JP2000064340A - Method and device for measuring excavated or leveled face of underwater back hoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the measuring function by providing a specified survey sonar above an underwater back hoe to measure an excavated face or the like and indicating measured data on a display. SOLUTION: A narrow multibeam survey sonar 3 with a tilting device is fixed at an appropriate level of an underwater back hoe through a fixing support member 8 or the like to three-dimensionally measure an excavated section 6 before and behind and laterally. The measured data is transmitted to a personal computer installed on a support boat or on land through radio or the like and immediately processed. When remotely controlling the back hoe 1 from the water surface, the processed data is indicated on a display installed on a support boat or on land, and when controlling by a diver, it is indicated on a display installed on a driver's seat. Instead of this condition, the survey sonar 3 is fitted so that the height of the sonar can be changed against the back hoe 1. In this way, since the measured data is three-dimensionally shown on a personal computer or a display in a real time base, the excavated face and the like can be grasped as an image and the excavation work can be accurately and efficiently carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater backhoe excavation or leveling surface measuring method and apparatus capable of accurately managing in real time the measurement data of an underwater excavation surface or a rubble leveling surface excavated by an underwater backhoe.

[0002]

2. Description of the Related Art Conventionally, when excavation work or rubble leveling is performed using an underwater backhoe, a method of visually observing the present state of excavation with an underwater video camera has been used.

However, according to this method, turbidity occurs in the water during excavation by the backhoe, leveling work, and for a while after the work, and it is very difficult to visually recognize it with a video camera. There is a problem that high measurement becomes impossible.

[0004]

DISCLOSURE OF THE INVENTION The present invention is capable of measuring an excavation or even surface even if the underwater video camera cannot visually recognize the excavation or even surface due to muddy water or the like. (EN) A method and an apparatus for measuring an underwater backhoe for digging or leveling surface, which can quantitatively grasp the situation.

[0005]

The method of excavating or leveling a submerged backhoe according to the present invention uses a narrow multi-beam exploration sonar equipped with a tilting device mounted above the submersible backhoe to excavate or level an underwater backhoe. It consists of performing measurement and displaying the measurement data on a display installed at an appropriate position on the support ship or on land.

Further, the underwater backhoe excavating or leveling surface measuring apparatus according to the present invention to which the above method is applied, fixes a narrow multi-beam exploration sonar with a tilting device at an appropriate height position above the underwater backhoe. A personal computer that processes the measurement data measured by the narrow multi-beam exploration sonar in real time is installed at an appropriate position on the support ship or on land, and a display for displaying the data is installed on the support ship or on the pilot seat of the land or underwater backhoe. Further, the apparatus of the present invention comprises the narrow multi-beam exploration sonar with a tilting device attached to the underwater backhoe so that the height position can be changed by an appropriate means such as expansion and contraction of a cylinder.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a backhoe excavating or leveling surface measuring method and a measuring apparatus to which the method is applied will be described below with reference to the drawings. FIG. 3 is a side view of an embodiment of an underwater backhoe, in which the underwater backhoe 1 is provided with a tilt support 2 as shown in an enlarged perspective view of FIG. The beam exploration sonar 3 is fixed.

The tilting device 2 comprises a driving device 4 consisting of a pulse motor and a worm gear, and a rotary encoder 5 for controlling the swinging angle.
By attaching the narrow multi-beam exploration sonar 3 to the, it is possible to three-dimensionally measure the excavated cross section 6 in the front-rear, left-right directions by swinging the narrow multi-beam exploration sonar 3.

That is, assuming that the distance from the narrow multi-beam exploration sonar 3 to the ground G of the excavation section 6 is, for example, 3 m, the excavation section 6 in a range of 6 m × 6 m can be instantaneously measured.

The measurement data measured by the narrow multi-beam exploration sonar 3 is combined with the narrow multi-beam exploration sonar 3 and installed by radio transmission at an appropriate position on a support ship (not shown) or on land. It is transmitted to a personal computer as shown in the perspective view of FIG. 3 and is immediately subjected to control processing. When remotely controlling the underwater backhoe from the surface of the water, it is installed on the support ship or on land, and when a diver operates it, it is installed in the cockpit. It is supposed to be displayed on the display.

