JP2014016292A - Underwater construction device and constructing method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater construction device capable of improving a construction property and safety by checking a construction state, and a constructing method of the same.SOLUTION: An underwater construction device includes: a crane ship 1; a grab bucket 6 suspended closed to a sea bottom 34 by a crane body 3 of the crane ship 1; a transponder 12 provided on the grab bucket 6; a transducer 23 provided on the crane ship 1 and receiving an ultrasonic signal transmitted from the transponder 12; a scanning sonar 31 provided on the crane ship 1 and detecting a shape of the sea bottom 23; and display means for displaying a three-dimensional image of the sea bottom 34 detected by the scanning sonar 31. Therefore, suspension work is carried out while checking a position of the grab bucket 6 by the transducer 23, and a work situation can be checked in a three-dimensional image by the scanning solar 31 during work.

Description

  The present invention relates to an underwater construction apparatus for constructing a water bottom by a hoist ship and a construction method thereof.

  Conventionally, in this type of underwater construction, a diver portable device equipped with a pressure gauge and a transponder, depth measurement data measured using the pressure gauge, and planar position measurement data measured using the transponder Based on this, the same applicant has proposed a management system (for example, Patent Document 1) including a display means for three-dimensionally displaying the position of the diver portable device. The position can be measured simultaneously and the position of the diver can be displayed three-dimensionally.

  Further, in connection with underwater construction, an underwater position measurement device (for example, Patent Document 2) that accurately measures the position of an object underwater from a ship using ultrasonic waves, or a plurality of suspension ropes on a submerged work ship. Method for surveying an object suspended underwater, wherein at least six distances are measured simultaneously including each point on the object and a distance between any one of the at least three points on the submerged work ship (For example, Patent Document 3) or a system for detecting the three-dimensional position of a moving body in water, which is composed of a floating body provided on the water and a moving body that moves in the water. When the transmitted first ultrasonic signal is received, after a certain period of time, transmission / reception means for transmitting a second ultrasonic signal indicating a code corresponding to the first ultrasonic signal in all directions, and a third ultrasonic signal indicating a predetermined direction Sends sound wave signals in all directions After that, a position detection system (for example, a patent) including a scanning unit that sequentially transmits a fourth ultrasonic signal toward a direction that changes by a certain angle in a certain rotation direction at certain time intervals. Reference 4) and a suspension frame used when a heavy structure is suspended by a crane of a hoist ship, and includes a plurality of shackles and a release hook at the tip, and the base end is suspended at one of the shackles. An ultrasonically actuated disconnecting device, a sling wire rope having one end suspended from another shackle and the other end connected to a release hook of the ultrasonic separating device, and a transponder transmitter. There is a characteristic hanging frame (for example, Patent Document 5).

  In addition, as a method of confirming the state of construction of the bottom of the water, in the submarine ground deposition construction method in which the deposit formation formed from the surface of the water is deposited on the bottom of the ground and the sediment is formed on the bottom of the bottom, There is a survey ship (for example, Patent Document 6) that divides into a grid by a narrow multi-beam depth surveying device and obtains a three-dimensional image. For surveying, the survey ship moves along the seabed ground to be constructed. It is necessary to use the surveying ship as a construction ship.

JP2011-245887A JP 11-183580 A JP 2001-201346 A JP 2003-215230 A JP 2010-229656 A JP 2003-20648 A

  As described above, technologies for underwater construction by managing the position of the suspended object suspended by the hoist ship have been proposed, but in order to improve safety management and workability in underwater work, It is not sufficient to manage the position of the lowered item alone, and it is necessary to check and manage the construction state three-dimensionally to improve safety and workability.

  Then, in view of the above-mentioned problems, the present invention aims to provide an underwater construction apparatus and a construction method thereof that can confirm the construction state and improve the workability and safety.

  The invention according to claim 1 includes a hoist ship, a suspended object suspended to the vicinity of the water bottom by a hoist body of the hoist ship, a transponder provided in the suspended object, and the hoist ship provided in the hoist ship. A transducer for receiving an ultrasonic signal transmitted from a transponder; a scanning sonar provided on the hoist ship for detecting the shape of the bottom; and a display means for displaying a three-dimensional image of the bottom detected by the scanning sonar. It is characterized by that.

