JP2023129567A - Underwater control system of construction machine - Google Patents

Abstract

To provide an underwater control system of a construction machine which can secure communication stability in controlling the construction machine working in the water, by using a radio communication technology.SOLUTION: An underwater control system of a construction machine for controlling the construction machine working in the water, by using an underwater sound communication, includes a command information transmission device which transmits command information as a sound wave to the construction machine, and a machine controller which receives the command information transmitted from the command information transmission device as the sound wave and controls an operation of the construction machine on the basis of the command information. The machine controller is mounted in the construction machine, and a frequency band of the sound wave is set in a range of 500 Hz and more and 10 kHz or less.SELECTED DRAWING: Figure 2

Description

The present invention relates to an underwater control system for construction machinery for controlling construction machinery that performs work underwater.

Traditionally, in marine construction and seawall construction, it has been an issue to ensure the workability and safety of divers working underwater.For example, in Patent Document 1, divers use machinery to perform construction work underwater. An underwater work support system that provides support during operation is disclosed.

Specifically, while machines that work underwater are equipped with visible light receivers, underwater workers' equipment is equipped with visible light transmitters, allowing underwater workers to operate the machines using underwater visible light. This will be carried out through communication. This allows underwater workers to maintain a sufficient distance from the machine, reducing the risk of coming into contact with or getting caught in the machine, or getting entangled in the machine, such as getting entangled in wiring. can.

Japanese Patent Application Publication No. 2016-78791

However, when operating a machine using underwater visible light communication, the communication status tends to depend on the turbidity of the water, and when the water is cloudy, the communication distance becomes significantly shorter. To work under such conditions, underwater workers have no choice but to operate the machines in close proximity, making it difficult to ensure the safety of underwater workers.

The present invention has been made in view of such problems, and its main purpose is to ensure communication stability when controlling construction machinery that performs work underwater using wireless communication technology. , to provide an underwater control system for construction machinery.

In order to achieve such an object, the underwater control system for construction machinery of the present invention is an underwater control system for construction machinery for controlling construction machinery that performs work underwater by using underwater acoustic communication. A command information transmitting device that transmits command information for a machine as a sound wave; and a machine control that receives the command information transmitted as a sound wave from the command information transmitter and controls the operation of the construction machine based on the command information. The construction machine is equipped with the machine control device , and the frequency band of the sound wave is set within a range of 500 Hz or more and 10 kHz or less .

According to the underwater control system for construction machinery of the present invention, since underwater acoustic communication is used as a wireless communication technology, construction machinery can be stabilized even at work sites in various water environments without depending on water quality etc. can be controlled. Therefore, even in water with high turbidity, divers and other underwater workers can safely control construction machinery while maintaining a certain distance between themselves and the construction machinery. Become.

Additionally, compared to the use of ultrasonic waves exceeding the audible range of about 30 to 40 kHz, which are generally used in underwater acoustic communications, there is a relative shift between the transmitter and receiver called Doppler shift. Even in water environments where the phenomenon of frequency band changes due to speed differences and the phenomenon of fluctuations in the received strength of sound waves called multipath fading occur, the effects of these phenomena can be minimized. This makes it possible to improve the stability of underwater acoustic communication.

Furthermore, the command information transmitting device can perform underwater acoustic communication with the machine control device installed on the construction machine if at least the transmitter that transmits the command information is placed underwater. Even if you are not underwater, you can input command information for controlling construction machinery to the command information transmitting device while on board or on land. Therefore, it is possible to improve the workability and safety of on-site workers, such as by reducing the diving time of underwater workers such as divers or by saving the number of underwater workers.

The underwater control system for construction machinery of the present invention is characterized in that a plurality of the sound waves are set with different frequency bands, and the command information is transmitted using the plurality of sound waves.

According to the underwater control system for construction machinery of the present invention, the same command information is carried by multiple carrier waves with different carrier wave frequency bands, so when receiving it, various factors such as the above-mentioned Doppler shift and multipath fading occur. It is possible to select and receive command information that is least affected by phenomena, underwater noise, etc., thereby further improving communication stability and making it possible to reliably control construction machinery.

