JP2014092387A - Automatic level surveying device having remote monitoring function, dredging method, pile driving method and block installation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform level management for a target.SOLUTION: A telescope 11a of an automatic level 11 is linked with a first rotary driving motor 12A for focusing the telescope. A target object is captured by a CCD camera 15 through the telescope 11a, a video captured by the CCD camera is transmitted to transmission means and the video is displayed on a monitor screen 34 of monitor means. An optical axis direction of the CCD camera 15 matches a collimation line direction of the automatic level 11. Driving of the first rotary driving motor 12A and focusing of the CCD camera 15 are remotely controlled by a controller 2 through a control device 22.

Description

  The present invention relates to an automatic level surveying device having a remote monitor monitoring function, a saddle method, a pile driving method, and a block installation method.

  For example, when an object is lowered into the sea on a marine heavy work vessel, the lowering management is performed with reference to the markings provided on the wire rope with reference to the sea surface.

  However, in actuality, it is difficult to stop the lowering operation accurately at a predetermined depth due to fluctuations in the tide level, and an error of several centimeters to several tens of centimeters occurs at the stop position. In addition, even when the unloading is guided by level surveying using a surveying instrument installed on land, between the transmission of instructions by the transceiver from the land side and the operation of the crane operator on the heavy work ship side in accordance with the instructions. Cause a time lag.

  Therefore, the surveying means is provided with an imaging means for capturing the target to be collimated as an image so that the crane operator can wirelessly see the image sent wirelessly on the monitor screen in real time. It has been proposed (see, for example, Patent Document 1).

JP 2010-286281 A

  However, in the technique described in Patent Document 1, since the axis of the collimating lens of the surveying means and the axis of the imaging means are not set on the same extension line, the position can be managed with respect to the target. Level management (level management) is not possible.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic level surveying device, a dredging method, a pile driving method, and a block installation method having a remote monitor monitoring function capable of level management with respect to a target.

  The first aspect of the present invention is a level surveying means, a first driving means linked to a telescope of the level surveying means to focus the telescope, a photographing means for photographing a target object through the telescope, and the photographing means It is possible to control the transmission means for transmitting the video imaged in the above, the monitor means having a monitor screen for displaying the video image transmitted from the transmission means, the driving of the first driving means and the focusing of the imaging means. And an optical axis direction of the photographing unit and a collimation direction of the level surveying unit coincide with each other.

  In this way, since the optical axis direction of the photographing means and the collimation direction of the level surveying means coincide with each other, the change in the target position is monitored as in the case of manual level surveying by visual observation. It can be grasped in real time through the screen. Even if the monitoring means is installed at a position away from the level surveying means, it is possible to instantly know that the target has reached the predetermined height, so the target level management at a position away from the level surveying means is possible. You can also Further, since it is not necessary for the operator to look directly into the level surveying means, it is also possible to install the level surveying means at a position where collimation is difficult.

  According to a second aspect of the present invention, the level surveying unit is supported on a base so as to be rotatable about a vertical axis via a rotation support unit, and the level surveying unit is supported by the second driving unit via a support bracket. Means is provided, the second drive means and the rotation support mechanism are linked together, and the level surveying means is rotated about a vertical axis by driving the second drive means. The driving of the second driving means can also be controlled.

  In this way, the collimation direction can also be adjusted by controlling the control device by the operation of the operator, driving the second drive means, and rotating the level surveying means.

  In this case, as described in claim 3, the first driving means is attached to the support bracket, the first driving means is linked to a focusing handle of the level surveying means, and the first driving means is connected to the first bracket. You may make it perform the focusing operation | movement of the said level surveying means by the drive of a drive means.

  If it does in this way, the 1st drive means which rotates the focusing handle of the level surveying means can be easily attached with the 2nd drive means.

  According to a fourth aspect of the present invention, the photographing unit is housed and supported in a photographing unit box, and the photographing unit box is attached to the level surveying unit, whereby the optical axis direction of the photographing unit is set. And the collimating line direction of the level surveying means may be configured to coincide with each other.

  In this way, the optical axis direction of the imaging means and the collimation direction of the level surveying means can be matched by simply attaching the imaging means box.

  As described in claim 5, it is desirable to further include a controller capable of remotely operating the control device. Here, the connection between the control device and the controller includes both a wired case and a wireless case.

  In this way, the first driving means, the photographing means (for example, a CCD camera), etc. can be remotely operated by the controller at a position distant from the position where the level surveying means is installed while viewing the monitor screen.

