JP5565964B2 - Excavation and leveling method by underwater excavation and leveling machine and its construction management device - Google Patents

Description

  The present invention relates to an underwater excavation and leveling method using a three-dimensional sonar (also referred to as a 3D sonar, hereinafter the same), and a construction management apparatus used for the method.

  Conventionally, it is an underwater excavating and leveling machine, for example, when performing excavation work and rubble leveling work using an underwater backhoe, a method in which a diver boarded and operated an underwater backhoe, or an underwater camera, etc. A method of remotely controlling the underwater backhoe from the support platform while visually checking the bottom of the ground was taken. Confirming the shape of the work can be done after the work is interrupted and the underwater backhoe is moved, or at the end of the work of the day or at the beginning of the work of the next day. This was reflected in the subsequent work. In addition, a measurement method using an ultrasonic measurement device such as a multi-beam is known (see Patent Document 1), and according to this method, quantitative data of the shape of the bottom of the ground is obtained.

JP 2000-64340 A

  However, in conventional excavation and leveling methods using an underwater excavator / equalizer, for example, underwater cameras become turbid during excavation / equalization with an underwater backhoe and for some time after the operation. There are problems such as that it is difficult to visually recognize the current state, and that it is impossible to grasp the current state quantitatively only with the camera image, so that the underwater backhoe cannot be operated properly. In addition, when using ultrasonic measuring equipment such as multi-beams, it is necessary to perform measurement by driving the multi-beam sonar to swing. I can't.

  In other words, since the data obtained by multi-beams includes measurement time differences, the operator of the underwater excavation and leveling work machine in the underwater backhoe grasps the shape of the bottom of the bottom in real time and reflects it in the operation of the underwater excavation and leveling work machine. It is difficult to do. Therefore, there is a problem that the accuracy and work efficiency of underwater excavation and leveling work are greatly affected by the experience and skill of the operator. The underwater backhoe excavation and leveling method and apparatus according to the present invention have been proposed in order to solve such problems.

The gist for solving the above-described problems of the excavation / equalizing method by the underwater excavation / equalizing work machine according to the present invention is a range provided by the ultrasonic wave provided in the underwater excavation / equalizing work machine. Assistance with 3D sonar that can measure 3D shape of water underwater with a single wave and visualize it as 3D image with position data, and remote control device to remotely control the underwater excavation and leveling machine A gyroscope or inertial navigation device, a global positioning system device, a sound velocity meter device, and each of these devices are connected to each other by wire or wirelessly, and each data is input and recorded in a storage device. and a 3-dimensional analysis personal computer to be displayed three-dimensionally on the monitor, SSBL positioning measuring the position of the underwater excavation and leveling working machine and the water excavation and leveling the working machine and the support barge Configure the construction management device including a stem, while confirming the possible forms of the 3-dimensional sonar three-dimensional analysis for ground of the work object and transmitted to the personal computer in the data the support barge in real time visually The underwater excavation and leveling work machine is operated by a remote control device to perform underwater excavation and leveling work.

The gist of the present invention for solving the above-mentioned problems of the excavation and leveling method by the underwater excavation and leveling machine according to the present invention is to transmit a three-dimensional shape in a certain range of water by a single wave. Three-dimensional sonar that can be measured immediately and visualized as a stereoscopic image with position data , a gyroscope or inertial navigation device, a global positioning system device, a sound velocity meter device, and each of these devices are wired or The support trolley is equipped with a personal computer for 3D analysis that is connected wirelessly, inputs each data, records the data in a storage device, and displays it on a monitor in 3D. The support trolley and the underwater excavation and leveling machine Are connected by a remote control device, and the data of the 3D sonar is transmitted to a personal computer for 3D analysis in the support trolley to By performing the visual check while the remote control device wherein by operating the underwater excavation and leveling work machine leveling water excavation and the work position of the can-shaped underwater excavation and leveling work machine in real time of the ground is there.

  In addition, the design shape is input in advance and registered in the storage device, and the personal computer for 3D analysis superimposes the design and the shape actually measured by the 3D sonar on the monitor to display in 3D in real time. In addition, it is possible to work while visually confirming the three-dimensional image of the monitor.