The underwater control system for construction machinery of the present invention is characterized in that the command information transmitting device includes a noise detection section that detects underwater noise.

According to the underwater control system for construction machinery of the present invention, based on the frequency information of underwater noise detected by the noise detection section, noise belonging to a frequency band that does not correspond to either underwater noise or its harmonic frequency components is detected. Can be selected as carrier wave. Therefore, it is possible to eliminate the possibility of communication failures caused by at least those for which frequency information can be obtained among various underwater noises that impede underwater acoustic communication, thereby further improving the stability of underwater acoustic communication. becomes possible.

According to the present invention, underwater acoustic communication using a carrier wave whose carrier frequency band is set in a range of 100 Hz or more and 20 kHz or less, preferably 500 Hz or more and 10 kHz or less, is used, so it can be used at work sites in various water environments. Even if there is a problem, the stability of underwater acoustic communication can be ensured, making it possible to safely control construction machinery working underwater.

It is a diagram showing how an underwater suspended load turning device is controlled using an underwater control system in an embodiment of the present invention. 1 is a diagram schematically showing an underwater control system for construction machinery in an embodiment of the present invention. FIG. 3 is a diagram illustrating an example of using a plurality of carrier waves to convey command information in an embodiment of the present invention. It is a figure showing the flow when transmitting command information in an embodiment of the present invention. FIG. 3 is a diagram showing the relationship between communication distance and reception level attenuation in the underwater control system according to the embodiment of the present invention. It is a figure which shows another example at the time of controlling an underwater suspended load turning apparatus using the underwater control system in embodiment of this invention.

The underwater control system of the present invention can be adopted in any water environment such as the ocean, rivers, lakes, etc., but in this embodiment, the case where it is adopted in the ocean is taken as an example, and the underwater control system of construction machinery is used as an example. Details will be explained with reference to FIGS. 1 to 6.

Further, there are no restrictions on construction machinery that works underwater, but in this embodiment, an underwater suspended load turning device is adopted, and this underwater suspended load turning device is used to carry out underwater civil engineering work. Let us take as an example the case of installing concrete blocks, which is one of the methods.

As shown in FIG. 1, a concrete block B scheduled to be installed on the seabed is suspended underwater by a crane 61 mounted on a hoist ship 60 via an underwater lifting and turning device 50.

When installing a concrete block B such as a tetrapod or a foot protection block on the seabed, the underwater suspended load turning device 50 controls the posture of the suspended concrete block B, such as changing direction and maintaining the posture by turning. This is a device for making fine adjustments during positioning underwater. In addition, please refer to Japanese Patent No. 5970946 for the principle of attitude control by the underwater suspended load turning device 50.

The underwater suspended load turning device 50 described above has a shackle 52 on the upper surface of the outer shell 51 for attaching the wire 62 hanging from the crane 61 of the hoist ship 60, and a concrete block B on the lower surface of the outer shell 51. A hanging jig 53 for hanging is provided respectively. Thereby, the underwater suspended load turning device 50 is suspended into the water via the wire 62 attached to the shackle 52, with the concrete block B suspended by the hanging jig 53.

When installing the concrete block B on the seabed, the position and posture of the concrete block B are checked visually by an underwater worker D such as a diver, or by a monitoring camera installed underwater, and the concrete block B is suspended underwater. By rotating the cargo turning device 50, attitude control such as changing the direction of the concrete block B is performed.

After finely adjusting the attitude control and positioning of the concrete block B, the operator of the crane 61 lets out the wire 62, lowers the underwater lifting swing device 50 and the concrete block B, and places the concrete block B on the seabed. wear.

In such an installation work of the concrete block B by underwater work, the control of the underwater suspended load rotation device 50 is carried out by an underwater worker D such as a diver or a water worker S on board the hoist boat 60 using the underwater control system 100. This is done through underwater acoustic communication using .

The details of the underwater control system 100 will be described below, taking as an example a case where the field worker who operates the underwater suspended load turning device 50 is a floating worker S on board a hoist vessel 60, as shown in FIG. explain.