  The invention according to claim 2 is characterized in that the suspended object is a removal device for removing an object to be removed from the bottom of the water.

  The invention according to claim 3 is characterized in that the suspended object is a water bottom installation object.

  The invention according to claim 4 is the construction method using the underwater construction apparatus according to claim 2, wherein the suspended object is an object to be removed from the bottom of the water, and the position of the object to be removed using the transducer. The removal object is picked up by the removal device, and the three-dimensional image of the water bottom including the removal object is displayed on the display means by the scanning sonar in a state where the hoist ship is anchored. To do.

  According to a fifth aspect of the present invention, in the construction method using the underwater bottom construction apparatus according to the third aspect, the position of the bottom installation object suspended using the transducer is confirmed, and the bottom A three-dimensional image of the water bottom including the water bottom installation object is displayed on the display means by the scanning sonar in a state where the installation object is installed on the water bottom and the hoisting ship is anchored.

  According to the configuration of the first aspect, the hanging work can be performed while confirming the position of the suspended object with the transducer, and the working condition can be confirmed with a three-dimensional image by the scanning sonar during the work.

  Moreover, according to the structure of Claim 2, the removal object of a water bottom is removed with a removal apparatus, and the condition of the water bottom which removed the removal object can be confirmed with a three-dimensional image.

  Further, according to the configuration of claim 3, while confirming the position of the bottom installation object using the transducer, the bottom installation object is installed on the bottom by a hoist ship, and the state of the bottom installation object and the bottom of the water is displayed in a three-dimensional image. Can be confirmed.

  Moreover, according to the structure of Claim 4, the position of the removal apparatus suspended using the transducer is confirmed, the object to be removed from the bottom of the water is removed by the removal apparatus, and the removal state is confirmed while confirming the removal status with a three-dimensional image. Work can be done.

  Moreover, according to the structure of Claim 5, the position of the bottom installation thing suspended using the transducer is confirmed, the bottom installation object is installed on the bottom of the water by the hoist body, and the installation status is confirmed by a three-dimensional image. Removal work can be performed.

BRIEF DESCRIPTION OF THE DRAWINGS It is whole explanatory drawing which shows Example 1 of this invention. It is a block diagram of a suspended article apparatus same as the above. It is a block diagram of a hoist ship apparatus same as the above. It is the whole explanatory drawing explaining a construction state same as the above. It is explanatory drawing explaining the survey by a survey ship same as the above. It is drawing which shows the three-dimensional image of the bottom of the water obtained by surveying a survey ship same as the above. It is drawing which shows a display screen of a display means same as the above. It is the whole explanatory drawing which shows Example 2 of this invention same as the above. It is the whole explanatory drawing explaining a construction state same as the above. It is drawing which shows a display screen of a display means same as the above. It is a block diagram of a diver portable apparatus same as the above.

  Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below do not limit the contents of the present invention described in the claims. In addition, all of the configurations described below are not necessarily essential requirements of the present invention. In each embodiment, by adopting an underwater construction apparatus and its construction method different from the conventional one, an unprecedented underwater construction apparatus and its construction method are obtained, and the underwater construction apparatus and its construction method are described respectively.

  Hereinafter, an underwater construction apparatus and its construction method in an underwater structure of the present invention will be described with reference to the accompanying drawings.

  FIGS. 1-7 shows Example 1 of this invention, and this example applies this invention to the removal operation | work of the removal object of a seabed.

  As shown in the figure, a hoist ship 1 and a hoist body 3 are arranged in a hoist ship 1. The hoist body 3 is provided so as to be able to turn with respect to the hoist ship 1, and includes a crane arm 4 that can be raised and lowered, and a rope 5 for suspension is suspended from a tip 4 </ b> A of the crane arm 4. The rope 5 is configured to be wound and fed out by the hoist body 3.

  A grab bucket 6 as a suspended object is connected to and suspended from the end of the rope 5. The grab bucket 6 is provided with a suspended object device 11, and the suspended object device 11 includes a transponder 12, a pressure gauge 13, a control unit 14, and a transmission / reception unit 15 as transmission means.

  The control unit 14 transmits the depth measurement data measured by the pressure gauge 13 to the hoist ship device 2 mounted on the hoist ship 1 via the transmission / reception unit 15 in real time by wireless communication using ultrasonic waves. Send.