The gist of the construction management device for an underwater excavation / equalizing work machine according to the present invention to solve the above problems and achieve the object is to provide the underwater excavation / equalization work machine with a certain range of underwater A three- dimensional sonar that can instantly measure the three-dimensional shape of the water and visualize it as a stereoscopic image with position data, and a remote control device that remotely controls the underwater excavation and leveling machine from a support platform A gyroscope or inertial navigation device, a global positioning system device, a sound velocity meter device, and a device for connecting each of these devices wired or wirelessly and inputting each data. The data is recorded on the monitor and displayed on the monitor in three dimensions. It is to become equipped with the SSBL positioning system to measure the position of the cutting-leveling working machine.

The gist for solving the above-mentioned problems of the construction management device for underwater excavation and leveling work machine according to the present invention is to provide an immediate transmission of a three-dimensional shape in a certain range of water by ultrasonic waves. 3D sonar that can be visualized as 3D images with position data , gyroscope or inertial navigation device, global positioning system device, sound velocity meter device, and each of these devices wired or wirelessly each of the connected personal computer for three-dimensional analysis to be displayed three-dimensionally on the data recording is allowed and a monitor in the storage device by entering the data fitted to a support barge, the support barge underwater excavation and leveling work machine It is equipped with a remote control device that is remotely operated from.

According to the excavation and leveling method and the construction management device using the underwater excavation and leveling machine of the present invention, it becomes possible to grasp the shape of the bottom bottom topography by the underwater excavation and leveling machine in real time. It is possible to operate the underwater drilling and leveling machine efficiently.
In addition, it is possible to perform underwater work and underwater leveling work with high accuracy by registering the design shape of the bottom of the water as a three-dimensional shape in advance and displaying the cross-sectional shape in real time with the measured value by 3D sonar. In this way, the underwater work with the underwater drilling and leveling machine can be performed without being affected by the experience and skill of the operator, and it is possible to improve the accuracy and efficiency of the drilling and leveling work. There is an effect.

It is explanatory drawing which shows the method of excavation and leveling by the underwater excavation and leveling machine based on 1st Example of this invention. It is explanatory drawing which shows the method of excavation and leveling by the underwater excavation and leveling machine based on 2nd Example of this invention. It is explanatory drawing which shows the excavation and leveling method which concerns on 3rd Example of this invention. It is explanatory drawing which shows the structure of the construction management apparatus 1 by the underwater excavation and leveling work machine 7 in the case of the excavation work which concerns on 1st Example of this invention. It is explanatory drawing which shows the structure of the construction management apparatus 1d. The perspective view (A) which shows the Example of the construction management method by the underwater excavation and leveling work machine 7 concerning 3rd Example of this invention, and the measurement state performed by attaching the three-dimensional sonar 2 to the support trolley 9 are shown. It is a perspective view (B). It is explanatory drawing (B) which shows the structure of the construction management apparatus 1e which concerns on 3rd Example of the same invention. It is explanatory drawing which shows the method of excavation and leveling by the underwater excavation and leveling work machine 7 which concerns on 4th Example of this invention. It is explanatory drawing which shows the structure of the construction management apparatus 1f by the underwater excavation and leveling work machine 7 based on 4th Example of this invention. It is explanatory drawing which shows the procedure which calculates | requires the cross-sectional shape by the three-dimensional sonar 2. FIG. FIG. 11 is an explanatory diagram showing a procedure for obtaining a cross-sectional shape by the three-dimensional sonar 2. It is explanatory drawing which shows superimposing the design and actual measurement in Example 1 which concerns on this invention. In the case of underwater rubble leveling work by superimposing the design and actual measurement in Examples 1 and 2 according to the present invention, it is shown that leveling is performed while checking the leveling location and the surplus location outside the allowable range of the finished shape. It is explanatory drawing shown. It is explanatory drawing which shows the cross-sectional shape which accumulated the design shape and measurement cross section of the underwater rubble in Example 1, 2 which concerns on this invention.

  As shown in FIG. 1, leveling work for underwater excavation and leveling work machine according to the present invention is performed in real time using 3D sonar. This is done while checking the finished shape. In the present invention, the underwater excavation and leveling work machine 7 includes an underwater backhoe, an underwater bull tosa, and an underwater rubble leveling robot.