≪Underwater control system≫
As shown in FIGS. 1 and 2, the underwater control system 100 includes a command information transmitting device 10 that transmits command information M for the underwater suspended load turning device 50 by a floating worker S as a sound wave, and a command information transmitting device 10 that receives the sound wave, A mechanical control device 20 that controls the underwater suspended load turning device 50 based on command information M is provided.

<Command information transmission device>
The command information transmitting device 10 includes a command input section 11, an oscillation section 12, a carrier wave selection section 13, a modulation section 14, an amplifier 15, and a transmitter 16, as shown in FIG. Note that the noise detection section 19 will be described later.

The command input unit 11 includes an input unit through which the floating worker S inputs an operation command for the underwater suspended load turning device 50 in order to control the attitude of the concrete block B. The input unit may be any type, but for example, it may be equipped with a display, and a selection menu related to at least four operation commands such as "rotate right", "rotate left", "stop", and "neutral" displayed on the display. It is preferable that the floating worker S is able to input an operation command for the underwater suspended load turning device 50 by performing a selection operation as appropriate.

In addition, the command input unit 11 has a function of converting the operation command input from the input unit into a digital signal, and converts the operation command by the water worker S into command information M that becomes a baseband signal, and wirelessly The signal is output to the modulation unit 14 connected or wired.

The oscillation unit 12 creates a plurality of reference waves W to be used as the carrier wave C, and outputs them to the carrier wave selection unit 13 connected wirelessly or by wire. The details of the plurality of reference waves W will be described later, but as shown in FIG. 3, they are created so that their frequency bands are shifted from each other. When these reference waves W are selected as the carrier wave C, the frequency band of the reference wave W becomes the carrier wave frequency band of the carrier wave C.

The carrier wave selection section 13 selects two or more reference waves W to be used as the carrier waves C from among the plurality of reference waves W, and outputs them to the modulation section 14 connected wirelessly or by wire. In this embodiment, the number of carrier waves C to be selected is set to two or more in consideration of applying a frequency diversity technique for receiving signals transmitted at a plurality of different frequencies to the reception method.

Therefore, as long as there is a plurality of carrier waves C, for example, all of the created reference waves W may be employed as the carrier waves C. Note that the reception method using frequency diversity technology will be explained together with the machine control device 20.

The modulation unit 14 performs so-called modulation that mixes the command information M input from the command input unit 11 with each of the two or more carrier waves C input from the carrier wave selection unit 13, and generates a plurality of modulated waves with different frequency bands. Mw is formed and output to an amplifier 15 connected wirelessly or by wire. As a modulation method, a BPSK (binary phase shift keying) method is adopted in which modulation is performed by changing the phase of the carrier wave C without changing its frequency and amplitude.

With the above configuration, a plurality of modulated waves Mw carrying the same command signal M outputted from the modulating section 14 are amplified by the amplifier 15, and then D/A by the transmitter 16, which is a transducer dedicated to transmitting waves. It is converted and transmitted into the ocean as sound waves. The plurality of types of sound waves based on each of the plurality of modulated waves Mw may be transmitted with time differences, or all of them may be combined and transmitted at the same time.

Note that the sound waves emitted from the transmitter 16 are obtained by D/A converting the modulated wave Mw, and since the modulated wave Mw is obtained by modulating the carrier wave C using the BPSK method, its frequency band is the same as that of the carrier wave. It is the same frequency band as C.

Note that, as shown in FIG. 1, the transmitter 16 may be suspended in the water using a float 63, or may be suspended directly in the water from the hoist boat 60. Further, the command input section 11, the modulation section 14, the oscillation section 12, the carrier wave selection section 13, and the amplifier 15 are preferably mounted on the hoist ship 60. Further, in this embodiment, the amplifier 15 and the transmitter 16 are connected by wire, but they may be connected wirelessly.

Further, the command information transmitting device 10 includes a noise detection unit 19 for detecting and analyzing underwater noise N, as shown in FIG. The noise detection unit 19 includes a noise collection receiver 17 and a wavelet transformation unit 18. Undersea noise N is, for example, artificial noise such as the sound of a ship's engine or passing noise, or naturally occurring noise caused by crustal movement or eddies on the ocean floor, etc. Underwater wireless communication Refers to any noise that is treated as noise.

