JP2961212B2 - Dredging method by underwater dredging robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for dredging a water bottom or the like under a ship channel by an underwater dredging robot capable of traveling on the water bottom.

[0002]

2. Description of the Related Art Conventionally, in dredging work using an underwater dredging robot, the underwater dredging robot is moved to a predetermined dredging position to excavate rock, etc., and the sediment dredged by the underwater dredging robot is dredged through a sand discharge pipe. Pumping from the site to the coastal processing plant. And
This sand drainage pipe is made of a flexible material, floats on the surface of the water from the coast to the vicinity of the underwater dredging robot with a large number of floats, and moves according to the movement of the dredging robot.
Above the surface of the water, the sand pipes move and bend.

[0003]

If the sand discharge pipe is floated on the water surface as in the prior art, the navigation of the ship is hindered,
In particular, when the dredging place is near the channel, there is a problem that the navigation of many ships is restricted during the dredging work.

The present invention has been made in view of such a conventional problem,
It is an object of the present invention to provide a dredging method using an underwater dredging robot capable of performing dredging work without hindering navigation of a ship.

[0005]

SUMMARY OF THE INVENTION The features of the present invention for solving the conventional problems as described above and achieving the intended purpose are as follows.
In the dredging method by an underwater dredging robot that rotatably provides a boom at the tip of a robot main body having a traveling device by a plurality of crawlers and that excavates earth and sand excavated by an excavating cutter at the tip of the boom and conveys it through a sand discharge pipe, A sand drainage pipe of a predetermined length is submerged in the water bottom, and a front end side portion of the sand drainage pipe is pulled by an underwater dredging robot, and an intermediate part of the sand drainage pipe is pulled by a relay robot having a traveling device by a plurality of crawlers. Then, the underwater dredging robot is moved to perform dredging at a predetermined position while adjusting the slack of the sand discharging pipe by moving the relay robot.

A mobile station of the water column position measuring device is installed on each of the underwater dredging robot, the relay robot, and the sand discharge pipe, and a plurality of fixed stations of the underwater position measuring device are installed on the coast, and the position of each mobile station is determined. It is preferable that the dredging is performed while detecting the positions of the relay robot and the sand discharge pipe of the underwater dredging robot by measuring.

[0007] It is more preferable to use a submersible dredging robot which is provided with a traveling device having a direction changing mechanism and a height adjusting mechanism at four positions, front, rear, left and right, respectively. It is possible to use a relay robot equipped with a traveling device having an adjusting mechanism independently at four positions in front, rear, left and right, and having a rotary pipe joint for rotatably connecting a front portion and a rear portion of a sand discharge pipe. More preferably, it is preferable to use an underwater dredging robot provided with a dipper for gripping the water bottom on a gantry.

[0008]

According to the present invention, the sand drainage pipe is submerged in the bottom of the water, and the tip of the sand drainage pipe is pulled by the underwater dredging robot. Moving. Then, the relay robot pulls the intermediate part of the sand drainage pipe, and moves the relay robot in accordance with the movement of the underwater dredging robot to adjust the slack of the sand drainage pipe. The burden is reduced and the underwater dredging robot moves smoothly and quickly.

In addition, a plurality of fixed stations for underwater position measuring devices (transponders) are installed along the coast, and mobile stations of the above-mentioned underwater position measuring devices are installed on the underwater dredging robot, the relay robot, and the sand discharge pipe, respectively. The dredging work and the moving work can be performed while constantly checking

Further, by using a submersible dredging robot provided with a traveling device having a direction changing mechanism and a height adjusting mechanism independently at four positions in front, rear, left and right, the posture of the submersible dredging robot and the posture of each traveling device The weight distribution can be adjusted arbitrarily and the underwater dredging robot can be moved in any direction.

[0011] Further, by using a relay robot having a traveling device having a direction changing mechanism and a height adjusting mechanism at four positions in front, rear, left and right, respectively, the posture of the relay robot and weight distribution to each traveling device are provided. Can be adjusted arbitrarily, and the relay robot can be moved in any direction. Then, by using a relay robot having a rotary pipe joint rotatably connecting the front part and the rear part of the sand discharge pipe, the sand discharge pipe can be removed without excessive force. The intermediate section can be pulled in a different direction than the tip section.

Further, the dipper is provided on the gantry of the underwater dredging robot, so that the gantry can be stably used in the case of evacuation during non-working at the bottom or when the gantry is fixed and dredging work is required. Can be fixed to the surface, and the stability is high.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings.