As shown in FIGS. 1-A and 2-A, the construction management device 1 for an underwater excavation and leveling work machine (explained as an example of an underwater backhoe) according to the first embodiment of the present invention There are a three-dimensional sonar 2 attached to the front of the cab of the excavating / equalizing work machine 7, and a gyroscope or an inertial navigation system (INS: Internal Navigation System) 3 (hereinafter, measuring unit 1a). Further, a gyroscope or inertial navigation device 3, a global positioning system device (Global Positioning System: GPS hereinafter) 4, a sound velocity meter device 5, and each of these devices (hereinafter, measuring unit 1a) are wired or connected. A personal computer for three-dimensional analysis (hereinafter referred to as a personal computer) 6 (hereinafter referred to as a processing / display unit 1b) that is wirelessly connected to input each data, records the data in the storage device 6a, and displays the data in a three-dimensional manner on the monitor 6b; An SSBL (Super Short Base Line) positioning system 8 that measures the position of the excavating and leveling machine 7 and a remote control device are provided in the support trolley 9.

  The three-dimensional sonar 2 is a device that can instantly measure a certain range by ultrasonic waves and visualize it as a stereoscopic image having position data. As shown in FIG. 2-C (A), a three-dimensional shape in water is measured by one transmission wave. Further, as shown in FIG. 2-C (B), the three-dimensional sonar 2 can be supported by an attachment frame having a pan / tilt structure. The operating range is ± 180 ° for pan and ± 90 ° for tilt, and it is possible to measure while operating these and expanding the measuring range. As an example, a range of 50 ° × 50 ° can be measured and visualized as a stereoscopic image having coordinates.

  The gyroscope or the inertial navigation device (INS) 3 includes a position of the underwater excavation / equalizing work machine 7 as a measurement point, a current position of the support trolley 9 (not required when stopped), a direction, a roll, It asks for pitch, heave, etc. This is because when the attitude of the support trolley 9 changes due to waves or tides, the relative position coordinates and angles change, so the attitude (roll, pitch, heave, azimuth) of the support trolley 9 is measured. The position data by the dimension sonar 2 is corrected. The measurement points include, for example, measurement points on a quay, a breakwater, a caisson, a floating structure, etc., in addition to the underwater excavation / equalizing work machine 7, the support platform ship and the survey ship.

  The GPS 4 accurately obtains the position of the support trolley 9. The sound speed meter 5 measures the sound speed in water and corrects the distance measurement using ultrasonic waves. Specifically, the underwater sound speed is about 1500 m / s, but varies depending on the water temperature, pressure, salinity, and the like. Therefore, since accurate measurement is not performed unless the sound speed is corrected, sound speed measurement and sound speed correction are generally performed. For example, the speed of sound in seawater (m / s), V = 1449.14 + ΔVP + ΔVS + ΔVT + ΔVSTP (P: correction term for pressure kg / cm 2, S: correction term for salinity 0/00, T: Correction term for temperature ° C, STP: correction term for pressure, salinity, temperature).

The personal computer 6 has a CPU (central processing unit), a three-dimensional display program, a known three-dimensional graphics API (Application Program) such as Open GL (Graphics Library), Open CL (Computing Language), and DirectX. Interface) is incorporated. Further, a signal processing unit and an azimuth calculation processing unit in the SSBL positioning system 8 are provided.

  As shown in FIG. 2A, the personal computer 6 processes the cross-sectional view at the desired position. In order to create a sectional view by the TIN (Triangulated Irregular Network, hereinafter the same) method on the personal computer 6, as shown in FIG. 3-A, two plane coordinates P1 (X1, Y1), P2 (P2 X2 and Y2), the measured point cloud data A is extracted from the storage device 6a in the range 10 designated in advance. Then, the point group B included in the range of the circle 11 whose diameter is specified in advance with the arbitrary point T1 of the point group data A as the center is extracted.

1) Two points T2 and T3 having a plane distance close to T1 from the point group B are searched and extracted.
2) At this time, if T1, T2, and T3 are on a straight line, the process returns to the extraction of T2 and T3 in 1), and T4 that is closest to T1 after T3 is extracted.
3) When T1, T2, and T3 extracted in this way are not on a straight line, a circumscribed circle 12 that can connect these three points is formed, and when no other point is included in the circle, A triangle composed of T1, T2, and T3 is determined as a plane.
When other points are included in this circle, the process returns to 1) to find new T2 and T3 from the point group B and determine the triangle.
4) Among the planes divided by T1 and T2, the point Tx closest to the straight lines T1 and T2 is searched in an area not including T3.
5) Repeat the process from 3) above. As shown in FIG. 3A, the area A is divided into a plurality of triangular faces.
(The length of one side of each triangle does not exceed the diameter of the circle 11 of the point group B)
6) A line of intersection between each triangular plane created in 5) and the plane including P1 and P2 is obtained.
A sectional view is created as described above.