The noise receiver 17 employs a transducer exclusively for receiving waves, and as shown in FIG. suspended in the water. As shown in FIG. 2, the noise collecting receiver 17 installed in this way collects the underwater noise N, converts it into A/D, and outputs it to the wavelet converter 18 connected by wire or wirelessly. do.

The wavelet transform unit 18 acquires time information (for example, the location of occurrence of the underwater noise N) and frequency information Nf from the input underwater noise N, and transmits at least the frequency information Nf to the carrier wave selection unit 13 connected by wire or wirelessly. Output.

Then, the carrier wave selection unit 13 selects one of the plurality of reference waves W input from the oscillation unit 12 that belongs to a frequency band different from any of the frequency components of the underwater noise N acquired from the frequency information Nf or its harmonics. , as the carrier wave C, and outputs it to the modulation section 14.

As a result, when controlling the underwater suspended load turning device 50 using the underwater control system 100, at least the frequency information Nf can be acquired by the noise detection unit 19 among various underwater noises N that interfere with underwater acoustic communication. This eliminates the possibility of communication failures caused by

<Machine control device>
On the other hand, the machine control device 20 is installed in the outer shell 51 of the underwater suspended load turning device 50, as shown in FIG. 22, an amplifier 23, a demodulator 24, and a controller 25.

The receiver 21 is a transducer dedicated to receiving waves that collects various sound waves in the sea, A/D converts them, and converts them into an input electrical signal Ms'. is adopted. The sound waves collected by these receivers 21 include a plurality of types of sound waves based on a plurality of modulated waves Mw transmitted from the wave transmitter 16, as well as various underwater noises N described above.

Furthermore, even if the sound waves are transmitted from the wave transmitter 16, it is assumed that the sound waves may be distorted due to the underwater noise N and various phenomena that occur under the sea. Note that the various phenomena include, for example, phenomena called Doppler shift and multipath fading.

Doppler shift refers to the difference in relative speed between the transmitter 16 and the receiver 21 placed underwater due to vibrations caused by waves, currents, etc., which causes the sound waves emitted from the transmitter 16 to shift. This is a phenomenon in which the frequency band of sound waves changes when received by the receiver 21. Furthermore, multipath fading is a phenomenon in which the reception intensity fluctuates when the sound wave transmitted from the wave transmitter 16 is received by the wave receiver 21.

In other words, in addition to the sound waves emitted from the transmitter 16 that follow a straight path and reach the receiver 21, as shown in FIG. - There are also a plurality of light beams that reach the receiver 21 by following diffraction paths. Multipath fading is a phenomenon caused by this, in which sound waves that have passed through multiple propagation paths interfere with each other, causing the received intensity to fluctuate.

Therefore, even if the A/D-converted input electric signal Ms' is demodulated as it is, it is assumed that the command information M cannot be extracted with high accuracy. Therefore, in this embodiment, the input electrical signal Ms' received by the wave receiver 21 is output to the frequency diversity section 22 connected by wire or wirelessly.

The frequency diversity section 22 selects the carrier frequency band of each of the plurality of carrier waves C selected by the carrier wave selection section 13 and the harmonics (referring to the waveform of a frequency that is an integral multiple of the fundamental frequency waveform) of each of the carrier waves C. The quality of the input electrical signal Ms' is continuously analyzed using the frequency band. Then, the most reliable signal derived from the carrier wave C or its harmonics from the input electrical signal Ms' is extracted as the processed electrical signal Ms corresponding to the modulated wave Mw or its harmonics, and is connected via wired or wireless connection. It outputs to the connected amplifier 23.

In addition, in the frequency diversity section 22, the carrier wave frequency band of the carrier wave C and the frequency band of the harmonics of the carrier wave C have a width corresponding to the amount of shift expected when a Doppler shift occurs, and this is used. to continuously analyze the quality of the electrical signal Ms.

As a result, if any of the multiple types of sound waves transmitted from the transmitter 16 is corrupted due to the influence of phenomena such as underwater noise N or multipath fading, or due to Doppler shift. In any case, such as when the frequency band changes, it is possible to obtain the processed electrical signal Ms corresponding to the modulated wave Mw or its harmonics from the sound waves received by the receiver 1. .

