JP6256831B2 - Underwater structure installation work support device and underwater structure installation method using the same - Google Patents

Description

  The present invention relates to an installation work support device for an underwater structure that monitors the installation status of a structure installed in water such as a caisson and a method for installing an underwater structure using the same.

  Underwater structures such as caisson that make up harbor structures such as breakwaters are manufactured in onshore production yards or floating docks, etc., and transported to the construction site by towing or large hoisting vessels, etc. On the bottom of the water to be adjacent to the existing underwater structure.

  In the installation work of such underwater structures such as caisson, conventionally, the location of the underwater structure is managed by GPS, total station, etc., and the interval between the newly installed underwater structure and the existing underwater structure is determined by a plurality of workers. It was monitored visually and contacted by operators who operated hoisting ships and winches that perform installation work of underwater structures by cues from each worker and by radio.

  For monitoring during installation of underwater structures, a camera is installed on the outside of the underwater structure, and the situation between the underwater structure and the existing underwater structure is determined based on images taken by the camera as needed. A construction method has also been developed that allows an operator who performs such operations to be visually monitored (see, for example, Patent Document 1).

JP 2012-188836 A

  However, in the conventional visual monitoring method as described above, the operator who operates the hoist ship or the like cannot directly visually monitor the situation between the existing underwater structure and the new underwater structure. There was a problem that it was difficult to accurately grasp the situation between both underwater structures.

  Also, when monitoring underwater structures such as long caisson, visual confirmation is performed by multiple people, so if each worker is contacted to the operator at the same time, the information will be complicated, making it difficult to accurately grasp the situation. If there is a discrepancy in the communication from each worker to the operator, or if there is a time difference in the communication from each worker, there will be an error in the information, making it difficult to accurately grasp the situation. It was.

  Furthermore, since personnel for monitoring are arranged on the underwater structure to be worked, there is a problem that the worker who performs the monitoring is dangerous.

  On the other hand, in monitoring using conventional imaging means such as a camera, there is a limit to the range that can be imaged by one imaging means, so only local monitoring is possible, and between the newly installed underwater structure and the existing underwater structure. There was a problem that it was difficult to grasp the overall situation and the exact distance between the two underwater structures.

  Moreover, in the monitoring by the imaging means, there is a problem that if an image is captured at a wide angle in order to monitor a wide range, the image is distorted and it is difficult to grasp the situation and the distance between the two underwater structures.

  Therefore, in view of such a conventional problem, the present invention enables an operator such as a hoist ship to visually grasp the situation of the underwater structure over a wide range when installing the underwater structure such as caisson. It is an object of the present invention to provide an installation work support device for an underwater structure that enables safe and accurate work and an installation method for an underwater structure using the same.

The feature of the invention described in claim 1 for solving the conventional problem as described above is an installation work of the underwater structure in the installation work of the underwater structure, and monitors the periphery of the moving underwater structure. In the apparatus, a plurality of imaging means for imaging the periphery of the underwater structure including the underwater structure from above is installed at an interval in the horizontal direction above the outer periphery of the underwater structure or the outer periphery of the underwater structure . A plurality of imaging units installed in a plurality of stages in the height direction of the underwater structure and a bird's-eye image that displays the underwater structure and its surroundings in a bird's-eye view by combining the imaging data of the respective imaging means An image processing unit having an image synthesizing unit for generating; and a display unit for displaying the bird's-eye view image, generating a bird's-eye view image of the underwater structure for each desired height, and displaying the generated bird's-eye view image Be able to It is in the installation work support device for the underwater structure.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the image processing means calculates a distance between an existing underwater structure and the newly installed underwater structure based on the bird's-eye view image. It has a measuring unit.

A feature of the invention described in claim 3 is that, in addition to the configuration of claim 1 or 2, an underwater structure position measuring means for measuring the position and orientation of the underwater structure is provided.