  The inventions of claims 6 to 8 are a saddle method, a pile driving method, and a block installation method using the automatic level surveying device according to any one of claims 1 to 5. And the invention of claim 6 is a target object of the first point, while photographing the portion provided with the marking of the support wire for hanging the grab bucket using the photographing means arranged at the second point, It is characterized in that the support wire is rolled down while observing that the marking appears on the monitor screen of the monitor means at the third point. According to the seventh aspect of the present invention, while photographing the portion provided with the marking of the support wire that suspends the pile driving tool, which is the target object of the first point, using the photographing means arranged at the second point, While observing that the marking is reflected on the monitor screen of the monitor means at the point 3, the stop management of the pile driving is performed. According to the eighth aspect of the present invention, the third target object at the first point is photographed by using the photographing means disposed at the second point while marking the portion of the support wire that suspends the block. The block is guided to be installed while observing that the marking is reflected on the monitor screen of the monitor means.

  In the present invention, in which the target object is photographed by the photographing means through the telescope of the level surveying means, the optical axis direction of the photographing means and the collimation line direction of the level surveying means are matched, so that the manual level by visual inspection is used. As with surveying, changes in the target position can be grasped in real time through the monitor screen.

It is explanatory drawing which shows schematic structure of the automatic level surveying apparatus which concerns on this invention. (A)-(e) is an image figure of the horizontal digging work performed using the said automatic level surveying, respectively. It is explanatory drawing which shows an example of the positional relationship of an automatic level surveying apparatus and a target (marking of a support wire). It is explanatory drawing which shows an example of a monitor image.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram showing an automatic level surveying apparatus according to the present invention.

  An automatic level surveying apparatus 1 according to the present invention includes a level surveying unit (including an auto level 11 as a level surveying means, an autofocus type CCD camera 15 (photographing means) and a control device 22 for controlling them), and a control device. And a controller 2 for remotely operating the controller 22. The controller 2 has a communication antenna 2a, and the level surveying unit can be remotely operated from a remote position by sending a control signal to the communication antenna 22a of the control device 22 through the communication antenna 2a.

  The level surveying unit is arranged on a tripod 3 as a base in the installation position. On the front upper side of the auto level 11 of the level surveying unit, a first rotary drive motor 12A (first drive means) for focusing the auto level 11 telescope 11a is provided via a motor fixing bracket 13 (support bracket). Attached. The focusing handle 11b of the telescope 11a is mechanically linked to the first rotary drive motor 12A via a first drive belt 14A (for example, a wide fibrous band having irregularities), and the first rotary drive motor 12A. The focusing operation of the telescope 11a can be controlled by the rotation of.

  Further, a CCD camera 15 (photographing means) for photographing the target through the telescope 11a of the auto level 11 is provided at the rear part of the auto level 11. The CCD camera 15 is housed in a camera box 16 (photographing box) in a state of being supported at a predetermined position. The camera box 16 is attached to a camera box fixing bracket 17 on the auto level 11 side using a fixing screw 18. The camera box fixing bracket 17 is detachably attached to the auto level 11 using a fixing screw 18.

  In this way, the camera box 16 is attached to the rear part of the auto level 11 so that the optical axis direction of the CCD camera 15 coincides with the collimation line direction of the auto level 11 so that the image captured by the CCD camera 15 can be viewed. Level management is possible.

  The camera box 16 (CCD camera 15) and the camera box fixing bracket 17 can be easily detached from the auto level 11 by loosening the fixing screw 18.

  The auto level 11 is supported on the tripod 3 via the rotation support means 21 so as to be rotatable around the vertical axis. A second rotary drive motor 12B (second drive means) is attached to the lower side of the front portion of the auto level 11 via a motor fixing bracket 13. The second rotary drive motor 12B is linked to the rotation support means 21 via the second drive belt 14B, and the entire auto level 11 is rotated around the vertical axis by driving the second rotary drive motor 12B. The collimation direction of level 11 can be adjusted.

  The motor fixing bracket 13 is also fixed to the front portion of the auto level 11 by a fixing screw 18. By loosening the fixing screw 18, the rotation driving motors 12A and 12B and the driving belts 14A and 14B are moved together with the motor fixing bracket 13. It can be easily removed from the auto level 11.