The amplifier 23 amplifies the processed electrical signal Ms corresponding to the modulated wave Mw or its harmonics and outputs the amplified signal to a demodulator 24 connected by wire or wirelessly. The demodulation unit 24 demodulates the amplified processed electrical signal Ms, acquires command information M related to the operation command input by the command input unit 11, and outputs it to the control unit 25 connected by wire or wirelessly. . The control unit 25 controls the operation of the underwater suspended load turning device 50 based on the command information M extracted by the demodulation unit 24.

In this way, the underwater control system 100 uses underwater acoustic communication technology to transmit into the sea the operation command of the surface worker S for the underwater suspended load turning device 50 inputted to the command information transmitting device 10 as command information M, and also By receiving this information at the machine control device 20, it becomes possible to control the operation of the underwater suspended load turning device 50 based on the command information M.

≪Control method for underwater suspended load turning device using underwater control system≫
A specific procedure for controlling the underwater suspended load turning device 50 using the underwater control system 100 having the above configuration will be described below.

First, the preparation process carried out in controlling the underwater suspended load turning device 50 will be explained with reference to FIGS. 2 and 3. In this embodiment, eight reference waves W, which are candidates for the carrier wave C, are prepared. I will give an example of a case where this is the case.

As shown in FIG. 3, for example, eight reference waves W (W1, W2, ..., W8) with different frequency bands are created from a predetermined range within the audible range (generally between 20 Hz and 20 kHz). The oscillation unit 12 of the command information transmitting device 10 is set in advance.

In this embodiment, the frequency band of the reference wave W (W1, W2, ..., W8) used for the carrier wave C that is later modulated by the BPSK method and transmitted as a sound wave, that is, the carrier wave frequency band, is It is preferable to create the frequency within the range of 100 Hz or more and 20 kHz or less.

This is because when it exceeds 20kHz, it tends to be confused with the frequency band used for fish detection and seafloor topography measurement, and when it falls below 100Hz, it takes a long time to transmit data due to the long wavelength. Therefore, it is not only unsuitable for underwater acoustic communication, but also tends to cause damage to the transmitter 16 due to long-term communication, which is also mechanically disadvantageous.

Note that the setting range of the carrier wave frequency band of the carrier wave C modulated by the BPSK method and transmitted as a sound wave is more preferably 500 Hz or more and 10 kHz or less.

When the frequency exceeds 10 kHz, it is easily affected by the Doppler shift mentioned above, and even when the relative speed difference between the transmitter 16 and the receiver 21 is minute, the amount of change in frequency (shift quantity) increases. In such a case, the work of extracting the modulated wave Mw or the processed electric signal Ms corresponding to the modulated wave from the input electric signal Ms' of the sound wave collected by the receiver 21 of the machine control device 20 is complicated. It tends to be difficult to ensure the stability of wireless communication in the underwater control system 100.

Further, if the frequency exceeds 10 kHz, fluctuations in reception strength called multipath fading described above tend to occur, and a situation where the wave receiver 21 cannot receive the sound waves transmitted from the wave transmitter 16 tends to occur. On the other hand, this is due to the fact that the frequency band of 100Hz to 500Hz is easily mixed with underwater noise such as the sound of a ship's engine.

Therefore, in the present embodiment, as shown in FIG. 3, the oscillation unit 12 generates a reference wave channeled in a predetermined bandwidth from a particularly preferable range of 500 Hz to 10 kHz, among the range of 100 Hz to 20 kHz. Eight Ws (W1, W2, . . . , W8) are formed. Note that the bandwidth of the reference wave W may be any value, but since it is preferable that the bandwidth of the carrier frequency band is about 1 to 2 kHz, in this embodiment, as an example, the reference wave W has a bandwidth of 1 kHz. ing.

After the above preparation process is completed, the water worker S transmits command information M as a sound wave from the command information transmitting device 10 to the machine control device 20. The procedure will be explained below according to the flow shown in FIG.

The surface worker S confirms the position and attitude of the concrete block B based on the information obtained from the monitoring camera installed in the sea and the underwater worker D such as a diver. is operated as appropriate to input any one of "clockwise rotation", "counterclockwise rotation", "stop", and "neutral" operation command to the underwater suspended load turning device 50, and input the command information M to the modulation unit 14. (Step 1).