In the figure, reference numeral 10 denotes an underwater dredging robot. The underwater dredging robot 10 has a robot body 11 that can travel on the water bottom 100, and the robot body 11
2. It is composed of traveling devices 13, 13, 13, 13, and the like. The traveling devices 13, 13, 13, 13 include the gantry 1
2 are disposed at a total of four places on the left and right sides of the front part and the left and right sides of the rear part of the bottom surface of each of the two units. Each traveling device 13 has a direction changing mechanism and height adjustment that can be driven independently for each traveling device 13. A mechanism is provided. That is, the traveling device 13 includes the leg 1
4. A crawler 15 is provided. The leg 14 is supported on the gantry 12 so as to be rotatable in the horizontal direction and expandable / contractible in the vertical direction. The crawler 15 is attached to the lower end of the leg 14 so as to be pivotable.

At the end of the robot body 11, a boom 21 is provided.
Are rotatably supported in the vertical and horizontal directions. That is, a support member 23 is mounted on the front surface of the gantry 12 so as to be rotatable in the left-right direction by the drive cylinders 24, 24.
2 so as to be rotatable vertically. The excavator 20 is rotatably provided at the end of the boom 21. At the center of the excavating cutter 20 and the boom 21, a suction hole for earth and sand is formed so as to penetrate therethrough. The suction hole is connected to a suction port of the dredge pump 42 by a pipe.

The frame 12 of the robot body 11 has
.. Are provided at the corners, respectively. The dipper 50 grips the water bottom and fixes the gantry 12 to the water bottom 100.
Are pivotally supported, and the distal ends of both links 52 and 53 are pivotally attached to downwardly-facing gripping claws 54, respectively.
A hydraulic cylinder 55 is interposed between the lower link 53 and the column 51, and the link 53 is rotated up and down by the expansion and contraction, whereby the gripping claw 54 moves up and down, and the gripping claw 54 is lowered. As a result, the tip bites into the water bottom, and the gantry 12 is fixed. Then, when the underwater dredging robot 10 is on standby at the bottom during non-working, or when it is necessary to perform dredging while the gantry 12 is strongly fixed, the gripping claws 54 of each dipper 50 are lowered and fixed to the bottom.

At the rear of the underwater dredging robot 10, a front end portion thereof is fixed to pull the sand discharging pipe 40, and the front end of the sand discharging pipe 40 is connected to the discharge port of the dredging pump 42. . The sand discharging pipe 40 is formed of a flexible material to a predetermined length (for example, 400 m), and the water bottom 100 extends from the underwater dredging robot 10 to the vicinity of the quay 101.
Submerged in Then, the rear end side portion of the sand discharge pipe 40 floats on the water, and the sewage treatment barge 8 anchored on the coast.
It has reached zero. On the other hand, an intermediate portion of the sand drainage pipe 40 (for example, 100 m from the quay 101,
The portion at a position of about 00 m) is supported by a relay robot 30 that can travel on the water bottom 100.

The relay robot 30 includes a gantry 32, traveling devices 33, 33, 33, 33 and the like. The traveling devices 33, 33, 33, 33 are arranged at a total of four places on both the left and right sides of the front portion of the bottom of the gantry 32 and the left and right sides of the rear portion, and each traveling device 33 is independent for each traveling device 33. A direction changing mechanism and a height adjusting mechanism, which can be driven in the same manner, are provided. That is, the traveling device 33 has a leg 34 and a crawler 35, and the leg 34 is supported on the gantry 32 so as to be rotatable in the horizontal direction and expandable / contractible in the vertical direction. It is freely attached.

A rotary pipe joint 41 such as a swivel pipe joint is provided on the gantry 32, so that a front part (a part on the underwater dredging robot 10 side) and a rear part (the quay 101) of the sand discharge pipe 40 are provided. Side part) is connected rotatably. In order to pull the sand discharging pipe 40, a portion of the sand discharging pipe 41 on the front side of the rotary pipe joint 41 is connected to the relay robot 30.
The rear part thereof is rotatably supported by the relay robot 30 via a rotary pipe joint 41 in order to bend the sand discharging pipe 40 freely.

Therefore, in order to dredge the bottom 100 with the underwater dredging robot 10, the underwater dredging robot 10 is
By traveling on the water bottom 100, it is moved to a predetermined dredging position. Then, while the rock is excavated by the excavating cutter 20, the excavated soil is sucked by the dredging pump 42 and the sewage treatment barge 8 along the coast is passed through the sand discharge pipe 40.
Transport to 0.

As described above, the sand drainage pipe 40 extends from the underwater dredging robot 10 to the vicinity of the quay 101 in the water bottom 10.
Since it is submerged in 0, the sand drainage pipe 40 does not hinder the vessels navigating on the water, etc., and even when the dredging position is located near the vessel navigation route, perform the dredging work suitably. Can be.