  The hoist ship device 2 includes a control unit 21, a transmission / reception unit 22, a transducer 23, an operation unit 24, a GPS device 25, and a display unit 26 as a display unit.

  The control unit 21 receives the depth measurement data transmitted from the transmission / reception unit 15 of the suspended article device 11 via the transmission / reception unit 22 in real time. The transducer 23 detects an ultrasonic signal transmitted from the transponder 12 of the suspended object device 11, and the control unit 21 determines the orientation of the suspended object device 11 based on the signal detected by the transducer 23. And the distance are calculated in real time to obtain plane position measurement data.

  Then, the control unit 21 causes the display unit 26 to display the position of the suspended object device 11 in three dimensions in real time based on the depth measurement data and the planar position measurement data of the suspended object device 11. Further, the control unit 21 can change the display form of the display unit 26 or display the selected portion in an enlarged manner as needed by operating the operation unit 24. The display form on the display means 26 will be described later.

  The antenna of the GPS device 25 is attached at one point to the tip 4A of the crane arm 4 of the hoist ship 1 which is a suspended load position, two places at arbitrary remote positions on the hoist ship 1, and a total of three places. The control unit 21 causes the display unit 26 to display the absolute position of the tip 4A, that is, the position based on the latitude and longitude, from the three position measurement data measured by the GPS device 25. Thereby, it is possible to display the positional relationship between the tip 3A of the hoist and the suspended article device 11. Further, the control unit 21 relates to the size of the hoist ship 1 input in advance and the positions of the two GPS antennas on the hoist ship 1 from the two position measurement data on the hoist ship 1 measured by the GPS device 25. Based on the coordinate data, the plane position and range based on the latitude and longitude of the hoist 1 are displayed on the display means 26. It should be noted that the display form of the display means 26 can be changed or the selected portion can be enlarged and displayed as needed by operating the operation unit 24.

  A swiveling scanning sonar 31 is provided at the front of the hoist 1. The scanning sonar 31 includes a transmitter / receiver 32. The transmitter / receiver 32 transmits an ultrasonic transmission beam 33 into water, and receives a reception beam 35 which is an echo reflected by the seabed 34 and returned. The transmission beam 33 is simultaneously transmitted from the transducer 32 toward all directions in the water at a certain depression angle (tilt angle) to form an omnidirectional umbrella beam. The reception beam 35 is a beam having directivity formed by scanning the transducer 32 in the circumferential direction, and rotates 360 ° in a spiral at a high speed. By receiving echoes with the reception beam 35 and analyzing the obtained reception signal, it is possible to obtain three-dimensional topographic information on the seabed over a wide area.

  In this way, the scanning sonar 31 transmits and receives the transmission beam 33 from the transmitter / receiver 32 all at once at a certain depression angle (tilt angle) without moving the hoist ship 1. An ultrasonic transmission beam 33 is transmitted from the waver 32 to the water, a reception beam 35 which is an echo is received by scanning in a predetermined direction, and a three-dimensional image of the seabed 34 is displayed on the basis of the received reception beam 35. 26 can be displayed.

  As shown in FIG. 5, a survey ship 41 having navigation means includes a narrow multi-beam search sonar 42. The narrow multi-beam sonar 42 is provided with a transmitter / receiver 43 on the bottom 41A. The narrow multi-beam detection sonar 42 transmits an ultrasonic wave in a range of 120 degrees or more with respect to the center axis of the hull from the transmitter / receiver 43 downward and horizontally. The reflected wave from the seabed is received and recorded while detecting the direction with an accuracy of 1 degree angle or less, and a three-dimensional image of the topography of the seabed 34 is automatically created. Further, the surveying ship 41 is provided with a transmission / reception unit 44, and sends the data of the three-dimensional image of the topography of the seabed 34 measured by the narrow multi-beam sonar 42 to the transmission / reception unit 22 of the hoist ship 1, As shown in FIG. 6, the control unit 21 displays a three-dimensional image of the topography of the seabed 34 on the display means 26. The survey ship 41 includes the GPS device 25, and the GPS device 25 can obtain a plane position based on the latitude and longitude of the survey ship 41.