Simultaneously with the output of the command information M, or before or after this, an attempt is made to detect underwater noise N using the noise collection receiver 17 suspended underwater (Step 2).

When underwater noise N is detected, frequency information Nf of the underwater noise N is acquired by the wavelet transform unit 18 described above and output to the carrier selection unit 13. Then, based on the frequency information Nf, a carrier wave W in a frequency band that does not correspond to the frequency component of the underwater noise N or its harmonics among the reference waves W (W1, W2, . . . , W8) is output to the modulation section 14. (Step 3).

For example, in FIG. 3, the carrier wave selection unit 13 selects the reference wave W that corresponds to the frequency component of the underwater noise N or its harmonics among the eight reference waves W (W1, W2, . . . , W8). It is determined that there are five reference waves W (W2, W4, W6, W7, W8), and after removing these, the remaining three reference waves W (W1, W3, W5) are used as carrier waves (C1, C2, C3). ) and output to the modulation section 14.

On the other hand, if underwater noise N is not detected, all eight reference waves W (W1, W2, ..., W8) may be output to the modulation section 14, or a plurality of them may be arbitrarily selected. (Step 4).

Note that the frequency band of the reference wave W selected as the carrier wave C by the carrier wave selection unit 13 becomes the carrier wave frequency band. Since the carrier wave C is modulated by the BPSK method that does not change the frequency and is transmitted as a sound wave, this information is output not only to the modulation section 14 but also to the frequency diversity section 22 of the machine control device 20. put.

Next, in the modulation unit 14, in order to mix each of the three carrier waves (c1, c2, c3) and the command information M related to the operation command of the underwater suspended load turning device 50, the modulation unit 14 modulates the three carrier waves (c1, c2, c3) using the BPSK method, and generates three modulated waves ( Mw1, Mw2, Mw3) are obtained (Step 5).

Thereafter, each of the three modulated waves Mw (Mw1, Mw2, Mw3) is amplified by the amplifier 15, D/A converted by the wave transmitter 16 to become a sound wave, and the wave receiver 21 of the mechanical control device 20 located underwater Send a message to. Three types of sound waves based on each of the three modulated waves Mw (Mw1, Mw2, Mw3) are transmitted into the sea with a time difference, and this is repeated multiple times.

In this way, the three types of sound waves emitted into the sea are A/D converted by the receiver 21 of the machine control device 20, and output to the demodulator 24 via the frequency diversity section 22, as described above. . Then, command information M input via the command input unit 11 of the command information transmitting device 10 is acquired.

As a result, the control unit 25 controls the underwater suspended load turning device 50 based on the command information M, so that the underwater suspended load turning device 50 can perform "clockwise rotation" corresponding to the operation command from the floating worker S. It is possible to perform any of the following actions: "turn left", "stop", and "neutral".

An experiment was conducted as follows regarding the communication distance when using the underwater control system 100 described above. In the experiment, the carrier frequency band of the carrier wave C was set to 1 kHz, the modulation method was set to the above-mentioned BPSK method, the output was set to 10 mW, and the receiver 21 of the machine control device 20 was separated from the transmitter 16 of the command information transmitting device 10. The attenuation of the received level was measured at approximately 5 m intervals.

Looking at Figure 5, the attenuation of the reception level that changes as the communication distance increases is gradual, and the attenuation amount is about 105db at a point about 38m away, and the attenuation up to 120db, which is generally considered the reception limit. I couldn't see it. As a result, even if the underwater suspended load turning device 50 in which the mechanical control device 20 is installed and the wave transmitter 16 of the command information transmitting device 10 are separated by at least about 40 m, the underwater suspended load turning device can be controlled by the underwater control system 100. 50 can be controlled.

In the present embodiment, an example is given in which a floating worker S controls the underwater suspended cargo turning device 50, but the invention is not necessarily limited to this, and underwater workers such as divers who work underwater Person D may also control it. In this case, as shown in FIG. 6, a command information transmitting device 10 that integrally includes a command input section 11, an oscillation section 12, a carrier wave selection section 13, a modulation section 14, an amplifier 15, and a transmitter 16, It is recommended that underwater worker D carry it.