The sand drainage pipe 40 is pulled by the underwater dredging robot 10 at the distal end portion and by the relay robot 30 at the intermediate portion. That is, when the underwater dredging robot 10 moves, the relay robot 30 is moved in accordance with the position of the underwater dredging robot 10 and
The slack of the sand discharge pipe 40 that is dragged is adjusted. For example, the relay robot 30 moves on an arc centered on the sewage treatment barge 80, the sand discharging pipe 40 bends at the position of the rotary joint 41, and the sand discharging pipe between the relay robot 30 and the underwater dredging robot 10. The tube 40 is straightened. Accordingly, the submersible dredging robot 10 is
Dredging robot 1
0 can be moved smoothly and quickly, and the dredging work can be performed efficiently. In addition, even when the water flow changes at the dredging position and the work becomes dangerous, the underwater dredging robot 10 can be evacuated quickly,
You can work safely. In addition, relay robot 3
Since the intermediate portion of the sand discharging pipe 40 can be bent by the rotary pipe joint 41 of 0, the slack can be suitably adjusted without applying an excessive force to the sand discharging pipe 40.

Each of the traveling devices 13 and 33 of the underwater dredging robot 10 and the relay robot 30 has a height adjusting mechanism.
Since each of the traveling devices 13 and 33 is provided so as to be independently driven, the posture of the underwater dredging robot 10 and the relay robot 30 and the weight distribution to each of the traveling devices 13 and 33 can be arbitrarily adjusted. In addition, traveling devices 13 and 3
3 is provided with a direction changing mechanism, so that it can make a small turn or move in an oblique direction. Since the crawlers 15 and 35 are used, the contact area is large and a large traction force is generated. be able to. Therefore, the stability and mobility of the underwater dredging robot 10 and the relay robot 30 can be ensured even in a place where the water flow is uneven and where the water flow is fast, and suitable work can be performed.

The underwater dredging robot 10 and the relay robot 30 are connected to each other through a cable supported by a sand discharging pipe 40.
It is remotely operated from a work base installed on the ground, its underwater plane position is measured, and construction management is performed. That is,
As shown in FIG. 6, three or more locations along the coast (for example,
A fixed station 70 of an underwater position measuring device (underwater transponder) is provided at two places on the work base side shore 101 and two places on the opposite shore 102.
.. Are installed and ultrasonic waves are emitted from each fixed station 70 into water. On the other hand, underwater dredging robot 10, relay robot 3
0, the mobile station 7 of the underwater position measuring device is
1,71 ... (for example, underwater dredging robot 1
0, one on relay robot 30 and four on sand drainage pipe 40
Location), and detects the ultrasonic waves emitted from each fixed station 70. Then, based on the difference in the arrival time of the ultrasonic waves from each fixed station 70 to each mobile station 71, the underwater plane position of each mobile station 71, that is, the underwater dredging robot 10, the relay robot 30,
The underwater plane position of the sand discharging pipe 40 is calculated and displayed on the monitor screen of the work base. Underwater dredging robot 1
0. The depth of the relay robot 30 is measured by an atmospheric pressure correction type crystal oscillation type water pressure sensor, and corrected by the tide gauge at the work base to detect the depth. The postures of the underwater dredging robot 10 and the relay robot 30 are detected by a gyrocompass.
In addition, sand drainage pipe 40 using capsule gauge (strain gauge)
Of underwater dredging robot 10 with narrow multi-beam sounding sonar, exploration of water bottom condition in front and back of relay robot 30, underwater color TV Of the tide, and measurement of the tidal current with the flow direction and current meter. Then, these data are displayed on the monitor screen of the work base, and construction management is performed.

The dredged soil and water conveyed to the sewage treatment barge 80 are processed by pumping to a sewage treatment plant 90 installed on the ground by a pump, and further sent to a sediment transport barge 81 for sedimentation. After settling, the treated water is discharged by a pump.

[0026]

As described above, in the dredging method using the underwater dredging robot according to the present invention, the sand drainage pipe is submerged in the bottom of the water, and the tip end portion is pulled by the underwater dredging robot, whereby the sand drainage pipe is placed above the water. Without hindering the navigation of ships
Dredge work can be suitably performed. In addition, when the relay robot pulls the intermediate part of the sand drainage pipe and the underwater dredging robot moves, the relay robot moves and adjusts the slack of the sand drainage pipe, so that the burden of the underwater dredging robot pulling the sand drainage pipe is increased. And the movement of the underwater dredging robot can be performed smoothly and quickly, and the work can be performed efficiently. In addition, it can be evacuated quickly when the tide changes, etc., and the work can be performed safely.