  Next, the display form of the display screen in the display means 26 will be described with reference to FIG. The display means 26 is provided on the hoist ship 1 or in the crane cab of the hoist body 3.

  The display screen 51 of the display means 26 includes a plane position display section 52, a plane position enlarged display section 53, a vertical position display section 54 that displays the depth, and a three-dimensional image display section 55 that displays the topography of the seabed 34 as a three-dimensional image. I have.

  The plane position display section 52 displays a map of the plane position, range, and shape of the hoist ship 1, the hoist body 3, the grab bucket 6, and the removed object range 7A, where the vertical axis is latitude and the horizontal axis is longitude. The removed object range 7 </ b> A is displayed on the planar position display unit 52 by the control unit 21 based on the survey data of the narrow multi-beam search sonar 42. Alternatively, on the basis of the survey data of the narrow multi-beam search sonar 42, the occupant of the hoist ship 1 may create and display the removed object range 7A.

  The plane position enlarged display section 53 is an enlarged display of the plane position display section 52, and the tip 4A of the crane arm 4, the grab bucket 6, and the removed object range 7A, where the vertical axis is latitude and the horizontal axis is longitude. For the reference range 56, the planar position, range, and shape are displayed as a map. The tip 4A is indicated by a circle that is a figure. Further, the reference range 56 includes a double circle portion 56A displayed so as to overlap with the removed object range 7A, and front and rear passing through the center of the double circle portion 56A, and left and right axis portions 56Y and 56X. It becomes easy to grasp the relative position between the tip 4A and the grab bucket 6. The front-rear shaft portion 56Y is the Y-axis direction, and the left-right shaft portion 56X is the X-axis direction. In FIG. 7, the horizontal axis is the X direction. Further, the X-axis direction and the Y-axis direction may be matched with the left-right direction and the front-rear direction of the hoist ship 1.

  The vertical position display unit 54 displays the vertical position, range, and shape of the grab bucket 6 and the removed object range 7A as a map, with the vertical axis representing depth and the horizontal axis representing the X-axis direction or Y-axis direction. Note that the longitudinal position display unit 54 allows the occupant to switch the horizontal axis to the X-axis direction or the Y-axis direction using the operation means of the display means 26. In FIG. 7, the horizontal axis is the X direction.

  The three-dimensional image display unit 55 displays the topography of the seabed 34 including the removal object 7 in real time as a three-dimensional image by the scanning sonar 31.

  Next, a method for removing the removal object 7 such as debris on the seabed 34 will be described. First, a survey ship 41 having navigation means obtains three-dimensional image data of the seabed 34 including the removal object 7 using a narrow multi-beam sonar 42. Based on this three-dimensional image data, a three-dimensional image of the seabed 34 including the removal object 7 is displayed on the three-dimensional image display unit 55, and a removal object range 7A is displayed on the other display units 52, 53, and 54. In this case, the position coordinates and depth of the removal object 7 can be specified by the measurement data of the narrow multi-beam sonar 42, and the measurement data is output to the control unit 21.

  As shown in FIG. 1, the hoist ship 1 is anchored at a position where the removal object 7 comes below the tip 4 </ b> A of the crane arm 4. The operator of the hoist body 3 aligns the tip 4A of the crane arm 4 with the removed object range 7A with reference to the plane position display unit 52, and uses the plane position enlarged display unit 53 and the longitudinal position display unit 54 to grab the bucket 6. The position of the grab bucket 6 is adjusted while confirming the plane position and the vertical section position (underwater position), and the removal object 7 is scooped up by the grab bucket 6. During the work, the plane position of the tip 4A and the underwater grab bucket 6 is displaced due to the influence of the tidal current indicated by the white arrow, but the displacement due to the influence of the tidal current can be confirmed by the planar position enlarged display portion 53. The grab bucket 6 can be adjusted to the position 7.

  Then, during operation of the grab bucket 6, the scanning sonar 31 is driven, and by this data, the topography of the seabed 34 including the removal object 7 is displayed on the three-dimensional image display unit 55 as a three-dimensional image. The state of the object 7 can be visually confirmed.

  Thus, by outputting the measurement data of the narrow multi-beam sonar 42 to the control unit 21, the spatial coordinates of the removal object 7 can be displayed on the display screen 51.