  The first and second rotational drive motors 12A and 12B and the CCD camera 15 are electrically linked to a control device 22 having a communication antenna 22a, and images taken by the CCD camera 15 are installed at different locations. To the monitoring means (monitor screen 34). As a result, the operator can view the video through the monitor screen 34 in another place.

  Therefore, the operator rotates the first and second rotary drive motors 12A and 12B via the control device 22 by the controller 2 while watching the video on the monitor screen 34, and collimates (focuss) and collimates. The direction adjustment operation and the focusing operation of the CCD camera 15 can be controlled.

  The first and second rotary drive motors 12A and 12B include a known tensioner mechanism that prevents the drive belts 14A and 14B from loosening. The rotation support means 21 linked to the first rotation drive motor 12 </ b> A includes a rotation runaway prevention device 23. Although not specifically shown in the figure, this device 23 is configured so that a rotation runaway prevention metal fitting is fitted into the base and a known rotation runaway prevention sensor (for example, a micro switch) slides on the metal fitting. Rotational runaway can be prevented by stopping the rotation when the sensor reaches a specified point.

  Then, the dredging method in the existing quay lower part (foundation rubble part) using the said automatic level surveying apparatus is demonstrated. In addition, as shown to Fig.2 (a)-(e), it is a case where a glove dredger (not shown) equipped with the flat nail | claw type | mold sealing glove bucket 31 is used, and an operator performs a horizontal moat.

  First, the portion A (see FIG. 4) provided with the target marking 33 (see FIG. 3) of the support wire 32 that suspends the grab bucket 31, which is the target object at the first point, has reached a predetermined height. In order to detect this, the auto level 11 telescope 11a and the CCD camera 15 arranged at the second point are focused and the collimation direction of the auto level 11 is adjusted by remote control by the controller 2.

  Then, the marking 33 of the support wire 32 is arranged so that the cutting edge at each opening degree (100%, 75%, 50%, 25%, 0%) of the grab bucket 31 is substantially coincident with the horizontal axis F and becomes horizontal. The provided part A is collimated at the auto level 11, level control is performed with the marking 33 as a reference, and the hoisting and lowering operations by the crane operation are repeated (see FIGS. 2 (a) to 2 (e), respectively), and horizontal Dig. Note that a plurality of markings 33 are usually provided at a plurality of predetermined positions, and the reference marking 33 is appropriately selected according to the work.

  More specifically, the operator places the image transmitted from the control device 22 at the third point, and a portion A of the support wire 32 provided with a plurality of markings 33 on the monitor screen 34 (see FIG. 4) of the monitor means. Confirming that the cutting edge at each opening degree (100%, 75%, 50%, 25%, 0%) of the grab bucket 31 is positioned on the horizontal axis F from the positional relationship with each marking 33. Repeat the hoisting and lowering operations by operating the crane so that it is maintained. That is, when it is rolled up and dug up with an opening degree of 100% (see FIG. 2 (a)), the cutting edge rises, so for example, the support wire 32 is wound down with an opening degree of around 75% (see FIG. 2 (b)), Return the cutting edge to the horizontal axis F. Similarly, the lowering of the support wire 32 is repeated, for example, with an opening degree of 50% and 25%, and the blade edge is maintained so as to be positioned on the horizontal axis F (see FIGS. 2C and 2D). By maintaining that the blade edge of the grab bucket 31 is positioned on the horizontal axis F in this way, the horizontal digging can be completed so that there is no digging left when the degree of opening is 0% (see FIG. 2E). In FIG. 4 showing the monitor screen 34, V is a vertical line and H is a horizontal line.

  As a result, the flat claw-type sealed grab bucket 31 can reliably catch the earth and sand on the foundation discard stone without digging up the discard stone. That is, since the portion A provided with the marking 33 of the support wire 32 is collimated by the auto level 11 at a fixed height, the cutting edge of the grab bucket 31 can be guided at a constant depth at any time regardless of the tide level fluctuation. . Further, since the depth of the grab bucket blade edge can be grasped from the image, the operator can monitor the portion A where the marking 33 of the support wire 32 is provided via the auto level 11 and can accurately perform the hoisting / lowering operation. Therefore, dredging work can be performed without damaging the structural section of the existing quay.

  The CCD camera 15 and the motors 12A and 12B can be easily removed, and if they are removed, they can be used as a normal auto level.

  In addition to the embodiment described above, the present invention can be implemented with the following modifications.