Further, by providing a dipper on the mount of the underwater dredging robot, the mount can be fixed to the water bottom in a stable state during standby of the water bottom during non-working or during dredging work, and high safety can be obtained. Can be

Also, by using underwater dredging robots which are independently provided with a traveling device having a service conversion mechanism and a high adjustment mechanism at four positions in front, rear, left and right,
Even in places where the water flow is fast, the stability and mobility of the underwater dredging robot can be ensured, and work can be suitably performed.

In addition, by using a relay robot having a traveling device having a direction changing mechanism and a height adjusting mechanism at four front, rear, left and right positions independently,
Even in a place where the water flow is fast, the stability and mobility of the relay robot can be ensured, and the work can be suitably performed. Furthermore, by using a relay robot having a rotary pipe joint that rotatably connects the front part and the rear part of the sand discharge pipe, the deflection of the sand discharge pipe can be suitably adjusted, and the underwater can be adjusted. The dredging robot can be moved smoothly and quickly.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram (elevation view) showing an example of an embodiment of a dredging method using an underwater dredging robot according to the present invention.

FIG. 2 is a plan view of the underwater dredging robot in the embodiment of FIG.

FIG. 3 is a side view of the underwater dredging robot of FIG. 2;

FIG. 4 is an enlarged side view showing a dipper portion of the underwater dredging robot of FIG. 2;

FIG. 5 is a plan view of the relay robot in the example of FIG. 1;

FIG. 6 is a front view of the relay robot shown in FIG. 4;

7 is a conceptual diagram (plan view) showing a method of measuring the underwater plane position of the underwater dredging robot, the relay robot, and the sand discharge pipe in the example of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Underwater dredging robot 11 Robot main body 13 Traveling device 14 Leg 15 Crawler 20 Excavating cutter 21 Boom 30 Relay robot 33 Traveling device 34 Leg 35 Crawler 40 Sand discharge pipe 41 Rotary pipe joint 42 Dredging pump 50 Dipper 51 Strut 52, 53 Parallel link 54 Gripping Claw 55 Hydraulic Cylinder 80 Sewage Treatment Barge 81 Sediment Transport Barge 90 Spillage Treatment Plant 100 Water Bottom 101 Quay

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Eiji Nakamaru 1534-1, Yosoku-cho, Nishinasuno-machi, Nasu-gun, Tochigi Prefecture Within Goyo Construction Co., Ltd. (72) Inventor Shozo Ikeda Nishinasuno-cho, Nasu-gun, Tochigi Prefecture 154-1 Shiyocho Goyo Construction Co., Ltd. (72) Inventor Toshio Kondo 2-2-2 Koraku, Bunkyo-ku, Tokyo Goyo Construction Co., Ltd. (56) References JP-A-4-47036 ( JP, A) JP-A-7-238567 (JP, A) JP-B-58-4133 (JP, B2) JP-T-8-509038 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , (DB name) E02F 7/10 E02F 3/88-3/94

Claims (5)

(57) [Claims] An underwater dredging robot for rotatably mounting a boom at a tip of a robot body having a traveling device using a plurality of crawlers, and sucking and transporting earth and sand excavated by an excavation cutter at the end of the boom through a sand discharging pipe. In the dredging method according to the above, a sand drainage pipe of a predetermined length is submerged in the water bottom, and a front end portion of the sand drainage pipe is pulled by an underwater dredging robot, and a traveling device using a plurality of crawlers at an intermediate part of the sand discharge pipe A dredging method using an underwater dredging robot, wherein the dredging robot moves the underwater dredging robot to perform dredging at a predetermined position while adjusting the slack of the sand pipe by moving the relay robot. 2. A mobile station of the water column position measuring device is installed on each of the underwater dredging robot, the relay robot, and the sand discharging pipe, and a plurality of fixed stations of the underwater position measuring device are installed on the coast, and the position of each mobile station is determined. The dredging method by the underwater dredging robot according to claim 1, wherein the dredging is performed while detecting the positions of the relay robot and the sand discharge pipe of the underwater dredging robot by measuring. 3. An underwater dredging robot according to claim 1 or 2, wherein the underwater dredging robot is provided with a traveling device having a direction changing mechanism and a height adjusting mechanism independently at four positions in front, rear, left and right. Method. 4. A traveling device having a direction changing mechanism and a height adjusting mechanism is provided independently at four positions in front, rear, left and right, respectively.
4. The dredging method by an underwater dredging robot according to claim 1, 2 or 3, wherein a relay robot having a rotary joint for rotatably connecting a front portion and a rear portion of the sand discharging pipe is used. 5. The dredging method using an underwater dredging robot according to claim 1, wherein an underwater dredging robot having a dipper for gripping a water bottom is used on a gantry.