  Further, since the relative positions of the tip 4A of the crane arm 4, the hoist ship 1, the hoist body 3 and the removed object range 7A can be displayed, the flow direction of the grab bucket 6 due to the tidal current can be reflected in the operation of the hoist body 3.

  In addition, since the removal object 7 can be confirmed from a bird's-eye view by the scanning sonar 31 to which the swivel sonar sensor is applied, the progress of the work can be reliably grasped and there is no leftover. In this way, the certainty of the work is improved and the subsequent confirmation work is also reduced.

  Thus, in this embodiment, corresponding to claim 1, a hoist ship 1, and a grab bucket 6 that is a suspended object that is suspended by the hoist body 3 of the hoist ship 1 to the vicinity of the seabed 34 that is the bottom of the water, A transponder 12 provided in the grab bucket 6, a transducer 23 provided in the hoist ship 1 for receiving an ultrasonic signal transmitted from the transponder 12, and a scanning sonar 31 provided in the hoist ship 1 for detecting the shape of the seabed 34; The display means 26 for displaying a three-dimensional image of the seabed 34 detected by the scanning sonar 31 is provided, so that the transducer 23 is suspended while confirming the position of the grab bucket 6, and the scanning sonar 31 is used during the work. The work status can be confirmed with a three-dimensional image.

  In this way, in this embodiment, in response to claim 2, the suspended object is the grab bucket 6 which is a removing device for removing the object to be removed from the bottom of the water. The state of the seabed 34 from which the object has been removed and the object to be removed has been removed can be confirmed with a three-dimensional image.

  In this way, in this embodiment, corresponding to claim 4, the suspended object is the removal object 7 from the bottom of the water, the position of the removal object 7 is confirmed using the transducer 23, and the removal apparatus is used. Since the grab bucket 6 lifts up the removal object 7 and the hoist ship 1 is anchored, the scanning sonar 31 displays a three-dimensional image of the seabed 34 including the removal object 7 on the display means. The position of the suspended grab bucket 6 can be confirmed, the seabed removal object 7 can be removed by the grab bucket 6, and the removal operation can be performed while confirming the removal status with a three-dimensional image.

  Further, as an effect of the embodiment, since the scanning sonar 31 is provided on the same side as the hoist body 3, the state of the seabed 34 from which the removal object is removed by the hoist body 3 can be obtained in real time by the scanning sonar 31. it can. Furthermore, the state of the removal object can be confirmed by measuring with the narrow multi-beam sonar 42 in advance. In addition, the display screen 51 can display each of the display units 52, 53, 54, and 55 at the same time, or can select and display the display units at least. By displaying them simultaneously, it is possible to efficiently perform the work if the plane and the longitudinal position of the grab bucket 6 are confirmed at the same time.

  FIGS. 8-11 shows Example 2 of this invention, attaches | subjects the same code | symbol to the same part as the said Example 1, and abbreviate | omits the detailed description and demonstrates in detail. In this example, the suspended object is a block 61 made of concrete, and the suspended object device 11 is provided at the lower end of the block 61 or the rope 5. The suspended article device 11 may be provided on a hanging load hook provided at the lower end of the rope 5.

  In the plane position display section 52, the vertical axis is latitude and the horizontal axis is longitude, with respect to the hoist ship 1, the hoist body 3, the suspended block 61, the target installation position 62, the installation completion position 62A, and the planned installation position 62B. The plane position, range, and shape are displayed on a map. As shown in FIG. 10, when the blocks 61 are installed side by side vertically and horizontally, the installation completion position 62A is displayed as a circle, the target installation position 62 is displayed as a black circle or a circle of a color different from the installation completion position 62A, and the planned installation position 62B is indicated by a chain line circle. The block 61, the target installation position 62, the installation completion position 62A, and the planned installation position 62B may be displayed so that they can be discriminated with different figures and colors as appropriate.

  The plane position enlarged display unit 53 is an enlarged display of the plane position display unit 52. The vertical axis is latitude and the horizontal axis is longitude, the tip 4A of the crane arm 4, the suspended block 61, and the above-described block. For the target installation position 62, the planar position, range, and shape are displayed as a map. In addition, the crossing location of the front and rear and left and right shaft portions 56Y and 56X is displayed together at the target installation position 62.