  (i) Using the motor fixing bracket 13 and the camera box fixing bracket 17, it is possible to attach a protective cover that covers the level surveying unit (auto level 11, CCD camera 15 and rotation support means 21). This cover only needs to be opened at the front surface corresponding to the lens portion of the auto level 11 telescope, and open at the rear side of the CCD camera 15 so that the bubble tube can be seen.

  (ii) As the photographing means, a CMOS camera can be used instead of the CCD camera.

  (iii) Enable the monitoring means to receive video signals from level surveying units installed in different locations, monitor targets simultaneously from multiple locations, level survey while watching the video simultaneously on the monitor screen, work Can also be done.

  (iv) It is possible to use an acceleration sensor or a small gyro instead of the bubble tube to perform horizontal control in a sealed state.

  (v) A joystick can be used as a controller to control rotation and focus.

  (vi) In addition to the unwinding management during the dredging operation described above, it can also be used for pile stop management, installation guidance for blocks and the like.

  In the case of pile stop management, the portion of the target object at the first point, which is provided with the marking of the support wire for hanging the pile driver, is photographed using the photographing means arranged at the second point. On the other hand, stakeout stop management is performed while observing that the marking is reflected on the monitor screen of the monitor means at the third point. In the case of the block installation guidance, the third target object at the first point is photographed using the photographing means arranged at the second point while the portion of the support wire marking that suspends the block is provided. The block is guided to be installed while observing that the marking is reflected on the monitor screen of the monitor means at the point of.

1 level surveying unit 2 controller 2a antenna 11 auto level 11a telescope 11b focusing handle 12A, 12B rotation drive motor 13 motor fixing bracket (support bracket)
15 CCD camera 16 Camera box (photographing means box)
17 Camera box fixing bracket 18 Fixing screw 21 Rotation support means 22 Control device 22a Antenna 31 Grab bucket 32 Support wire 33 Marking 34 Monitor screen

Claims (8)

Level surveying means;
First driving means linked to the telescope of the level surveying means to focus the telescope;
Photographing means for photographing a target object through the telescope;
Transmitting means for transmitting the video imaged by the imaging means;
Monitor means having a monitor screen for displaying video transmitted from the transmission means;
A control device capable of controlling driving of the first driving means and focusing of the photographing means;
An automatic level surveying apparatus having a remote monitor monitoring function, wherein an optical axis direction of the photographing unit and a collimation direction of the level surveying unit coincide with each other.
The level surveying means is supported on a base so as to be rotatable around a vertical axis via a rotation support means,
The level surveying means is provided with a second driving means via a support bracket,
The second driving means and the rotation support mechanism are linked,
The level surveying means is configured to rotate about a vertical axis by driving the second driving means,
2. The automatic level surveying device having a remote monitor monitoring function according to claim 1, wherein the control device can also control driving of the second driving means.
A first driving means is attached to the support bracket,
The first driving means is linked to a focusing handle of the level surveying means;
3. The automatic level surveying apparatus having a remote monitor monitoring function according to claim 2, wherein a focusing operation with the level surveying unit is performed by driving the first driving unit.
The photographing means is housed and supported in a photographing means box,
4. The structure according to claim 1, wherein the photographing means box is attached to the level surveying means so that an optical axis direction of the photographing means coincides with a collimation direction of the level surveying means. An automatic level surveying instrument with a remote monitor monitoring function described in 1.
Furthermore, the automatic level surveying apparatus provided with the remote monitor monitoring function of any one of Claims 1-4 provided with the controller which can operate the said control apparatus remotely.
A dredging method using the automatic level surveying device having a remote monitor monitoring function according to any one of claims 1 to 5,
The marking is monitored at the third point while photographing the target object at the first point using the photographing means arranged at the second point while marking the portion of the support wire that suspends the grab bucket. A saddle method, comprising: managing the lowering of the support wire while observing on the monitor screen of the means.
A pile driving method using an automatic level surveying device having a remote monitor monitoring function according to any one of claims 1 to 5,
While marking the target object of the first point, which is provided with the marking of the support wire for hanging the pile driving tool, using the photographing means arranged at the second point, the marking at the third point A pile driving method characterized in that the pile stop management is performed while observing on the monitor screen of the monitor means.
A block installation method using the automatic level surveying device having a remote monitor monitoring function according to any one of claims 1 to 5,
The portion of the target object at the first point, which is provided with the marking of the support wire that suspends the block, is photographed using the photographing means disposed at the second point, and the marking is monitored at the third point. A block installation method characterized in that the installation of the block is guided while watching on the monitor screen.

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