JP6047054B2 - How to guide the settling of structures - Google Patents

Description

  The present invention relates to a method for inducing the deposition of a structure, and in particular, by measuring the relative positional relationship between an existing structure that has been submerged in water and a new structure that is newly submerged, the new structure is compared with the existing structure. The present invention relates to a method for guiding the deposition of a structure for guiding and approaching the structure.

  This type of technology is used, for example, at a construction site for constructing a submarine tunnel or a construction site for submerging blocks forming a fishing reef.

  For example, in construction for constructing a submarine tunnel, a large number of burial boxes are built in advance at a factory on the ground and then transported to the site. Each submerged box is a huge structure itself, and in a construction site, the submerged boxes are sequentially submerged one by one on the seabed and joined together to form a continuous tunnel.

  As a method of submerging the submerged box, a control tower and a pontoon are formed on an existing submerged box (hereinafter referred to as `` existing submerged box ''), and a new submerged box (hereinafter referred to as `` new submerged box '') ballast tank. While the water is being poured into the pond, the new sinking box is settling by the winch operation on the pontoon, and the diver measures the distance between the existing sinking box and the new sinking box, and the winch operation on the control tower moves the new sinking box horizontally. A method of moving and joining an existing submerged box is known (for example, see Patent Document 1).

  In this method, when the water depth becomes large, the control tower and the like become long, and it is difficult for divers to measure the distance of huge sinks, which increases the burden, making it difficult to measure with high accuracy.

  Therefore, as another subsidence method, while using GPS (Global Positioning System) to measure the position of the work ship in real time, the work ship moves the new sinking box to a predetermined position, and at the moved position. Using a winch or the like from a work boat, suspend it underwater (underwater) and sink it to the seabed, and then move it horizontally while looking at the position of the existing submerged box with a CCD camera attached to the new submerged box. A joining method is known (see, for example, Patent Document 2). The CCD camera and the work boat are connected by a cable.

Japanese Patent Application Laid-Open No. 2002-13150. JP 2004-44372 A.

  However, in the method of measuring the position of a work ship in real time using GPS and using a winch from the work ship to hang a new structure, that is, suspending a new structure and sinking it to the seabed, the work ship goes underwater. The position of the suspended new structure, work jig, and the like is shifted from side to side and back and forth from the position of the work ship due to the influence of the tidal current. In addition, as the water depth increases, the position shift also increases due to the influence of tidal currents, and it is difficult to accurately grasp the position of the work ship and the relative position of the suspended new structure or work jig. In addition, since the CCD camera is connected to the work boat with a cable, the cable becomes longer and the work becomes cumbersome and the brightness in the water decreases when the depth of water becomes large, making it difficult to capture the target with the camera. There was a problem of becoming.

  Therefore, the position of structures and work jigs underwater from a remote work boat can be measured easily and in a short time with a wireless method without using cables, and the existing structure and the new structure There is a technical problem that needs to be solved in order to provide a method for guiding the deposition of a structure in which the positional relationship is grasped in real time and the new structure can be guided to a predetermined position and deposited. The present invention aims to solve this problem.

The present invention has been proposed in order to achieve the above object, and the invention according to claim 1 is directed to relative positioning and guidance of a new structure that is newly submerged with respect to an existing structure submerged in water. a sinking method of inducing structure for performing, on the work boat, a computer PC and the computer PC to the wireless communication capable transducer S1, S2 for signal processing is provided, on the existing structure, each A pair of transponders T1 and T2 capable of wireless communication with the transducers S1 and S2 are installed, and the new structure includes a pair of transponders T3 capable of wireless communication with the transducers S1 and S2 and the transponders T1 and T2. , established the T4, each transponder T1, T2, T3, T4, sonic between the transponder T1, T2, T3, T4 with a pressure gauge for measuring water pressure in accordance with the water depth is connected Fukusuru measures the distance in time, the computer PC, the said transponder T3 least sent to one of the transducers S1, S2 wherein the distance information and the transponder T4 between each transponder T1, T2 each Based on the distance information between the transponders T1 and T2 and the depth information of each of the transponders T1, T2, T3, and T4, the relative position of the new structure with respect to the existing structure is grasped. in sinking method of inducing structures Ru is adjacent the new structure for the pair of transponders T1, T2 is placed apart by a real distance L1 from each other, the computer PC, the pair of transponders T1, T2 between And the measured distance between the transponders T1, T2, and the transducer S1, Various types of information to be sent to 2 to provide a sinking method of inducing to that structure correction.