According to a fourth aspect of the present invention, there is provided an underwater structure installation method for installing an underwater structure adjacent to an existing underwater structure, in a horizontal direction above the outer periphery of the underwater structure or the outer periphery of the underwater structure. And a plurality of imaging units installed in a plurality of stages in the height direction of the underwater structure, and a plurality of imaging means for imaging the periphery including the underwater structure from above. And image processing means having an image composition unit for synthesizing the imaging data of the respective imaging means to generate a bird's-eye image for displaying the underwater structure and its surroundings in a bird's-eye view, and a display means for displaying the bird's-eye image. The installation work support apparatus provided is used, and each of the underwater structures is imaged around each of the underwater structures including an outer peripheral portion of the existing underwater structure by using each of the imaging means, and the imaging data of each of the imaging means is synthesized. To said existing a bird's-eye view image to bird's-eye displaying the relationship between the underwater structure is generated for each desired height, mounting method of the underwater structure which performs the installation of the underwater structure while monitoring the respective bird's is there.

According to a fifth aspect of the present invention, in addition to the structure of the fourth aspect, the underwater structure includes a projecting portion having a shape projecting outward, and each of the imaging units is arranged around the projecting portion. It is arranged so that it can be imaged.

According to a sixth aspect of the present invention, in addition to the configuration of the fourth or fifth aspect, a bird's-eye view image of the underwater structure is obtained for each desired height in a state where at least one of the imaging units is disposed in the water. It is to generate and perform the installation work of the underwater structure while monitoring the bird's-eye images of the water and the water.

  The underwater structure installation work support device according to the present invention is an underwater structure installation work support device for monitoring the periphery of the moving underwater structure as described above. A plurality of imaging means that are horizontally installed above the outer periphery of the underwater structure or above the outer periphery of the underwater structure, and that image the periphery of the underwater structure from above, and the imaging of each imaging means Surveillance is provided by including image processing means having an image synthesizing unit for generating a bird's-eye view image for displaying the underwater structure and its surroundings in a bird's-eye view by combining data and a display means for displaying the bird's-eye view image. Can be displayed in a single, uninterrupted image, and it is possible to visually grasp the situation of the entire monitored area around the underwater structure to be installed. Door can be, it is possible to carry out the work efficiently. In addition, since it is not necessary to place a worker on the underwater structure, the work can be performed safely.

  Further, in the present invention, the underwater structure is provided with a plurality of stages in the height direction of the underwater structure, the image pickup unit including a plurality of image pickup means installed at a desired interval on the outer periphery of the underwater structure. By generating a bird's-eye view image for each desired height and displaying each generated bird's-eye view image, the state of the moving underwater structure can be grasped not only in a plane but also in a three-dimensional manner. it can.

  In the present invention, the image processing means includes a distance measuring unit that calculates a distance between the existing underwater structure and the newly installed underwater structure based on the bird's-eye view image. Can be visually grasped by a bird's-eye view image and can be grasped by an objective numerical value.

  Furthermore, in the present invention, by providing the underwater structure position measuring means for measuring the position and orientation of the underwater structure, the underwater structure can be grasped by an objective numerical value, and the imaging of each imaging means. The range and the position of the bird's-eye view image can be specified in the coordinate system.

  Further, in the installation method of the underwater structure according to the present invention, in the installation method of the underwater structure for installing the underwater structure adjacent to the existing underwater structure, the outer periphery of the underwater structure or the upper periphery of the underwater structure And a plurality of image pickup means for picking up the periphery of the underwater structure from above, and combining the image data of the respective image pickup means from above to provide a bird's-eye view of the underwater structure and its periphery. An image processing unit having an image composition unit for generating a bird's-eye view image to be displayed and a display unit for displaying the bird's-eye view image, and an outer periphery of the existing underwater structure by each imaging unit. Imaging the periphery of the underwater structure including a section, and combining the imaging data of the respective imaging means to generate a bird's-eye image that displays a bird's-eye view of the relationship between the underwater structure and the existing underwater structure; By installing the underwater structure while monitoring the bird's-eye view image, the situation around the underwater structure to be installed can be visually grasped with a single continuous image, and the installation work can be performed safely and efficiently. be able to.

  Further, in the present invention, an overhanging portion having an outward projecting shape is provided at the lower end of the underwater structure, and each imaging means is disposed so as to image the periphery of the overhanging portion, thereby projecting a footing or the like. The situation of the department can be grasped visually.

