JPH03264810A - Position measuring method of underwater operating machine - Google Patents

Abstract

PURPOSE:To measure the position accurately even under rough-sea weather conditions by using an underwater position measuring device utilizing a transponder and two hydraulic pressure sensors at the fixed side and the moving side, and measuring the position of the horizontal surface and the height of an underwater operating machine. CONSTITUTION:Slave stations 16a-16c are fixed at three points of the sea bottom surrounding an operating machine 11. The three-dimenssional positions of the stations are measured. Interrogating signals comprising sound waves are transmitted from a master station 15 mounted on the operating machine 11. The times until the response signals from the slave stations 16a-16c reach the master station 15 are counted, and the distances between both stations are measured. Thus the position of the master station 15 at the horizontal surface is measured. Then, the hydraulic pressures are measured at the same time with a hydrulic pressure sensor 17 on the moving side provided at the specified height position of the operating machine 11 and a hydraulic pressure sensor 17b on the fixed side which is fixed at a position whose height is known beforehand under the water surface. The height of the sensor 17a with respect to the sensor 17b is computer based on the difference between both measured values. The provided height of the sensor 17b is added or subtracted to or from the height of the sensor 17a, and the absolute height of the sensor 17a is obtained. The measured signals and the measured signal from an attitude measuring device 12 are processed in a supporting stage ship 18, and the measured value is instantly displayed.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention measures, for example, the horizontal and height positions of an underwater working machine such as a rubble leveler used when creating a rubble mound on the underwater bed. Regarding positioning methods.

(Prior Art) Generally, a rubble foundation for installing a caisson or the like for a 11g breakwater needs to have a horizontal top surface and a uniform height. For this reason, the top surface of the mound is created to have a constant flatness, levelness, and height by measuring the height and horizontal position of the rubble leveling machine and proceeding with the top-up work.

Conventionally, in the positioning method of an underwater working machine such as a rubble leveler, as shown in FIG. The reflective prism and scale scale attached to the upper end of 2 are referenced from land using a light wave position measuring device 3 and a level 4, distances and angles are measured, and horizontal plane positions and heights are measured.

(Problems to be Solved by the Invention) As mentioned above, in the conventional method of measuring by installing a staff on the main body of the work machine, the staff is easily affected by sea conditions, and it is difficult to maintain safety under rough sea conditions. There was a technical problem. Additionally, if there was a working machine on the sloping bottom of the water, the staff would be tilted, making it difficult to accurately measure the height. Furthermore, when the work equipment is moving on the water bottom,
It is possible to measure continuously during the movement, and
There were problems such as having to keep multiple measurement workers on standby at all times.

In view of these conventional problems, it is an object of the present invention to provide a positioning method for an underwater working machine that is less affected by sea conditions and that allows accurate positioning in real time with a small number of people.

(Means for distantly resolving the problem) The feature of the positioning method for an underwater working machine of the present invention for solving the above-mentioned conventional problems and achieving the intended purpose is that there is one master station and two The master station of the underwater position measuring device using TransHonda having the above slave stations is mounted on an underwater working machine, and each of the slave stations is installed at a predetermined position on the bottom of the water, and between the master station and the slave stations. The horizontal position of the master station is measured by transmitting and receiving sound waves, and a fixed water pressure sensor is installed at a predetermined height underwater, and a movable water pressure sensor is attached to the underwater working machine, and both water pressure sensors are measured. The purpose of this method is to measure the absolute height of an underwater working machine based on the difference in values.

(Function) In the positioning method for an underwater working machine of the present invention, the horizontal plane position (X, Y coordinate position) and height position (Z coordinate position) of the working machine are measured by an underwater position measuring device using sound waves using a transhonda. The depth below the water surface is measured by both the fixed-side and moving water pressure sensors, and the depth of the work equipment from the preset fixed height of the fixed-side sensor is measured by the difference between the measured values between the two sensors. The accurate absolute height position is measured regardless of changes in the tidal level.

(Example) Next, an example of implementation of the present invention will be described with reference to FIGS. 1 and 2.

This embodiment shows a positioning method for an underwater rubble leveling machine (hereinafter referred to as a working machine), and in the figure, 10 is a rubble mound to be leveled, and 11 is a working machine. This rubble mound 10 is for installing a caisson (not shown) serving as a breakwater or the like, and it is necessary to finish the top surface horizontally and to a uniform height. For this reason, it is necessary to measure the height of the working machine 11 more accurately.