Before SL computer PC, the pair of transponders installed in the existing structure T1, T2, or the distance between the transponder T1, T2, T3, T4 by the new structure a pair of transponders installed in the T3, T4 And the depth is measured, the position of the new structure in the water is grasped from the distance information and the depth information sent to at least one of the transducers S1 and S2, and the new structure is attached to the existing structure. When so as to adjacently disposed, Ru can further improve accuracy.

When the computer PC compares the actual distance L1 between the pair of transponders T1 and T2 with the measured distance between the transponders T1 and T2, and corrects various information sent to the transducers S1 and S2, for example seawater temperature, to remove the error or the like due to the influence of gravity, Ru can further improve accuracy.

According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the pair of transponders T3 and T4 are installed apart from each other by an actual distance L2, and the computer PC is connected to the pair of transponders T3, Compare the actual distance L2 between T4 and the measured distance between the transponders T3 and T4 obtained via the transponders T3 and T4, and correct various information sent to the transducers S1 and S2. Provide a sinking guidance method.
According to this method, the computer PC compares the actual distance L2 between the pair of transponders T3 and T4 with the measured distance between the transponders T3 and T4 obtained via the transponders T3 and T4, and When correcting the various information to be sent to the transducer S1, S2, for example, sea water temperature, to remove the error or the like due to the influence of gravity, Ru can further improve accuracy.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect of the invention, the computer PC is configured such that the computer PC includes distance information between the transponder T3 and the transponders T1 and T2, and the transponder T4 and the respective transponders. The depth information of the transponders T1, T2, T3, T4 corresponding to the water pressure measured by the pressure gauges provided in the transponders T1, T2, T3, T4, respectively, is acquired at the same time as the distance information between the transponders T1, T2 Provided is a method for guiding the settling of a structure.
According to this method, if each transponder T1, T2, T3, T4 is provided with a pressure gauge so that depth information can be acquired simultaneously with the distance information of each transponder T1, T2, T3, T4, the ranging accuracy is improved. Ru can be further improved.

According to a fourth aspect of the invention, in addition to the configuration of the first aspect of the invention, a transponder T5 is provided on the same plane as the pair of transponders T3 and T4 on one end side of the new structure. And transmitting distance information and depth information between the transducers S1 and S2 and the transponder T5 by emitting sound waves from the transducers S1 and S2 toward the transponder T5. Provided is a structure guide method for grasping an inclined state.
According to this method, the transponder T5 is provided on the same plane as the pair of transponders T3 and T4 on one end side of the new structure, and sound waves are emitted from the transducers S1 and S2 toward the transponder T5. When the distance information and depth information between the transducers S1 and S2 and the transponder T5 are acquired and the inclination state of the new structure is grasped, even if the installation surface is inclined, the inclination is reduced. that a total of installing high accuracy is possible to ing.

According to a fifth aspect of the invention, in addition to the configuration of the first aspect of the invention, the transmitter / receiver S1, S2 can acquire position information by GPS, and the transponder T1, Before the new structure approaches the existing structure to a distance where T2 and the transponders T3 and T4 can communicate with each other, the computer PC is emitted from the transducers S1 and S2 and the transducer S1. , S2 and the transponders T3 and T4 based on the position information of the transponders T3 and T4 and the position information of the respective transducers S1 and S2 obtained from the sound waves reciprocating between the transponders T3 and T4. There is provided a structure guiding method for grasping the position of the new structure and guiding the new structure toward the existing structure whose coordinates are known .

