JP2002081086A - Position and attitude measuring method and device for submerged caisson in submerging caisson - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position and attitude measuring method and a device for a submerged caisson in submerging the caisson dispensing with any special reinforcement of the submerged caisson and a measurement scaffold and performing the submerging works allowing their deformation, while performing precise measurement, even if constructing under such conditions that the deformation of the scaffold and the submerged caisson is expected in submersing. SOLUTION: This position and attitude measuring device collects scaffold top position reference data relative to the submerged caisson in installing the scaffold and the reference data of respective inclinometers beforehand using a GPS moving station 12 provided in the top of the measurement scaffold 11 for measuring the height and the horizontal position of the scaffold top, a scaffold top inclinometer 13 for measuring the inclination of the scaffold top, and a submerged caisson inclinometer 14 provided in the submerged caisson 10 for measuring the inclination of the submerged caisson. The inclination displacement data of the respective inclinometers in submerging the caisson and the respective reference data are compared to one another and the position of the attitude of the submerged caisson in submerging is calculated based on the scaffold top position data obtained by measuring the measurement scaffold top position by the scaffold top position detecting means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a submerged pit for measuring a submerged pit in order to join the existing pit to an existing pit, and to set up the pit correctly. The present invention relates to a method and an apparatus for measuring the position and orientation of a buried box in a vehicle.

[0002]

2. Description of the Related Art Conventionally, as shown in FIGS. 6 and 7, two survey towers 2, 2 are erected on the upper surface of a submerged box 1 to be submerged and floated on the sea, as shown in FIGS. Suspended in the ballast tanks (not shown) in the submerged box 1 by the winch operation on the workboats 3, 3
The sedimentation control is performed while measuring the horizontal position and the height of the predetermined surveying point at the top of the two to determine the position and posture of the submerged box 1.

In order to measure a predetermined survey point of each of the survey towers 2, 2, a light wave positioning reflector 4 serving as a survey point is attached to the top of each survey tower 2, and the light wave measuring instruments 5, 5 are located at known points on land. Is installed, and the positions of the two reflecting mirrors are determined from this, the data is wirelessly transmitted to the work boat 3, and the display device provided in the operation room displays the positions and postures of both end surfaces of the immersion case 1, The required winch operation has been performed based on this.

[0004] After approaching to the existing submerged box 6 on the sea floor as shown in Fig. 7, the joint side end 1a of the submerged box 1 is measured by an end face measuring device 7 provided on the existing submerged box 6 side, and is submerged. Guide box 1. Extended side end 1b on the opposite side of submerged box 1
Are positioned by determining the angle of the joint side end 1a.

[0005] In the figure, reference numeral 8 denotes a sea anchor installed on the sea floor, and 9 denotes an anchor wire for adjusting a horizontal position.

[0006]

In the above-mentioned conventional so-called tower pontoon type burial box laying method, the method of measuring the position and orientation of the burial box is as follows: The position and orientation of the buried box are estimated from the position and orientation of the predetermined survey point.

For this reason, when the installation depth of the submerged box is in a shallow sea area of about 30 m, there is almost no need to consider deformation of the survey tower, but a relatively deep seabed or a tidal current with a water depth exceeding 30 m is required. When burying a buried box under conditions such that exceeds 0.5 knots (kt), the survey tower is deformed, and the measurement error of the position and posture of the buried box becomes large,
It is difficult to properly guide to the joint position with the existing submerged box.

In the construction method in which the submerged box itself is considered to be a rigid body that does not deform and the submerging operation is proceeded, there is little problem when the submerged box is extended in a straight line direction and sequentially joined, but the curved When extending the submerged box sequentially to a curved arrangement, especially when trying to measure with a single survey tower, the submerged box itself is deformed by tidal currents and gravity, which results in errors and large measurement errors in the position of the extension side end. It will hinder the curve installation.

Further, when the surveying turret is constructed under conditions that are easily deformed, it is necessary to increase the strength of the surveying turret, assuming that the surveying turret is a rigid body. As a result, the weight of the surveying turret increases, and Reinforcement of the turret installation location is required, and furthermore, it is necessary to consider the stability of the buried box due to the increase in weight.

The present invention has been made in consideration of the above-described conventional problems, and has been made in consideration of the above-described conventional problems. The purpose of the present invention is to provide a method and a device for measuring the position and orientation of a buried box in a buried box sunk where a sunk work can be performed while performing a more accurate measurement while permitting their deformation without requiring reinforcement. .