  In addition, when confirming the finished shape in the excavation work by the underwater excavation / equalizing work machine 7, the apparatus is used for underwater excavation / equalization as shown in FIG. By installing on the work machine 7, the bottom excavation status is displayed as a three-dimensional image. As a result, the crane operator of the underwater excavating and leveling machine 7 can efficiently dredge while checking the image. In addition, there is a method of incorporating a 3D graphics API such as Open GL, Open CL, or DirectX into a display program in order to perform three-dimensional display on the computer 6 using data acquired by the real-time 3D sonar.

The position of the underwater excavating / equalizing work machine 7 is received by the ultrasonic signal from the transponder 8a in the SSBL positioning system 8 and the ultrasonic signal by the receiving unit 8b on the support trolley 9 side. 6 performs SSBL (Super Short Base Line) calculation processing and displays it on the monitor 6b.

  Further, as shown in FIG. 1-A, in order to operate the underwater excavation / equalizing work machine 7 by the work table ship 9, the underwater excavation / equalization work machine 7 is used in the remote operation room of the support table 9. Remote control device 9b, and this remote control device 9b is connected to the underwater excavation / equalizing work machine 7 by a remote operation cable 9a, and a drive device is provided on the underwater excavation / equalizing work machine 7 side. Remote control is performed.

  Also, as shown in Fig. 4-A and Fig. 4-B, by registering the design shape in three-dimensional coordinates in advance, it is possible to superimpose the design and the actual measurement by three-dimensional sonar, Perform 3D display and 2D display. Thereby, it is possible to perform the work while visually confirming the state of the excavation work and the leveling condition of the rubble work with the coordinate values.

  In leveling work such as rubble, similarly, the measured values of a plurality of cross sections can be extracted from the measured values of the 3D sonar 2 in real time, and the real time cross section can be displayed. As shown in FIG. 5, the design top height, slope, top width, extension, etc. can be displayed over the measurement cross section, so that the cross section can be managed in real time and the rubble can be accurately leveled.

As shown in FIG. 1B, the underwater excavation / equalizing method according to the second embodiment of the present invention includes a three-dimensional sonar 2, a gyroscope or inertial navigation device 3, The earth positioning system device 4, the sound velocity meter device 5, and each of these devices are connected to each other by wire or wirelessly, input each data, record the data in the storage device, and display the data on the monitor in three dimensions. A computer 6 is mounted on a support trolley 9, and the support trolley 9 and the underwater excavation and leveling machine 7 are connected by a remote control device 9b to constitute a construction management device 1d. This is a method that omits the SSBL positioning system 8 in the first embodiment since the position of the underwater excavation and leveling machine 7 can be known in real time by the 3D sonar 2. The construction of this construction management device is shown in FIG.

  Therefore, the data of the three-dimensional sonar 2 is transmitted to the personal computer 6 for three-dimensional analysis in the support trolley 9, and the finished shape of the work target ground and the position of the underwater excavating / equalizing work machine 7 are simultaneously confirmed in real time. However, underwater excavation and leveling work is performed by operating the underwater excavation and leveling machine 7 with the remote device 9b.

  As shown in FIG. 1-C, a submersible 13 is provided at the driver's seat of the underwater excavating / equalizing work machine 7 according to the third embodiment of the present invention. The operator boarded and operated as an operator and performed the same operation as in the second embodiment. The driver's seat is provided with an underwater display 1c for displaying a three-dimensional image. There is also a monitor 6b for displaying a 3D image on the support carriage 9 side. The construction of the construction management device 1e is shown in FIG.

  In addition, in the case of the first embodiment, the method of excavation and leveling by the underwater excavation and leveling machine according to the fourth embodiment of the present invention is the same as that of the submersible 13 As shown in FIG. 2E, the situation is shown in FIG. 2-E, and the construction of the construction management device 1f is shown in FIG. 2-F. The operator diver 13 in the third and fourth embodiments can efficiently operate the underwater excavating and leveling machine 7 while confirming the three-dimensional image.