  Furthermore, in the present invention, an imaging unit comprising a plurality of imaging means disposed at a desired interval on the outer periphery of the underwater structure is provided with a plurality of stages in the height direction of the underwater structure, and at least each of the imaging units By generating a bird's-eye view image of the underwater structure at a desired height in a state in which one is placed underwater, and performing the installation work of the underwater structure while monitoring the bird's-eye view images on and under water The distance between the underwater structure and the two underwater structures can be grasped not only in a plane but also in a three-dimensional manner.

It is a top view which shows the outline of the usage condition of the installation work assistance apparatus of the underwater structure which concerns on this invention. It is a front view same as the above. It is a schematic block diagram which shows the structure of the installation work assistance apparatus of the underwater structure which concerns on this invention. It is process drawing which shows the outline of the synthetic | combination process of the bird's-eye view image by the installation work assistance apparatus of an underwater structure same as the above. (A) is the front view which shows schematically the other usage condition of the installation work assistance apparatus of the underwater structure which concerns on this invention, (b) is the same top view. The top view which shows the further another usage condition of the installation work assistance apparatus of the underwater structure which concerns on this invention, (b) is the same front view. (A) is a bird's-eye view image on the water by the installation work support apparatus same as above, (b) is a bird's-eye view image in the water, and (c) is a schematic diagram showing an image obtained by synthesizing the bird's-eye image in water and water.

  Next, an embodiment of the underwater structure installation work support device according to the present invention will be described based on the embodiment shown in FIGS. In the figure, reference numeral 1A denotes an underwater structure such as caisson, reference numeral 1B denotes an existing underwater structure, reference numeral 2 denotes a hoist ship 2 used for installation work of the underwater structure 1A, and reference numeral 3 denotes the auxiliary work ship.

  This underwater structure 1 installation work support device 4 synthesizes a plurality of imaging means 5, 5... Installed on the outer periphery of the underwater structure 1 and the imaging data of each imaging means 5, 5. An image processing means having an image composition unit for generating a bird's-eye view image 6 that displays the underwater structure 1A and its surroundings as a bird's-eye view, and a display means for displaying the bird's-eye view image 6. By monitoring the bird's-eye view image 6, the relationship between the moving underwater structure 1A and the existing underwater structure 1B can be visually grasped in a wide range.

  In addition, the installation work support device 4 includes an underwater structure position measuring unit 8 including a GPS azimuth meter that measures the position and direction of the underwater structure 1A. 5... Or the position of the imaging range in a specific coordinate system can be specified, and the visual situation can be grasped by the bird's-eye image 6 and the objective situation can be grasped by the position of the underwater structure 1. Yes.

  The underwater structure position measuring means 8 is not limited to a GPS compass, and a GPS receiver and compass may be used in combination, or measurement may be performed using a light wave rangefinder.

  For example, as shown in FIG. 3, the installation work support apparatus 4 connects the imaging means 5, 5... And the underwater structure position measuring means 8 to computer equipment 9 constituting the image processing means by wire or wirelessly. Can be configured.

  Further, in this installation work support device 4, the bird's-eye view image 6 and other data generated wirelessly or by wire from the computer equipment 9 constituting the image processing means installed in the operation room of the hoist ship 2 are received from the auxiliary work ship 3. It can be transferred to other computer devices 10 and 10 installed at 3 etc.

  Each imaging means 5, 5... Is configured by a camera device such as a digital camera or a digital video camera having an imaging unit including an imaging element and a lens, and has an underwater shooting function capable of shooting in water.

  Further, each imaging means 5, 5... Takes a desired interval in the horizontal direction on the outer periphery of the upper surface of the underwater structure 1A so that the periphery including the outer edge of the underwater structure 1A can be imaged from above. The image pickup unit 11 is constituted by all the image pickup means 5, 5.

  Each of the imaging means 5, 5... Has its installation position and imaging conditions set so that the ends of the imaging ranges 12 a, 12 b and 12 c adjacent to each other overlap each other, and imaging conditions such as focal length and aperture value are set. Can be adjusted automatically or remotely.

  The imaging data of the imaging means 5, 5... Is transmitted to the computer device 9 constituting the image processing means by wire or wireless.