The work machine 11 smoothes the top surface of the rubble mound 10 while running, and the work machine main body 11a is provided with an attitude measuring device 12 such as an inclinometer for detecting levelness and a gyro compass for detecting direction. The posture is controlled by extending and contracting the legs 13 while observing the output from the posture measuring device 12.

The top surface of the rubble mound 10 is leveled in accordance with the levelness of the work machine main body 11a, and the height of the top surface is determined by a rolling pressure roller (not shown) for leveling at that time. It is designed to be at the same height as the bottom surface of.

Work 8111 is equipped with a master station 15 of an underwater position measuring device using Trans Honda. This underwater position measuring device has one main transponder station 15 and three slave stations 16a, 16b, and 16c.
, 16b, and 16c are fixed in advance at three points on the water bottom in a position surrounding the working machine 11, and their three-dimensional positions (X, Y, Z coordinate positions) are determined.
The master station 15 sends an interrogation signal consisting of sound waves to each of the stations 16a, 16b, 16c, and after receiving the signal, sends back a response signal, and the time it takes for the response signal to reach the master station 15 is measured. By counting the time, the distances from the master station 15 to each slave station are measured.

As a result, the horizontal plane position (X, Y coordinate position) of the master station 15
is measured.

Furthermore, in order to measure the height position (Z coordinate position) of the work implement 11, a pair of water pressure sensors consisting of a mobile water pressure sensor 17a and a fixed water pressure sensor 17b are used. The movable side water pressure sensor 17a is installed at a predetermined height position with respect to the work Full, and the stationary water pressure sensor 17b is fixed at a position below the water surface whose height is known in advance. Both sensors 17
The water pressure is measured simultaneously by sensors a and 17b, and based on the difference between the two measured values, the moving side sensor 17b is compared to the fixed side sensor 17b.

The absolute height of the moving sensor 17a is calculated by adding the height of the fixed side sensor known in advance to the height of the sensor 17a (or eix>hi).

An example of the formula for calculating the machine absolute height h of the work fill is shown below with reference to FIG.

h= (h+ho)+h, +hk where h: Absolute machine height of work equipment 11, horizontal sensor measurement value on the movable side of the second work equipment ho: measurement value of the fixed side water pressure sensor,: installation height of the fixed curved water pressure sensor hk: Distance between the water pressure sensor on the work machine and the lower end of the compaction roller By using the moving side water pressure sensor 17a attached to the work 8111 in this way and the fixed side water pressure sensor 17b whose absolute height is known in advance Absolute height can be measured regardless of changes in tide level or atmospheric pressure.

The measurement signals from the above-mentioned attitude measuring device 12, transponder master station 15, slave stations 16a, 16b, 16c, and water pressure sensors 17a, 17b are sent to the support barge 18 by wire or wirelessly, and are sent to the support barge 18 by the co-7 Huder. The processed measured values are displayed on the real screen.

Well, in the actual example above, three slave stations are used in the underwater position measuring device to measure the horizontal position, or if high accuracy is not required, two slave stations are used to measure the position. Good too.

(Effects of the Invention) As described above, the positioning method of an underwater working machine according to the present invention uses an underwater position measuring device using a transponder and two water pressure sensors on the fixed side and the movable side to determine the horizontal position and height position. This method eliminates the need for the staff used in conventional positioning methods, and enables construction even under rough sea conditions, where conventional methods could not be used safely. Furthermore, data can be obtained wirelessly in real time, eliminating the need for workers for positioning.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an implementation state of an example of the positioning method of the present invention, Fig. 2 is a side view showing the principle of height measurement using two water pressure sensors, and Fig. 3 is an implementation state of the conventional positioning method. FIG. 10... Rubble mound, 11... Work machine, 11a... Work machine body, 12...
Posture measuring device, 13... Legs, 15... Master station, 16a, 16b, 16cm - Slave station, 17a
, 17b...Water pressure sensor 18...Support barge. Figure 2

Claims (1)

[Claims] The master station of an underwater position measuring device using a transponder having one master station and two or more slave stations is mounted on an underwater work machine, and each of the slave stations is installed at a predetermined position on the bottom of the water,
A sound wave is transmitted and received between the master station and the slave station to measure the horizontal position of the master station, and a fixed side water pressure sensor is installed at a predetermined height underwater, and a movable side water pressure sensor is installed on the underwater work machine. A positioning method for an underwater working machine, characterized in that the absolute height of the underwater working machine is measured by the difference between the measured values of both the water pressure sensors.