[0011]

The feature of the method of the present invention for solving the above-mentioned conventional problems and achieving the intended object is that the horizontal position of the top of each of two survey towers which are erected in a submerged box is settled. In the method of measuring the position and orientation of the buried box in the buried box laying out to determine the position and posture of the buried box by measuring the position in the direction and height direction, the height and horizontal of the top of the tower provided in the surveying turret A turret top position detecting means for measuring the position, a turret top inclinometer for measuring the inclination of the turret top, and an immersion box inclinometer provided in the immersion box for measuring the inclination of the immersion box, The tower top position reference data at the time of tower installation for and the reference data of each inclinometer at that time are collected in advance, and the inclination displacement data of each inclinometer during the subsidence work of the submerged box, and each of the reference data. Compare and survey the In that the Yaguraitadaki portion position data obtained by measuring the top position by Yaguraitadaki portion position detecting means based on calculating the position and orientation of the 沈埋 a box at the time of precipitation.

In the above method, each data at the time of submerging and settling of the buried box is sent from the top of the surveying tower to the operation room by a radio transceiver, and each position and posture are calculated by a data processing device such as a personal computer provided in the operation room. It is preferable that the state at the time of settling be continuously displayed on the display device together with the scheduled state of setting.

A feature of the apparatus of the present invention is that the position and orientation of the immersion box are determined by measuring the horizontal and height positions of the tops of the two survey towers erected in the immersion box. In the position and orientation measuring device of the buried box in the submersion, the surveying turret top is provided with a turret top position detecting means for measuring the height and horizontal position of the turret top and a turret top inclinometer for measuring the inclination of the turret top, A data processor for calculating and displaying the position and orientation of the immersion box based on data obtained from the turret top position detecting means and the inclinometer; That you have.

In the above-mentioned apparatus, the surveying turret is provided with a universal support which can be tilted in any circumferential direction on the top thereof, and a movable support of the universal support supports a top floor plate. When the turret is curved, the turret has tilt control means for tilting by an angle corresponding to the horizontal displacement of the turret top, and a turret top position detecting means and a turret top inclinometer for measuring the tilt of the turret top are installed on the top floor plate. , And a radio transmitter for transmitting data at the top of the survey tower, and a data processor with a receiver and a display device for receiving data from the radio transmitter in the operation room, Data is sent to the operation room, each position and posture are calculated by the data processing device, and the state at the time of the sinking is displayed on the display device together with the scheduled state of sinking. Preferred.

[0015]

Embodiments of the present invention will now be described with reference to the drawings.

1 to 3 show an apparatus according to the present invention. In the drawings, reference numeral 10 denotes a submerged box to be submerged, and reference numeral 11 denotes a survey tower set up on the upper surface of both ends of the submerged box 10. A mobile station (hereinafter, referred to as a GPS mobile station) 12 of a satellite positioning system and a turret top inclinometer 13 are provided on a top floor plate 11 a of the surveying turret 11.
Is installed. A submerged box inclinometer 14 for measuring the inclination of the submerged box 10 is provided on the upper surface of the submerged box 10.

The top floor plate 11a of each survey tower 11 is installed on the survey tower 11 via a universal bearing 15 which can be inclined in any circumferential direction. The universal bearing 15 is composed of a spherical movable bearing 15a and a fixed receiving member 15b rotatably supporting the movable bearing 15a, and the top floor plate 1 is placed on the movable bearing 15a.
1a is fixed, and the fixing receiving member 15b is fixed to the top of the survey tower.

The universal bearing 15 is provided with an inclination restricting means for inclining the survey tower 11 by an angle corresponding to the horizontal displacement of the tower top 11 when the survey tower 11 is curved. This inclination restricting means is constituted by an angle restricting shaft 16 extending downward on the lower surface of the movable support 15a. This angle regulating shaft 1
6 is installed at a right angle to the upper surface of the top floor plate 11a, the lower end thereof is hung straight down in the surveying tower 11, and in the inclined direction in a state where the horizontal movement is prevented at the lower end of the surveying tower 11. It is rotatably inserted into the bearing 17.
As a result, when the survey tower 11 is curved by an external force,
The upper end side of the angle regulating shaft 16 is moved and inclined by an amount of horizontal movement of the top of the turret, and the top floor plate 11a is inclined by an angle corresponding to the inclination.

A data logger 20 for collecting data from each instrument and a telemeter transmitter 2 for wirelessly transmitting various data collected by the data logger 20 are provided on the top floor panel 11a.
1 is provided, and various kinds of sampling data are wirelessly transmitted to the operation room 30 on the workbench.

The operation room 30 includes a telemeter receiver 31,
A data processing device 32 using a computer and a display device 33 are provided.

Next, an embodiment of the method of the present invention using the above-described apparatus will be described.