  The vertical position display unit 54 is an enlarged display of the planar position display unit 52, and the vertical axis is the depth of the vertical axis and the horizontal axis is the X-axis direction or the Y-axis direction. The position, range and shape are displayed on the map. Note that the longitudinal position display unit 54 can switch the horizontal axis to the X-axis direction or the Y-axis direction using the operation means of the display means 26. Further, the installation completion position 62 </ b> A may be displayed on the longitudinal position display unit 54.

  The three-dimensional image display unit 55 displays the topography of the seabed 34 including the block 61 that has been installed by the scanning sonar 31 in real time as a three-dimensional image.

  Furthermore, in the present embodiment, the following configuration can be adopted.

  The divers 71A and 71B carry the diver portable device 72, respectively. The diver portable device 71 and the control unit 21 of the hoist ship 1 are configured to be capable of wireless communication by underwater acoustic communication using ultrasonic waves. The diver portable device 71 includes the pressure gauge 13, the transponder 12, the control unit 14, the transmission / reception unit 15, and the notification unit 73. The depth measurement is performed using the pressure gauge 13 in the same manner as the suspended object. The position of the diver portable device 71 can be detected based on the data and the plane position measurement data measured using the transponder 12, and the control unit 21 determines the position of each diver 71A, 71B as the plane. The information is displayed on the position display unit 52 and the longitudinal position display unit 54. In FIG. 10, divers 71 </ b> A and 71 </ b> B are displayed on the planar position display unit 52 and the longitudinal position display unit 54.

  The control unit 21 receives the notification signal from the hoist ship 1 through the transmission / reception unit 15 through wireless communication using ultrasonic waves, and notifies the divers 71A and 71B via the notification unit 73. . In addition, the alerting | reporting part 73 should just be able to alert | report the alert signal from the hoist ship 1 to the divers 71A and 71B, and when alerting | reporting with an audio | voice, it can comprise with an earphone. In this case, the operator of the hoist body 3 or the occupant of the hoist ship 1 confirms the display means 26 and notifies when the divers 71A and 71B enter the predetermined range with respect to the suspended block 61. In addition, the control unit 21 calculates the distance from the divers 71A and 71B to the suspended block 61 from various data such as position information. You may make it alert | report via the parts 22 and 15. FIG. Or you may alert | report by the control part 14 of the diver portable apparatus 72, and what is necessary is just to input various data, such as position information, into the control part 14 of the diver portable apparatus 72 wirelessly.

  The control unit 21 receives the depth measurement data transmitted from the transmission / reception unit 15 of the diver portable device 72 via the transmission / reception unit 22 in real time. The transducer 23 detects an ultrasonic signal transmitted from the transponder 12 of the diver's portable device 72, and the control unit 21 determines the direction and distance of the diver's portable device 72 based on the signal detected by the transducer 23. Is calculated in real time to obtain plane position measurement data. And the control part 21 displays the position of the diver portable apparatus 72 on the display means 26 in three dimensions in real time based on the depth measurement data and planar position measurement data of the diver portable apparatus 72. In this embodiment, the number of divers is two, but up to six can be displayed simultaneously. The depth accuracy is 10 cm. And the depth scale can be set according to the field situation.

  Then, the surveying ship 41 having the navigation means obtains three-dimensional image data of the seabed 34 including the removal object 7 using the narrow multi-beam search sonar 42. In this example, when the installation location is determined by design, the block 61 may be installed without performing surveying by the narrow multi-beam search sonar 42.

  The hoist ship 1 is anchored at a position where the removal object 7 comes below the tip 4A of the crane arm 4. Then, the operator of the hoist main body 3 adjusts the position while confirming the plane position and the longitudinal position (underwater position) of the block 61 suspended by the planar position enlarged display unit 53 and the longitudinal position display unit 54, and sets the target. According to the installation position 62, the block 61 of the seabed 34 is grounded, and the rope 5 is removed from the block 61 by the divers 71A and 71B. In addition, when the rope 5 is provided with the automatic disconnection device, the work of the divers 71A and 71B can be omitted.