  The imaging unit 11 may have a configuration in which the imaging units 5, 5... Are arranged over the entire circumference of the underwater structure 1, and is configured only on one side of the existing underwater structure 1 </ b> B. There may be. In the present embodiment, a configuration in which only one side on the existing underwater structure 1B side is arranged will be described as an example.

  The image processing means is composed of a computer device 9 having a monitor M serving as a display means, and synthesizes digital imaging data transmitted from the imaging means 5, 5... An image processing unit that generates a bird's-eye view image 6 to be displayed is included.

  In the image processing means, processing for converting an image captured by the imaging means 5, 5... Into an image (virtual viewpoint image) viewed from a virtual viewpoint position different from the actual viewpoint position, distortion correction processing, and image correction processing. Etc., and the digitized imaging data transmitted from each imaging means 5, 5... Is synthesized, and the situation within the monitoring target range around the underwater structure 1A is continuously continuous. One image (bird's-eye view image 6) is output and displayed on the display means.

  Further, basic data such as an installation drawing of the existing underwater structure 1B and a design drawing of the underwater structure 1A can be input in advance to the image processing means, and the basic data and the underwater structure position measuring means 8 are used for measurement. A design drawing or the like of the underwater structure 1 can be synthesized with the bird's-eye view image 6 based on the position and orientation of the underwater structure 1A.

  Further, the image processing means includes a distance measuring unit that analyzes the bird's-eye view image 6 generated by the image composition unit and calculates the distance between the existing underwater structure 1B and the newly installed underwater structure 1A.

  For example, the distance is calculated by marking the reference scale in the imaging range and comparing the reference scale with the distance between the two underwater structures 1A and 1B.

  In addition, the distance measuring unit obtains the distance between the two underwater structures 1A and 1B obtained by analyzing the bird's-eye view image 6 and the preset reference distance and the position information measured by the underwater structure position measuring means 8. In comparison, when the distance between the two underwater structures 1A and 1B is narrower than the reference distance, the alarm means 13 including a siren, a warning light, or the like is operated.

  Next, an installation method of the underwater structure 1A using the underwater structure installation work support device 4 as described above will be described. In addition, the same code | symbol is attached | subjected and demonstrated to the structure similar to the above-mentioned Example.

  In addition, here, the existing underwater structure is referred to as the existing underwater structure 1B, and the underwater structure that is newly installed is referred to as the new underwater structure 1A. It is installed on one side of the outer peripheral portion of the upper surface of the object 1 </ b> A at an interval in the horizontal direction.

  The operation of installing the newly installed underwater structure 1A adjacent to the existing underwater structure 1B is performed using the installation work support device 4 while monitoring the distance between the newly installed underwater structure 1A and the existing underwater structure 1B. Move the newly constructed underwater structure 1A to a desired position adjacent to the existing underwater structure 1B by using horizontal movement means such as the hoist ship 2, the auxiliary work ships 3, 3 and the winch device with the structure 1A floating from the bottom of the water. Then, at that position, the newly installed underwater structure 1A is allowed to sink to the bottom of the water by hanging work by the hoist ship 2 or adjusting the buoyancy of the newly installed underwater structure 1A.

  At that time, in order to monitor the distance between the newly installed underwater structure 1A and the existing underwater structure 1B, first, as shown in FIG. The periphery of the newly installed underwater structure 1A including the outer periphery of the image is captured as needed for each of the imaging ranges 12a, 12b, and 12c, and the captured data is transmitted to the image processing means as needed by wire or wirelessly (step 1).

  Next, as shown in FIG. 4 (b), the image processing means converts the imaging data for each of the imaging ranges 12a, 12b, 12c transmitted from the imaging means 5, 5. Processing for converting an image viewed from a virtual viewpoint position different from the viewpoint position (hereinafter referred to as virtual viewpoint images 13a, 13b, and 13c), that is, an image in which the outer peripheral portion of the newly installed underwater structure 1A is looked down from directly above. Then, processing such as processing for correcting the distortion of each virtual viewpoint image 13a, 13b, 13c is performed (step 2).