A buried box 10 is manufactured in a manufacturing yard, and a surveying tower 11 on the buried box 10 is installed, and various measuring instruments are installed.
Basic data on the relative positional relationship between the position of the GPS mobile station 12 on the survey tower 11 and the external shape of the buried box 10 is collected, and reference data such as the tilt data of the inclinometers 13 and 14 is collected.

As shown in FIG. 2, for example, as shown in FIG. 2, a plurality of sea anchors 40, 40,... Are installed around the sink, and the anchors are wrapped around pulleys 41, 41,. .. Are operated by winches (not shown) on the two workboats 43a, 34b, and the suspending wires 44, 44,. Suspended through the sinking box 1
The water is poured into a ballast tank (not shown) in the space 0 and the suspension wires 44 and the anchor wires 42 are operated and settled by the winch on each work boat 11.

At the time of this subsidence, the position data at the time of subsidence by the GSP mobile station 12 and the inclination data at the time of subsidence of the inclinometers 13 and 14 are collected in real time, and the data at the time of subsidence are collected by the data logger 20, the telemeter transmitter 21, the telemeter. The data is sent to the data processing device 32 through the receiver 22 and the telemeter receiver 31, and is compared with the above-described reference data.
End surface 10a on the submerged box joint side with respect to GPS mobile station 12 position
Then, the relative displacement amount of the extension side end face 10b is calculated, and their positions and postures at the time of subsidence of the submerged boxes are displayed on the display device 33 as shown in FIG.

As shown in FIG. 4, the current position of the submerged box 10 to be submerged, the existing submerged box 50 that has already been submerged, and the planned installation of the submerged box to be submerged are displayed on the display device 33, as shown in FIG. The position 51 is displayed simultaneously as a plan view and a side view, and in each figure, the difference between the current position and the planned installation position at both ends of the buried box is indicated by arrows and numerical values. The operation of each winch is performed while looking at them, and the laying work proceeds.

When a certain or more external force acts on the surveying turret 10 in the bending direction due to a tide or the like during the subsidence of the submerged casing 10, the surveying turret 10 bends as shown in FIG. At this time,
The angle regulating shaft 16 inserted above and below the survey tower 10 is
Since the movement of the lower end 16a in the horizontal direction is prevented, the lower end 16a is kept straight, and the universal support 15 at the top of the turret is tilted about the position of the bearing 17 by the amount moved in the horizontal direction. The top floor plate 11a positioned at a right angle to the angle regulating shaft 16 is inclined by the inclination of the angle regulating shaft 16, and the inclination angle and the inclination direction are measured by the tower top inclinometer 13. You.
At this time, the inclination direction and the inclination angle of the immersion box 10 are measured by the immersion box inclinometer 14 on the upper surface of the immersion box. By comparing these angle inclination data with the above-mentioned reference data, the position of the top of the survey tower at the time of settlement is determined. Is calculated with respect to the buried box 10.

Further, the GSP mobile station 1 on the top floor plate 11a
2 (horizontal direction and height) is measured, and the position of each tower installation portion of the buried box 10 is calculated based on the position data. Based on this, the axial direction and inclination of the buried box 10 are calculated. Is calculated. The change in the distance from the top surface of the GPS mobile station 12 due to the curvature of the survey tower 11 is extremely small as compared with the position measurement error by the GPS mobile station, and is ignored.

In the above-described example, the GPS mobile station is used as the tower top position detecting means. However, in addition to the above, it may be based on a light wave positioning method or another surveying method described in the section of the prior art.

[0029]

As described above, in the method and apparatus for measuring the position and orientation of a buried box in the laid underground vessel according to the present invention, the height and the horizontal position of the top of the surveying turret are measured. When using a turret top position detecting means and a turret top inclinometer for measuring the inclination of the turret top and a buried box inclinometer provided in the buried box and measuring the inclination of the buried box, The turret top position reference data and the reference data of each inclinometer at that time are collected in advance, and the inclination displacement data of each inclinometer during the subsidence work of the submerged box and the reference data are compared with each other. By calculating the position and orientation of the sunk box at the time of subsidence based on the turret top position data measured by the turret top position detection means, the surveying turret is bent, Even if the change in the position of Ryoyaguraitadaki portion occurs, it is possible to determine the position and orientation of 沈埋 a box end face in the sedimentation middle 沈埋 box making more accurate, higher sinking accuracy is easily e. Also, the production cost of the surveying turret is half that of the conventional two turrets, and it does not require rigidity to constantly overcome external forces due to tidal currents, etc., so even when responding to large water depths the strength of the turret itself It is economical because there is no need to increase the strength of the submerged box at its installation part.

Each data at the time of sedimentation of the sinking box is sent from the top of the survey tower to the operation room by a radio transceiver, and each position and orientation is calculated by a data processing device such as a personal computer provided in the operation room. Is displayed continuously on the display device together with the scheduled state to be laid, thereby eliminating the need for long wiring and facilitating remote operation.