According to this method, the position information of the transducers S1, S2 obtained from the GPS, the distance information between the transponders T1, T2, T3, T4 and the transducer S1, and the transponders T1, T2 are obtained wirelessly. , T3, T4 distance information, distance information between the transponders T1, T2, T3, T4 and the transducer S2, and distance information between the transponders T1, T2, T3, T4 are acquired by a computer PC, From this information, the computer PC can grasp the position of the new structure in the water in real time, and can guide the new structure and place it adjacent to the existing structure.

  According to the present invention, the computer PC can easily and accurately grasp the position of the new structure with respect to the existing structure by a wireless method without using a cable, and guides the new structure to the existing structure to be adjacent. Therefore, it is possible to improve the joining accuracy, reduce the cost required for the setting, and improve the economic efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view schematically showing a work boat, an existing structure, a new structure, and the like for explaining a first embodiment of a structure sedimentation guidance method according to the present invention. It is a perspective view which shows typically the work ship, the existing structure, a new structure, etc. which demonstrate the 2nd Example of the sedimentation guidance method of the structure which concerns on this invention.

The present invention enables the existing structure and the new structure to be easily and accurately measured in a short time with the position of structures and work jigs that are underwater from a remote work boat by a wireless method without using a cable. In order to achieve the purpose of providing a method for guiding the settling of a structure in which the position relationship with the real time is grasped in real time, and a new structure can be guided to a predetermined position and set in place, it is submerged in water. A structure sinking and guiding method for positioning and guiding a new structure that is newly submerged with respect to an existing structure, wherein the signal processing computer PC and the computer PC are wirelessly connected to a work ship. a communicable transducer S1, S2 provided, the the existing structure, set up each transducer S1, S2 capable of wireless communication with a pair of transponders T1, T2, the new structure, the Transducer 1, S2 and established the respective transponder T1, T2 and capable of wireless communication pair of transponder T3, T4, each transponder T1, T2, T3, T4, is connected to a pressure gauge for measuring water pressure in accordance with the depth In addition, the distance between the transponders T1, T2, T3, and T4 is measured by the time required for the sound wave to reciprocate, and the computer PC sends the transponder T3 to each of the transducers S1 and S2 and the transponders T1, The new structure for the existing structure based on the distance information between T2, the distance information between the transponder T4 and each of the transponders T1, T2, and the depth information of each of the transponders T1, T2, T3, T4 of grasping the relative position, of the existing structure structure Ru is adjacent the novel structure relative to body In the installation guidance method, the pair of transponders T1, T2 are installed apart from each other by an actual distance L1, and the computer PC measures the actual distance L1 between the pair of transponders T1, T2 and the transponders T1, T2. comparing the distance was realized by you so that to correct the various information to be sent to the transducer S1, S2.

  Hereinafter, a method for guiding the deposition of a structure according to an embodiment of the present invention will be described in detail by taking as an example the case of constructing a submarine tunnel.

  FIG. 1 is a perspective view schematically showing a work boat, an existing structure, a new structure and the like for explaining a first example according to the embodiment of the present invention.

  In FIG. 1, a pair of work ships 12A and 12B floated on the sea surface 11 are newly joined to an existing submerged box 14 as an existing structure already submerged on the seabed 13. The new burial box 15 is hung by wires 17 respectively fed from the sinking winches 16 and 16 and carried to the construction site. Further, when the new submergence box 15 is moved to a predetermined position, the wire 17 is extended while sinking into the seabed 13 while measuring the distance between the existing submergence box 14 and the new submergence box 15, and new to the existing submergence box 14. The sinking box 15 is guided and set in an adjacent position, and then the existing sinking box 14 and the new sinking box 15 are fixed and joined. This operation is sequentially performed for each submerged box to form a continuous tunnel. Note that the work vessels 12A and 12B that suspend the new submerged box 15 are not limited to a pair, and may be one or three or more.

  The present invention relates to a sinking guidance method for guiding a new sinking box 15 relative to the existing sinking box 14, and FIG. 1 shows a system configuration for implementing the sinking guidance method. In this example, as shown in FIG. 1, each of the embedding boxes 14 and 15 is described as a flat block extending in the front-rear direction. However, the present invention is not limited to this shape.