  Then, as shown in FIGS. 4B to 4C, the image processing means joins the virtual viewpoint images 13a, 13b, and 13c at the portions 14 and 14 where the imaging ranges overlap in the image composition unit. At the same time, the image is corrected so that there is no sense of incongruity in the shift and joint of the overlapping portions 14 and 14, and a bird's-eye view image 6 that displays a bird's-eye view in the monitoring area indicated by the one-dot chain line in FIG. Then, it is output to the monitor M which is a display means (step 4).

  The image processing means analyzes the bird's-eye view image 6 in the distance measurement unit, calculates the distance between the existing underwater structure 1B and the newly installed underwater structure 1A, and outputs the calculation result to the display means. The distance between the two underwater structures 1A and 1B calculated at the side of the distance meter is compared with the preset distance between the two underwater structures 1A and 1B (step 5).

  And the operation | movement of the said step 1-5 is repeated, and the monitoring object range between the newly installed underwater structure 1A and the existing underwater structure 1B is displayed at any time by the continuous one bird's-eye image 6 without a break. The distance between the newly installed underwater structure 1A and the existing underwater structure 1B that changes every moment within the target range can be monitored in real time, and the operators of the hoist ship 2 and the auxiliary work ships 3 and 3 can Work can be performed while visually grasping the entire portion between the existing underwater structure 1B.

  In step 5, when the distance between the two underwater structures 1A and 1B calculated by the distance meter side portion becomes narrower than the preset distance between the two underwater structures 1A and 1B, the distance meter side portion displays the alarm means 13. To output a signal to activate sirens and warning lights.

  In the above-described embodiment, the example in which the imaging units 5, 5... Constituting the imaging unit 11 are installed on the outer peripheral portion of the upper surface of the underwater structure 1 has been described. For example, as shown in FIG. When the underwater structure 1 is suspended and supported via the suspension frame 21 during the installation work of the underwater structure 20A such as an asphalt mat, the imaging means 5, 5. By fixing to the outer periphery of the underwater structure 20, the underwater structure 20 may be installed at intervals above the outer periphery of the underwater structure 20 in the horizontal direction.

  In that case, each imaging means 5, 5... Constituting the imaging unit 11 images the periphery of the underwater structure 20A including the existing underwater structure 20B such as an asphalt mat on the outer periphery of the suspension frame 21 from above. Arranged as possible.

  In the figure, reference numerals 22, 22... Are supports such as wires for supporting the underwater structure 20 on the suspension frame 21.

  In the above-described embodiment, the example in which the imaging unit 11 is installed on the outer periphery of the upper surface of the newly installed underwater structure 1A has been described. However, as illustrated in FIG. 6, a plurality of imaging units 11A and 11B are connected to the underwater structure 1. A plurality of stages may be provided in the height direction, and a bird's-eye view image of the underwater structure 1 may be generated for each desired height so that the generated bird's-eye images 6A and 6B can be displayed. In addition, the same code | symbol is attached | subjected to the structure similar to the above-mentioned Example, and description is abbreviate | omitted.

  In this embodiment, a projecting portion 30 made of a footing projecting outward is provided at the lower end of the newly installed underwater structure 1A, and each of the imaging means 5, 5... Constituting the upper imaging unit 11A is an underwater structure. The image pickup means 5 and 5 constituting the image pickup unit 11 </ b> B arranged in the lower stage are arranged on the outer periphery of the upper surface of the object 1 so that the periphery of the overhanging portion 30 can be imaged.

  Each imaging means 5, 5 constituting the lower imaging unit 11B captures an overhanging portion 30 made of footing and an end surface of the underwater structure 1A main body at desired height positions on both side surfaces of the newly installed underwater structure 1A. It is installed to include.

  Then, in the present embodiment, at least one of the imaging units 11A and 11B, in the present embodiment, the lower imaging unit 11B is placed underwater, the installation work of the newly installed underwater structure 1A, that is, the horizontal movement and sinking of the newly installed underwater structure 1A Is performed while monitoring the bird's-eye images 6A and 6B on and off the water.