As described above, the underwater control system 100 uses a carrier wave C set within the audible range of 100 Hz or more and 20 kHz or less, preferably 500 Hz or more and 10 kHz or less. As a result, compared to the case of using ultrasonic waves far exceeding the audible range of about 30 to 40 kHz used in underwater acoustic communication, even in environments where communication interference such as Doppler shift and multipath fading occurs. The influence can be minimized, and the stability of underwater acoustic communication can be further improved.

Further, it is possible to reliably control the underwater suspended load turning device 50 at work sites in various water environments without depending on water quality. Therefore, even if an underwater worker D such as a diver carrying the command information transmitting device 10 controls the underwater suspended load turning device 50 in water with high turbidity, the underwater worker D and the underwater suspended load It becomes possible to safely control the underwater suspended load turning device 50 while maintaining a certain distance between the underwater cargo turning device 50 and the turning device 50.

Furthermore, the command information transmitting device 10 can perform underwater acoustic communication with the machine control device 20 provided in the underwater suspended load turning device 50 by disposing at least the transmitter 16 underwater that transmits the command information M. I can do it. Therefore, a field worker can control the underwater suspended cargo turning device 50 by inputting an operation command for the underwater suspended cargo rotating device 50 to the command information transmitting device 10 from a ship or land, even if not underwater.

Therefore, it is possible to improve the work efficiency and safety of on-site workers, such as by reducing the diving time of underwater workers D such as divers, or by saving the number of workers D.

In addition, since the frequency information Nf of the underwater noise N occurring at the work site can be obtained using the noise detection unit 19, the carrier wave C having a carrier frequency band different from that of the underwater noise N can be used based on the frequency information Nf. The command information M can be conveyed. As a result, it is possible to eliminate the possibility that a communication failure is caused by at least one of the various underwater noises N for which frequency information Nf can be obtained among the various underwater noises N that cause an obstruction to underwater acoustic communication.

The underwater control system 100 for construction machinery according to the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention.

For example, in this embodiment, eight types of reference waves W are selected and three types of carrier waves C are selected from among them, but the quantity of both the reference waves W and the carrier waves C is limited to this value. isn't it. Note that it is preferable to select the plurality of reference waves W whose center frequencies in the frequency bands are not integer multiples of each other.

Further, although the command information transmitting device 10 of the underwater control system 100 is provided with the noise detection section 19, the noise detection section 19 does not necessarily have to be provided.

100 Underwater control system 10 Command information transmission device 11 Command input section 12 Oscillation section 13 Carrier wave selection section 14 Modulation section 15 Amplifier 16 Transmitter 17 Noise collection receiver 18 Wavelet conversion section 19 Noise detection section 20 Machine control device 21 Receiver 22 Frequency diversity section 23 Amplifier 24 Demodulation section 25 Control section 50 Underwater suspended load turning device (construction machinery)
51 Outer shell 52 Shackle 53 Hanging jig 60 Hoist boat 61 Crane 62 Wire 63 Float B Concrete block R Seawall S Surface worker D Underwater worker M Command information W Reference wave C Carrier wave Mw Modulated wave Ms' Input electric signal Ms Processed Electrical signal N Undersea noise (underwater noise)
Nf frequency information

Claims (3)

An underwater control system for construction machinery that uses underwater acoustic communication to control construction machinery that performs work underwater,
a command information transmitting device that transmits command information for the construction machine as a sound wave;
a machine control device that receives the command information transmitted as the sound wave from the command information transmission device and controls the operation of the construction machine based on the command information,
The machine control device is equipped on the construction machine, and
An underwater control system for construction machinery, characterized in that the frequency band of the sound waves is set within a range of 500 Hz or more and 10 kHz or less . The underwater control system according to claim 1 ,
A plurality of the sound waves are set with different frequency bands,
An underwater control system for construction machinery, characterized in that the command information is transmitted using a plurality of sound waves. The underwater control system according to claim 1 or 2 ,
An underwater control system for construction machinery, characterized in that the command information transmission device includes a noise detection section that detects underwater noise.

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