  The method of excavating and leveling by the underwater excavating and leveling machine according to the present invention and the construction management device thereof can be widely applied to the excavation work of the water bottom and the leveling work of rubble.

1 construction management device, 1a measuring unit,
1b Processing / display section 1c Underwater display section,
1d Construction management device of the second embodiment,
1e Construction management device of the third embodiment,
1f Construction management device of the fourth embodiment,
2 3D sonar (3D sonar),
3 Gyroscope or inertial navigation system (INS),
4 Global positioning system device (GPS),
5 sound speed meter device,
6 Personal computer for 3D analysis (PC),
6a storage device, 6b monitor,
7 Underwater drilling and leveling machine, 7a bucket,
8 SSBL positioning system, 8a transponder,
8b receiver,
9 Support trolley, 9a cable,
9b Remote control device,
10 pre-specified range,
11 Circle with a pre-specified diameter,
12 circumscribed circle,
13 Diver,
14 leveling surface, 14a missing part,
14b Surplus location.

Claims (5)

A three-dimensional sonar that can be visualized as a three-dimensional image with position data by measuring a three-dimensional shape of a certain range of underwater with a single wave by ultrasonic waves , provided in an underwater excavation and leveling machine, Support gyro with remote control device for remote control of excavation and leveling machine, gyroscope or inertial navigation device, global positioning system device, sound speed meter device, and each of these devices wired or wireless And a personal computer for three-dimensional analysis that inputs each data and records the data in a storage device and displays it three-dimensionally on a monitor, and the underwater excavation and leveling work machine and the support trolley include the underwater excavation. -Construct a construction management device equipped with an SSBL positioning system that measures the level of the leveling machine,
A remote control device for the underwater excavation and leveling machine while transmitting the data of the 3D sonar to a personal computer for 3D analysis in the support platform and visually confirming the shape of the ground to be worked in real time Underwater drilling and leveling operations
A method of underwater excavation and leveling using a leveling machine. 3D sonar that can instantly measure 3D shape in a range of underwater by ultrasonic wave and visualize it as 3D image with position data , gyroscope or inertial navigation device, global positioning system device And a sound velocity meter device and a personal computer for three-dimensional analysis in which each of these devices is connected by wire or wirelessly, and each data is input and recorded in a storage device and displayed in a three-dimensional manner on a monitor. A construction management device comprising a remote control device connecting the support trolley and the underwater excavation and leveling work machine,
The remote control is performed while the data of the three-dimensional sonar is transmitted to a personal computer for three-dimensional analysis in the support trolley, and the finished shape of the work target ground and the position of the underwater excavation and leveling work machine are visually confirmed in real time. Underwater drilling and leveling work by operating the underwater drilling and leveling machine with a device ,
A method of underwater excavation and leveling using a leveling machine. The design shape is input in advance and registered in the storage device, and the design and the shape actually measured by the 3D sonar are superimposed on the monitor by a personal computer for 3D analysis and displayed in real time in 3D. To be able to work while visually checking the 3D image of the monitor,
The method of excavation and leveling by the underwater excavation and leveling machine according to claim 1 or 2. A 3D sonar that can be visualized as a 3D image with position data by measuring the 3D shape of a range of underwater with a single wave by ultrasonic waves , equipped with an underwater excavation and leveling machine,
A remote control device for remotely controlling the underwater excavation and leveling machine from a support trolley;
A gyroscope or inertial navigation device, a global positioning system device, a sound velocity meter device, and a device connected to each of these devices are wired or wirelessly connected to each other, and each data is input to the storage device. A personal computer for 3D analysis for data recording and 3D display on a monitor;
Equipped with an SSBL positioning system provided on the underwater excavation and leveling work machine and the support trolley for measuring the position of the underwater excavation and leveling work machine relative to the support trolley,
A construction management device for underwater excavation and leveling machines. 3D sonar that can instantly measure 3D shape in a range of underwater by ultrasonic wave and visualize it as 3D image with position data , gyroscope or inertial navigation device, global positioning system device And a sound velocity meter device and a personal computer for three-dimensional analysis in which each of these devices is connected by wire or wirelessly, and each data is input and recorded in a storage device and displayed on a monitor in three dimensions. Equipped on a trolley,
Be equipped with a remote control device for remotely operated underwater excavation and leveling work machine from the support barge,
A construction management device for underwater excavation and leveling machines.

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