  In this embodiment, as shown in FIG. 7C, the bird's-eye view image 6A and the bird's-eye view image 6B are combined to generate one bird's-eye view image 6C, and the underwater structure 1A is displayed three-dimensionally on one screen. You may make it do.

  By doing in this way, even if it is in the state of the underwater part where visual monitoring is difficult, the part to be monitored can be visually grasped with one unbroken bird's-eye view image 6B. Since the state of the underwater structure 1 can be monitored with the bird's-eye image 6A, 6B or the bird's-eye image 6C obtained by combining the bird's-eye images 6A, 6B, the state of the underwater structure 1A and between the two underwater structures 1A, 1B The interval can be grasped in three dimensions.

  In the above-described embodiment, an example in which each of the imaging units 11A and 11B is arranged in two stages has been described. However, a plurality of imaging units are arranged in three or more stages, and the status of the underwater structure 1A is monitored in more detail. You may make it do.

  Further, in the above-described embodiment, the example in which the imaging unit is provided with the underwater shooting function has been described. However, each imaging unit installed at a position on the upper surface of the underwater structure and not submerged in water does not have the underwater shooting function. It may be a thing.

1A (Newly installed) Underwater structure 1B Existing underwater structure 2 Hoist ship 3 Auxiliary work ship 4 Installation work support device 5 Imaging means (camera equipment)
6, 6A, 6B, 6C Bird's-eye view image 8 Underwater structure position measuring means 9, 10 Computer 11 Imaging units 12a-12c Imaging ranges 13a-13c Virtual viewpoint image 14 Overlapping part 20 Underwater structure (asphalt mat)
21 Suspension frame 22 Support tool 30 Overhang part

Claims (6)

In an installation work support device for an underwater structure in the installation work of an underwater structure for monitoring the periphery of the moving underwater structure,
The installed spaced from one another in the horizontal direction above the outer peripheral portion or the underwater structure outer peripheral portion of the underwater structure, a plurality of imaging means for imaging the surrounding including the from above underwater structures, the underwater structure A plurality of imaging units installed in a plurality of stages in the height direction of the object ;
Image processing means having an image synthesizing unit that generates a bird's-eye view image for displaying the underwater structure and its surroundings in a bird's-eye view by synthesizing the imaging data of the respective image pickup means; Prepared,
An installation work support device for an underwater structure, characterized in that a bird's-eye view image of the underwater structure is generated for each desired height, and each of the generated bird's-eye images can be displayed . The underwater structure installation work support device according to claim 1 , wherein the image processing means includes a distance measuring unit that calculates a distance between the existing underwater structure and the newly installed underwater structure based on the bird's-eye view image. . The underwater structure installation work support device according to claim 1, further comprising an underwater structure position measuring unit configured to measure a position and an orientation of the underwater structure. In the installation method of the underwater structure that installs the underwater structure adjacent to the existing underwater structure,
The installed spaced from one another in the horizontal direction above the outer peripheral portion or the underwater structure outer peripheral portion of the underwater structure, a plurality of imaging means for imaging the surrounding including the from above underwater structures, the underwater structure Image synthesis for generating a bird's-eye view image that displays a bird's-eye view of the underwater structure and its surroundings by combining a plurality of image pickup units installed in a plurality of stages in the height direction of the object and image data of the respective image pickup means Using an installation work support device comprising an image processing means having a section and a display means for displaying the bird's-eye view image,
The respective imaging means images the periphery of the underwater structure including the outer peripheral portion of the existing underwater structure, and the image data of the respective imaging means are synthesized to determine the relationship between the underwater structure and the existing underwater structure. the bird's-eye view image to bird's-eye displaying generated for each desired height, mounting method of the underwater structure which is characterized in that the mounting of the underwater structure while monitoring the respective bird's-eye image. The underwater structure installation method according to claim 4 , further comprising a projecting portion having a shape projecting outward at a lower end portion of the underwater structure, and arranging each of the imaging units so as to capture an image of the periphery of the projecting portion. With at least one of the imaging units arranged in the water, a bird's-eye view image of the underwater structure is generated for each desired height, and the installation work of the underwater structure is monitored for the bird's-eye image on the water and in the water, respectively. However, the installation method of the underwater structure of Claim 4 or 5 performed.

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