the height of the top end face 55 of the rubble 54 can be accurately measured. Further, since the weight 14 has the weight body 15 below the hollow shaft 16 and is provided with the small weight 27 that falls within the shaft 16 and strikes the weight body 15, After the weight 14 is dropped and the pile is pressed to near the finishing height, the weight 14 is landed, the shaft 16 is moved along the weight guide 11, and the center, left and right wires 33B, 33L, Tension 33R erects weight 14 to release tension on main wire 29. In this state, the small weight 27 is dropped, the weight body 15 is hit, and the top end face 55 can be finished, and the tension can be released from the main wire 29 to perform the work. There is no loss in hitting the weight 27, and no impact is applied to the hoist 3 side by the main wire 29. Further, the hoist 3 includes a turning arm 41, and when the turning arm 41 turns, the hoist following control means 45 which adjusts the turning angle θK of the turning arm 41 to move the weight 14 in parallel along the weight guide portion 11. Thus, the weight 14 can be moved in parallel along the weight guide 11 by the undulation follow-up control means 45 without requiring any skill in operating the hoist 3. Further, a method of leveling the rubble 54 using a rubble averaging device, in which the weight 14 suspended by the hoist 3 is dropped and the top end face 55 of the rubble 54 is rolled, and then the weight is attached to the top end face 55 Since the small weight 27 is dropped and the top end surface 55 is finished to a predetermined height in a state where the upright 14 is set up, the weight 14 is set upright by the center wire 33B and the left and right wires 33L and 33R. Then, the small weight 27 is dropped, the weight body 15 is hit, and the top end face 55 is pressed to a finishing height, so that efficient and highly accurate finishing can be performed. Further, since the guide floating frame 4 is connected to the hull 2 so as to be vertically movable, even if the relatively large hull 2 swings, the influence on the guide floating frame 4 is small. Since left and right edges 8L and 8R are provided on the left and right sides of the guide floating frame 4,
Even if the weight 14 is moved in parallel to the left and right, it does not come off from the weight guide section 11. Also, by automatically measuring the height of the prism 52 provided on the shaft 16 using the automatic tracking type light wave measuring device 51, the height of the top end face 55 can be accurately measured. Furthermore, since the wires 33B, 33L, and 33R are connected to the three sides of the shaft 16 with respect to the weight body 15 having a rectangular lower portion, the weight of the weight body 15 can be correctly oriented to perform the pressing.

FIG. 16 shows a second embodiment of the present invention. The same portions as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. Second G
Draft gauge 153 L, 153 R on both sides of PS antenna 61, 71
And the draft heights H of the draft gauges 153 L and 153 R are provided.
The detection data of K is configured to be output to the control unit 101, and the control unit 101 includes draft meters 53B and 53B.
From the detection data of L and 53R and the detection data of the draft gauges 153L and 153R, the inclination in the length direction and the horizontal direction of the hull 2 is calculated, and the position and height of the weight 14 are calculated.

Thus, the draft gauge 153 is also provided at the rear of the hull 2.
By providing the L and 153R, the position and height of the weight 14 can be accurately controlled even when the hull 2 tilts back and forth during work.

The present invention is not limited to the above embodiments, and various modifications can be made within the scope of the present invention. For example, a clinometer (inclinometer) may be used as the inclination detecting means. Also, various types of height measuring devices can be used. further,
In the embodiment, the GPS receivers 60 and 70 (the GPS antennas 61 and 70,
Although two GPS devices are employed on the mobile station side as in 71), the present invention is not limited to this, and three or four or more devices may be used. For example, when three mobile station GPS devices are employed, the first to third GPS antennas are set in a predetermined positional relationship (coordinates and distances) on the hull 2, and the positional relationship information is sent to the positioning value monitoring unit 102. In addition to the above, first to third positioning values obtained by performing side processing between the GPS device on the base station side and each mobile station GPS and regarded as three true positioning values are used. By obtaining positional relationship data of the GPS antennas No. 3 and comparing them with the above-mentioned respective predetermined positional relationship information, initialization with higher accuracy is possible. The material and shape of the guide floating frame can be appropriately selected. Further, the shape of the shaft is not limited to a cylindrical shape, and may be a rectangular tube shape.

[0052]

According to the first aspect of the present invention, there is provided an underwater rubble leveling device for dropping a weight lifted by a hoist ship to compact rubble in water, comprising: a base station having a fixed GPS installed at a known point; A differential GPS device comprising a mobile station having a mobile GPS disposed on the hoist ship, and receiving a GPS signal from a satellite with the fixed GPS and the mobile GPS to obtain a positioning value of the hoist ship;
A height measuring device provided on the hoist ship to measure the height of the weight, and a weight position calculating means for calculating position information of the weight using a positioning value of the moving GPS,
It is provided with a measurement position calculating means for calculating the position information of the height measuring device by using the positioning value of the moving GPS, and it is possible to accurately manage the compaction position,
An underwater rubble leveling device that can accurately measure the height of the top end surface can be provided.

Further, according to the invention of claim 2, the hoist ship is provided with an inclination detecting means for detecting an inclination angle of the hull, so that the compaction position can be managed accurately and the top end face can be controlled. It is possible to provide an underwater rubble leveling device that can accurately measure the height of the rubble.