Further, a universal bearing which can be tilted in any circumferential direction is provided at the top of the surveying turret, and a movable supporting body of the universal bearing supports a top floor plate. The survey tower is equipped with an inclination restricting means for inclining by an angle corresponding to the horizontal displacement of the tower top, and installing a tower top position detecting means and a tower top inclinometer for measuring the inclination of the tower top on the top floor plate. Even when is curved, the amount of horizontal displacement at the top of the tower can be accurately measured by the inclinometer.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a submerged box equipped with an apparatus for performing a method according to the present invention.

FIG. 2 is a perspective view showing a settling operation state of the above-mentioned immersion box.

FIG. 3 is a diagram showing a configuration of a measuring device in the above device.

FIG. 4 is a front view showing a display example of a display device in the above device.

FIG. 5 is a cross-sectional view showing a state in which the immersion box of the above device is curved.

FIG. 6 is a plan view showing a conventional buried box measuring device.

FIG. 7 is a perspective view showing the same submerged box settling state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Sunk box 11 Survey tower 11a Top floor plate 12 Mobile station of a satellite positioning system (GPS mobile station) 13 Tower top inclinometer 14 Sunk box inclinometer 15 Universal bearing 15a Movable bearing body 15b Fixed receiving member 16 Angle regulating shaft 17 Bearing 20 Data Logger 21 Telemeter transmitter 30 Operation room 31 Telemeter receiver 32 Data processing device 33 Display device 40 Sea anchor 41 Pulley 42 Anchor wires 43a, 43b Work boat 44 Settling suspension wire 50 Existing sunk box 51 Planned installation position

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yasuhiko Momose 2-8-8 Koraku, Bunkyo-ku, Tokyo Goyo Construction Co., Ltd. F-term (reference) 2D055 AA09 BB03 LA13 5J062 BB08 CC07

Claims (5)

[Claims] 1. The position and orientation of a submerged box in the submerged box subsidence which determines the position and orientation of the submerged box by measuring the horizontal and height positions of the tops of two survey towers standing on the submerged box. In the measuring method, a turret top position detecting means that is provided at the surveying turret top and measures the height and horizontal position of the turret top, and a turret top inclinometer that measures the inclination of the turret top, and is provided in the burial box. Using a buried inclinometer to measure the inclination of the buried box, the turret top position reference data at the time of the turret installation for the buried box, and
The reference data of each inclinometer at that time is collected in advance, and the tilt displacement data of each inclinometer at the time of subsidence work of the submerged box is compared with each of the reference data, and the surveying tower top position is determined as the tower top position. A method for measuring the position and orientation of a buried box in a buried box, comprising calculating a position and a posture of the buried box at the time of subsidence based on the tower top position data measured by the detecting means. 2. Each data at the time of sedimentation of the sedimentation box is sent from the top of the surveying tower to the operation room by a wireless transceiver, and each position and attitude is calculated by a data processing device such as a personal computer provided in the operation room. The method for measuring the position and orientation of a buried box in the buried box laying as claimed in claim 1, wherein the state of the buried box is continuously displayed on the display device together with the planned laying state. 3. The position and orientation of the immersion box in the immersion pit, wherein the position and orientation of the immersion box are determined by measuring the horizontal and height positions of the tops of the two survey towers erected on the immersion box. In the measuring device, on the surveying tower top, there is provided a tower top position detecting means for measuring the height and horizontal position of the tower top, and a tower top inclinometer for measuring the inclination of the tower top. It is provided with a buried box inclinometer for measuring the inclination of the box, and provided with a data processing device for calculating and displaying the position and orientation of the buried box based on the data obtained from the tower top position detecting means and the inclinometer. Position and orientation measurement device for buried boxes in submerged boxes. 4. The survey tower is provided with a universal support which can be tilted in any circumferential direction at the top thereof, and a movable support body of the universal support supports a top floor plate. 4. A turret top inclinometer for arranging a turret top position detecting means and a turret top inclinometer for measuring the inclination of the turret top on the top floor plate, comprising inclination control means for inclining by an angle corresponding to the horizontal displacement of the turret top. An apparatus for measuring the position and orientation of a buried box in the burying of a buried box according to [1]. 5. A radio transmitter for transmitting data is installed at the top of the surveying tower, and a receiver for receiving data from the radio transmitter and a data processor with a display device are provided in the operation room. The submerged box according to claim 3 or 4, wherein each data is sent to an operation room, and each position and posture is calculated by a data processing device, and the state at the time of subsidence is displayed on a display device together with a planned subsidence state. Position and orientation measurement device for buried boxes in submersion.