  Further, the scanning sonar 31 is driven, and the topography of the seabed 34 including the block 61 is displayed as a three-dimensional image on the three-dimensional image display unit 55 as shown in FIG. The situation can be confirmed visually.

  In this example, by displaying the spatial coordinates of the divers 71A and 71B on the display means 26, safety in underwater work can be improved. In addition, in installation and installation work in a deep water depth or special area, work dependency on the divers 71A and 71B can be reduced, which can contribute to improving the safety of the divers 71A and 71B.

  Thus, in this embodiment, corresponding to claim 1, the hoist ship 1, the block 61 that is a suspended object that is suspended by the hoist body 3 of the hoist ship 1 to the vicinity of the seabed 34 that is the bottom of the water, A transponder 12 provided in the block 61, a transducer 23 provided in the hoist ship 1 for receiving an ultrasonic signal transmitted from the transponder 12, a scanning sonar 31 provided in the hoist ship 1 for detecting the shape of the seabed 34, Since the display means 26 for displaying a three-dimensional image of the seabed 34 detected by the scanning sonar 31 is provided, the transducer 23 is suspended while confirming the position of the block 61, and the working status is detected by the scanning sonar 31 during the work. It can be confirmed with a three-dimensional image.

  In this way, in this embodiment, since the object to be suspended is the block 61 which is the bottom installed object, corresponding to the third aspect, the hoist ship 1 is used while confirming the position of the block 61 using the transducer 23. Thus, the block 61 is installed on the seabed 34, and the state of the block 61 and the seabed 34 can be confirmed with a three-dimensional image.

  As described above, in this embodiment, the position of the block 61 that is the bottom installation suspended by using the transducer 23 is confirmed, the block 61 is installed on the seabed 34 by the hoist body 3, and the hoist ship 1 is anchored. Since the scanning sonar 31 displays a three-dimensional image of the seabed 34 including the block 61 on the display means 26, the position of the suspended block 61 is confirmed using the transducer 23, and the block 61 is It can install in 34 and can perform removal work, confirming the installation condition with a three-dimensional image.

  Further, as an effect of the embodiment, by using the diver portable device 72, the crew of the hoist ship 1 grasps not only the suspended object but also the positions of the divers 71A and 71B and performs the construction. Can do. Further, since the control unit 21 displays the target installation position 62 and the like on the display screen 51, the installation work can be easily performed.

The present invention is not limited to this embodiment, and various modifications can be made within the scope of the gist of the present invention. For example, the suspended object is not limited to the embodiment, and may be various types, for example, the removal device may be a vacuum type or a chain type,
The bottom installation may be rubble or fishing reefs.

1 Hoist ship 3 Hoist body 6 Grab bucket (suspended object, removal device)
7 Removal object 7A Removal object range 12 Transponder 23 Transducer 26 Display means 31 Scanning sonar 34 Sea bottom (water bottom)
55 3D image display 61 block (suspended object, estimated installation object)

Claims (5)

Hoist ship, suspended object hung near the bottom of the water by the hoist body of this hoist ship, transponder provided in the suspended object, and ultrasonic signal transmitted from the transponder provided in the hoist ship An underwater construction, comprising: a transducer for receiving the water; a scanning sonar provided on the hoist ship for detecting the shape of the bottom; and a display means for displaying a three-dimensional image of the bottom detected by the scanning sonar. apparatus. The underwater construction apparatus according to claim 1, wherein the suspended object is a removal apparatus that removes an object to be removed from the bottom of the water. The underwater construction apparatus according to claim 1, wherein the suspended object is a bottom installation object. The construction method using the underwater construction apparatus according to claim 2, wherein the suspended object is an object to be removed from the bottom of the water, the position of the object to be removed is confirmed using the transducer, and the removal apparatus removes the removal object. A construction method using an underwater construction apparatus, wherein a three-dimensional image of a water bottom including an object to be removed is displayed on the display means by the scanning sonar in a state where the object is lifted and the hoist ship is anchored. The construction method using the underwater construction apparatus according to claim 3, wherein the position of the bottom installation object suspended using the transducer is confirmed, the bottom installation object is installed on the bottom by the hoist body, and the hoist A construction method using an underwater construction apparatus, wherein a three-dimensional image of a water bottom including the water bottom installation object is displayed on the display means by the scanning sonar while the ship is anchored.