Further, according to the invention of claim 3, the mobile station comprises:
The mobile GPS includes first and second GPSs arranged with a predetermined positional relationship on the hoist ship,
A first positioning result obtained by the initialization performed between the fixed GPS and the first mobile GPS, and a second positioning result obtained by the initialization performed between the fixed GPS and the first mobile GPS Is provided with a judgment means for judging whether or not the predetermined positional relationship is satisfied, and it is possible to accurately manage the pressing position and accurately measure the height of the top end face. And a submersible rubble leveling device that can be used.

According to a fourth aspect of the present invention, the predetermined positional relationship is a three-dimensional position coordinate of the first and second moving GPSs, and the pressing position can be accurately managed. An underwater rubble leveling device that can accurately measure the height of the top end surface can be provided.

[Brief description of the drawings]

FIG. 1 is a plan view of a hoist ship showing a first embodiment of the present invention.

FIG. 2 is a side view of the hoist ship during the compaction work according to the first embodiment of the present invention.

FIG. 3 is a side view of the weight showing the first embodiment of the present invention.

FIG. 4 is a cross-sectional view of the weight body showing the first embodiment of the present invention.

FIG. 5 is a plan sectional view of the weight body showing the first embodiment of the present invention.

FIG. 6 is a plan view of the weight showing the first embodiment of the present invention.

FIG. 7 is a block diagram illustrating undulation follow-up control means according to the first embodiment of the present invention.

FIG. 8 is an explanatory plan view of the hoist ship showing the first embodiment of the present invention.

FIG. 9 is a side view of the hoist ship showing the first embodiment of the present invention.

FIG. 10 is a side view of a height measuring device and a weight according to the first embodiment of the present invention.

FIG. 11 is a block diagram of a differential GPS device showing a first embodiment of the present invention.

FIG. 12 is an internal block diagram of a positioning value monitoring unit according to the first embodiment of the present invention.

FIG. 13 is an explanatory front view of the hoist ship showing the first embodiment of the present invention.

FIG. 14 is an explanatory diagram showing a region where the rolling has been completed by the hull position display unit according to the first embodiment of the present invention.

FIG. 15 is an explanatory diagram in which a hull outline and a weight display unit are displayed by a hull position display unit according to the first embodiment of the present invention.

FIG. 16 is an explanatory plan view of a hoist ship showing a second embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Hoist ship 2 Hull 3 Hoist 3S Center of rotation 14 Weight 51 Light wave measuring device (height measuring device) 53B, 53L, 53R Draft gauge (tilt detecting means) 60, 70 GPS receiver (first and second mobile units) 61, 71 GPS antenna (first and second mobile GPS) 81 GPS antenna (fixed GPS) 100 management system unit 101 control unit 102 positioning value monitoring unit (judgment means) 200 base station L1 first and second GPS antennas Distance L2 Distance between the line connecting the first and second GPS antennas and the turning center position

────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Hiroyuki Iizuka 3300-3, Minomachi, Nishiminato-machi, Niigata City, Niigata Prefecture Honma Gumi Co., Ltd. (72) Inventor Kiyoaki Soen 1-chome Nishiawaji, Higashiyodogawa-ku, Osaka-shi, Osaka No. 1-36 Inside Tachibana High-Technology Research Institute Co., Ltd. 1-10-10 Seiwadai (56) References JP-A-63-140910 (JP, A) JP-A-7-260482 (JP, A) JP-A-9-251068 (JP, A) JP-A 8- 220212 (JP, A) JP-B-59-9969 (JP, B2) JP-B-59-9694 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) E02D 15/10 G01C 15 / 00 G01S 5/14

Claims (4)

(57) [Claims] An underwater rubble leveling device for dropping weights lifted by a hoist ship and compacting rubble in water, comprising: a base station having a fixed GPS installed at a known point; and a base station disposed on the hoist ship. A differential GPS device comprising a mobile station having a mobile GPS and receiving a GPS signal from a satellite with the fixed GPS and the mobile GPS to obtain a positioning value of the hoist ship; and a differential GPS device provided on the hoist ship. A height measuring device for measuring the height of the weight, a weight position calculating means for calculating the position information of the weight using the positioning value of the moving GPS, and using the positioning value of the moving GPS An underwater rubble leveling device comprising a measurement position calculating means for calculating position information of the height measuring device. 2. The underwater rubble leveling device according to claim 1, wherein said hoist ship is provided with an inclination detecting means for detecting an inclination angle of the hull. 3. The mobile station according to claim 1, wherein the mobile station is a mobile GPS, and the mobile station is a first mobile station arranged in a predetermined positional relationship on the hoist ship.
A first positioning result obtained by an initialization performed between the fixed GPS and the first mobile GPS, and an initialization performed between the fixed GPS and the fixed GPS. 3. The underwater rubble leveling device according to claim 1, further comprising a determination unit configured to determine whether the obtained second positioning result satisfies the predetermined positional relationship. 4. The method according to claim 1, wherein the predetermined positional relationship is defined by the first and second positions.
The underwater rubble leveling device according to claim 3, wherein the three-dimensional position coordinates of the moving GPS are used.