  First, in the system configuration shown in FIG. 1, when the existing burial box 14 is on the sea, a pair of transponders T1 and T2 are separated from each other in the left-right direction at the rear end of the upper surface 14a and parallel to the rear end surface 14b. The distance L1 between the transponder T1 and the transponder T2 is actually measured and stored in a computer PC described later. Note that the arrangement of the pair of transponders T1 and T2 is not necessarily parallel to the rear end face 14b.

  On the other hand, the transponders T3, T4, and T5 are attached to the front end portion of the upper surface 15a and the pair of transponders T1 and T2 are attached to the rear end portion of the new submerged box 15 when it is also on the sea. In FIG. 1, the transponders T1 and T2 on the new sinking box 15 side are not shown. The transponders T3 and T4 are attached to be parallel to the front end face 15c of the new burying box 15 with a distance L2 from each other, and the transponder T5 is attached to the rear side (rear end face 15b side) from the transponder T3 with a distance L3. Further, the arrangement of the pair of transponders T3 and T4 is not necessarily parallel to the front end face 15c, as in the case of the existing submerged box 14. The distance L2 between the transponder T3 and the transponder T4 and the distance L3 between the transponder T3 and the transponder T5 are actually measured when they are at sea and stored in the computer PC.

  Of the pair of work vessels 12A and 12B that suspend the new submergence box 15, a pair of work boats 12A that suspend the front end side of the new submergence vessel 15 extends in the vertical direction. Rods R1 and R2 are separately attached to the left and right. The upper ends of the rods R1 and R2 project upward from the work boat 12A, and the lower ends are submerged in water (underwater). The GPS antennas G1 and G2 are attached to the upper ends (in the air) of the rods R1 and R2, and the transducers S1 and S2 are attached to the lower ends of the rods R1 and R2 while being submerged in water.

  The computer PC is mounted on the work boat 12A together with the onboard processing device. In this computer PC, the position information of the transducers S1 and S2 acquired by receiving signals from the GPS via the GPS antennas G1 and G2, and the transponders T1 and T2 acquired by the signals from the transducer S1. , T3, T4 and the distance information between the transducers S1 and the distance information between the respective transponders T1, T2, T3, T4 and the signals from the transducer S2, the transponders T1, T2, T3, The distance information between T4 and the transmitter / receiver S2 and the distance information between each transponder T1, T2, T3, T4, etc. are input, and each of these pieces of information is processed, and the result is a new submerged box that is underwater. The position of 15 is grasped, and an instruction for guiding the new submergence box 15 to the existing submergence box 14 can be given to the onboard processing apparatus. Further, in the onboard processing apparatus, the work vessels 12A and 12B are moved and the sinking winch 16 and the like are operated in accordance with the instructions, and the new submergence box 15 is submerged in the adjacent position with respect to the existing submergence box 14, thereby It can be joined to the sinking box 15.

  In addition, when each rod R1, R2, GPS antenna G1, G2, transducer S1, S2, and computer PC are mounted on a work ship different from the pair of work ships 12A that suspends the new burial box 15 There is also.

  Next, the operation of the system configured as described above will be described.

  The transponders T1, T2, T3, T4, and T5 have a built-in pressure gauge (determining depth from pressure) for the purpose of measuring depth, and transmit depth data to the transducers S1 and S2 simultaneously with the measurement distance. To do. Further, it has a function capable of measuring the distances between the transponders T1, T2, T3, T4, and T5 and the distances between the transponders T1, T2, T3, T4, and T5 from the transducers S1 and S2. The depth is measured by a pressure gauge built in the transponders T1, T2, T3, T4, and T5. In this case, the pressure gauges of the five transponders T1, T2, T3, T4, and T5 are suspended from the work ship 12A at the same time, and calibration at each depth is performed.

  In surveying, first, the GPS is used to determine the position coordinates X, Y, and Z of the transducers S1, S2 mounted on the work boat 12A.