Next, FIG. 4 is a side view of an underwater backhoe 1 according to another embodiment of the present invention. In FIG.
While the narrow multi-beam exploration sonar 3 with the tilting device 2 is fixed to the underwater backhoe 1 at an appropriate height position by the fixing support member 8, in FIG. On the other hand, it is attached so that the height position can be changed appropriately by an elevating / lowering support member 9 shown in the figure, or a cylinder expansion / contraction means.

As shown in each of the embodiments of FIGS. 1 and 4, the narrow multi-beam exploration sonar 3 is attached to the front of the body of the underwater backhoe 1 so that the excavation cross section 6 by the underwater backhoe 1 is attached. It is possible to measure directly from above, and it is possible to measure with high accuracy and high density, and it is possible to quantitatively grasp the excavation situation. That is, when the narrow multi-beam exploration sonar 3 is attached to the main body of the backhoe 1, when the ground G to be measured has a large unsteadiness, there is a possibility that an unmeasurable portion may occur on the back surface of the convex portion. Since the measurement can be performed right above the cross section 6, such a problem is eliminated.

When it is necessary to excavate an underwater backhoe or obtain the absolute coordinates of the leveling surface, the positions of fixed objects such as caisson and support vessels are obtained by a GPS positioning system, and an underwater position detecting device using ultrasonic waves is obtained from the position. The coordinates of the underwater backhoe main body are obtained by, and the orientation of the underwater backhoe main body is obtained by equipping the underwater backhoe main body with a gyro compass.

[0014]

According to the method and apparatus for excavating or leveling an underwater backhoe according to the present invention described above, even if the underwater video camera cannot be visually recognized due to turbidity in the water, the measurement can be performed, and the measurement can be performed. The data is displayed in real time in 3D on a backhoe support ship or a personal computer and display installed on land, so it is possible to grasp the image of the excavation or leveling surface in an image, and realize accurate and efficient work.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of an underwater backhoe equipped with the device of the present invention.

FIG. 2 is an enlarged perspective view of a tilt device attached to the narrow multi-beam exploration sonar of FIG.

3 is a perspective view of a personal computer and a display for processing and displaying measurement data from the narrow multi-beam exploration sonar of FIG.

FIG. 4 is a side view of an underwater backhoe according to another embodiment different from FIG.

[Explanation of symbols]

1 Underwater backhoe 2 Tilt device 3 Narrow multi-beam exploration sonar 6 Excavation section 7 PC and display

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yuji Douji             Toa, 1-3 Azen-cho, Tsurumi-ku, Yokohama-shi, Kanagawa             Construction Industry Co., Ltd. (72) Inventor Mitsumasa Omura             Toa, 1-3 Azen-cho, Tsurumi-ku, Yokohama-shi, Kanagawa             Construction Industry Co., Ltd. F term (reference) 2D045 AA04 BA01 CA31 CA36                 2F068 AA06 CC11 FF12 JJ03 KK04                       KK12 RR02 RR13 TT03 TT21                 5J083 AA02 AB08 AD06 AE06 AF04                       BD11 CA01 CA39 EA01 EA18                       EB05

Claims (3)

[Claims] 1. A narrow multibeam exploration sonar equipped with a tilting device mounted above an underwater backhoe is used to excavate the underwater backhoe or measure the leveling surface, and display the measured data on a display installed at an appropriate position. Backhoe excavation or leveling method. 2. A personal computer that fixes a narrow multi-beam exploration sonar with a tilt device at an appropriate height position above an underwater backhoe, and acquires and processes measurement data measured by the narrow multi-beam exploration sonar in real time. And an underwater backhoe excavating or leveling surface measuring device provided with a display at an appropriate position. 3. An underwater backhoe excavating or leveling surface measuring device according to claim 2, wherein a narrow multi-beam exploration sonar with a tilting device is attached to the underwater backhoe so that the height position thereof can be changed.