  The survey of the position of the new sink 15 is performed by emitting sound waves from the transmitter / receiver S1 to the transponders T3 and T4, and by using the onboard processing device to determine the distance from the round-trip propagation time of the sound waves between the transmitter / receiver S1 and the transponders T3 and T4. The obtained depth is transmitted by the respective transponders T3 and T4 to the transducer S1. At the same time, sound waves are emitted from the transducer S2 toward the transponders T3 and T4, and the distance is obtained by the onboard processing device from the round-trip propagation time of the acoustic waves between the transducer S2 and the transponders T3 and T4.

  Further, by processing these data by the computer PC, it is possible to grasp the exact position of the new submerged box 15 in the water. And since the position of the new submerged box 15 and the existing submerged box 14 can be grasped | ascertained, the relative position of the new submerged box 15 and the existing submerged box 14 can be known. In addition, by attaching the transponders 3, T4, and T5 to the new submergence box 15, it is possible to accurately grasp the attitude of the new submergence box 15, and even when the installation surface on the seabed 13 is inclined, It can be installed together.

  FIG. 2 is a perspective view schematically showing a work boat, an existing structure, a new structure, and the like for explaining a second example according to the embodiment of the present invention. In this second embodiment, a surveying method improved to improve the accuracy further from the surveying method used in the system in the first embodiment shown in FIG. 1 is used. That is, in the first embodiment shown in FIG. 1, the public coordinates of the new burial box 15 and the existing burial box 14 are obtained using GPS, but when the front and rear, right and left tilts of the work ships 12A and 12B occur. The plane X and Y coordinates of the transducers S1 and S2 change due to the inclination, and there is a drawback that the overall position accuracy is deteriorated.

  Therefore, the surveying method used in the system in the second embodiment is made to solve the drawbacks, and the surveying by the GPS of the transducers S1 and S2 used in the first embodiment. Is excluded, and a surveying method using the transponders T1 and T2 on the existing submerged box 14 as a base point is performed. Therefore, the same components as those in the system configuration shown in FIG. 1 are denoted by the same reference numerals, and redundant description will be omitted. Differences from the first embodiment will be described below.

  In FIG. 2, the existing submerged box 14 is placed on the seabed 13. The transponders T1 and T2 are fixed points, the distances L1 and L2 are known lengths, and the transponders T3, T4, and T5 on the new burial box 15 are considered as floating points.

  The transponder T4 measures the distance L4 and depth between the transponder T4 and the transponder T2, and the distance L5 and depth between the transponder T4 and the transponder T1, and transmits the information to the transducer S1. Similarly, the transponder T3 measures the distance and depth between the transponder T3 and the transponder T1, and the distance and depth between the transponder T3 and the transponder T2, and transmits the information to the transducer S1. At any time, the distance L5 between the transponder T4 and the transponder T1 is measured from the transducer S1 to obtain depth information.

  Then, the survey information is calculated by the computer PC, and the relative positions of the existing burial box 14 and the new burial box 15 are grasped.

  By the way, in order to measure the distance between the existing submerged box 14 and the new submerged box 15, the depth (water pressure) and the reciprocating propagation distance by the sound waves of the transponders T 1, T 2, T 3, T 4, and T 5 are required. Is a problem. The depth is measured by a pressure gauge built in the transponders T1, T2, T3, T4, and T5. This can be solved by suspending the pressure gauges of the five transponders T1, T2, T3, T4, and T5 from the work ship 12A in advance and performing calibration at each depth in advance.

  However, since the distance is measured by the reciprocal propagation distance of sound waves, an error occurs due to the influence of seawater temperature, specific gravity, etc., so calibration is performed by each transponder T1, T2, T3, T4, T5. Remove the error. That is, the measured distances of the transponders T1, T2, T3, T4, and T5 can be corrected by comparing the actual distance L1 between the transponders T1 and T2 and the distance between T1 and T2 in water. Further, T3 and T4 are similarly corrected. Since the new burial box 15 finally approaches a distance of several meters from the existing burial box 15, it can be performed again when the surveying is approached to increase the accuracy.

  Therefore, according to each embodiment of the present invention, the computer PC can easily and accurately grasp the positions of the existing burial box 14 and the new burial box 15 by a wireless method without using a cable. On the other hand, since the new burial box 15 can be guided and placed easily and accurately in the adjacent position, the joining accuracy can be improved, the cost required for laying can be reduced, and economic efficiency is expected. it can.

  Although the present invention has been described by taking the case of constructing a submarine tunnel as an example, the present invention is not limited to this, and can be widely applied to construction for submerging structures such as blocks that form fishing reefs in the sea. is there.

  The present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.

  The present invention can measure with high accuracy and can be widely used as a distance measuring means in water.

11 Sea surface 12A, 12B Work ship 12a Front end surface 13 Sea floor 14 Existing submerged box (Existing structure)
14a Upper surface 14b Rear end surface 15 New burial box (new structure)
15a upper surface 15b rear end surface 15c front end surface 16 settling winch 17 wire PC computer T1-T5 transponder L1 distance between T1 and T2 L2 distance between T3 and T4 L3 distance between T3 and T5 L4 distance between T1 and T3, R1 R2 Rod G1, G2 GPS antenna S1, S2 Transceiver

Claims (5)

A sinking method of inducing structure for performing guided relative positioning of the new structure to be submerged in a new relative existing structures submerged, the work ship, the computer PC and the for signal processing the computer PC provided capable of wireless communication with transducer S1, S2, wherein the existing structure, set up each transducer S1, S2 capable of wireless communication with a pair of transponders T1, T2, the novel structure Includes a pair of transponders T3 and T4 capable of wireless communication with each of the transducers S1 and S2 and each of the transponders T1 and T2, and each of the transponders T1, T2, T3, and T4 measures the water pressure according to the water depth. waves between the transponder T1, T2, T3, T4 with pressure gauge is connected to measure the distance in time to a reciprocating, the computer PC, small of the wave transceiver S1, S2 The distance information between the transponder T3 and the transponders T1, T2 and the distance information between the transponder T4 and the transponders T1, T2, and the transponders T1, T2, T3, T4, which are sent to at least one of them. of grasping the relative position of the new structure for the existing structure based on the depth information, the sinking method of inducing structure to the existing structure Ru are adjacent the novel structure,
The pair of transponders T1, T2 are installed apart from each other by an actual distance L1,
The computer PC compares the measured distance between the actual distance L1 between the transponder T1, T2 between the pair of transponders T1, T2, that you correct various types of information to be sent to the transducer S1, S2 A characteristic structure settling guidance method. The pair of transponders T3 and T4 are set apart from each other by an actual distance L2,
The computer PC compares the actual distance L2 between the pair of transponders T3 and T4 with the measured distance between the transponders T3 and T4 obtained via the transponders T3 and T4, and the transducers S1 and S2 The method for guiding the settling of a structure according to claim 1 , wherein various kinds of information sent to the device are corrected. At the same time as the distance information between the transponder T3 and the transponders T1 and T2 and the distance information between the transponder T4 and the transponders T1 and T2, the computer PC sends the information to the transponders T1, T2, T3, and T4. 3. Deposition guidance for a structure according to claim 1 or 2 , wherein depth information of each of the transponders T1, T2, T3, and T4 corresponding to the water pressure measured by each of the provided pressure gauges can be acquired. Method. A transponder T5 is provided on one end of the new structure on the same plane as the pair of transponders T3 and T4, and a sound wave is emitted from the transducers S1 and S2 toward the transponder T5. , it acquires the distance information and the depth information of the transponder T5 and S2, sinking of the structure according to any one of claims 1 to 3, characterized in that to determine the inclination of the novel structure Guidance method. The transducers S1 and S2 can acquire position information by GPS,
Before the new structure approaches the existing structure up to a distance where the transponders T1, T2 and the transponders T3, T4 can communicate, the computer PC is emitted from the transducers S1, S2 and Position information of the transponders T3 and T4 with respect to the transducers S1 and S2 obtained from sound waves reciprocating between the transducers S1 and S2 and the transponders T3 and T4, and positions of the transducers S1 and S2. The position of the said new structure is grasped | ascertained based on information, and this new structure is guide | induced toward the said existing structure whose coordinate is known, The any one of Claim 1 thru | or 4 characterized by the above-mentioned. How to guide the settling of structures.

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