JP6904649B2 - Caisson position adjustment system and caisson position adjustment method - Google Patents

Description

The present invention relates to a caisson position adjusting system and a caisson position adjusting method for adjusting the position and orientation of a rectangular caisson in a plan view floating on a water surface in a plane direction.

When installing a caisson in a predetermined position such as underwater, in general, water is injected into the caisson's basin with a submersible pump in a floating state to stabilize the caisson at a predetermined weight, and then move the caisson to a predetermined position. After towing and guiding, a method is used in which water is further injected to settle the caisson and then the caisson is installed. At this time, since it is required to install the caisson at the target position as accurately as possible, the work manager manages the water injection into the caisson's basin and based on the measurement results such as the inclination of the caisson. , Caisson is being guided. Regarding the installation of such a caisson, the applicant has calculated the information necessary to guide the caisson to a predetermined position and the information necessary to manage the water injection into all the caisson boxes. An application has been filed earlier for a system and method for assisting caisson guidance (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2013-231331

Here, in the conventional system and method described above, when a plurality of wires and winches are used as means for moving the caisson, the information calculated by the system is confirmed by the work commander when moving the caisson. , The work commander will give instructions to the worker who remotely controls the winch. In this way, if the winch is further operated by the operator through the transmission work by the operator, a time lag occurs between the calculation of the information and the actual operation of the winch, and there is a risk of erroneous operation by the operator. Therefore, it may not be possible to move the caisson to the proper position. Further, in the movement of the caisson by the winch operation of the operator, the wire in the direction of moving the caisson is the winch while the wire in the direction opposite to the direction in which the caisson is moved is loosened by the winch feeding operation. It is performed by receiving a winding operation and winding it. Since such work is repeatedly executed according to the amount of movement of the caisson, there is a concern that wires may be entangled or kink may occur.

The present invention has been made in view of the above problems, and an object of the present invention is to adjust the position of a caisson more accurately.

(Aspect of the invention)
The following aspects of the invention exemplify the configurations of the present invention, and will be described separately in order to facilitate understanding of the various configurations of the present invention. Each section does not limit the technical scope of the present invention, and some of the components of each section are replaced, deleted, or the like while taking into consideration the best mode for carrying out the invention. Those to which the above-mentioned components are added can also be included in the technical scope of the present invention.

(1) A system for adjusting the position and orientation of a caseon having a plurality of side surfaces floating on the water surface in the plane direction, the four AC servomotor type winches installed on the caseon, and one end of the caseon. The four wires fixed to each of the sinkers sunk on the bottom of the water at four locations around the winch, and the other end is wound and unwound by each of the four winches, and the position and orientation of the cason in the plane direction. The four units for moving the cason to a predetermined target position and direction based on the measurement results of the position measuring means to be measured, the winch control means for controlling the operation of the four winches, and the position measuring means. of deriving the operation of each of the winch, the operation command for causing the operation that issued conductor to the four winches, caisson positioning system comprising: a system controller for outputting to the winch control means.

The caisson position adjustment system described in this section adjusts the position and orientation of the caisson floating on the water surface in the plane direction during the installation work of the caisson, and is installed on the caisson as a means for moving the caisson. It is provided with four AC servomotor type winches and four wires wound and unwound by each of the four winches. The four wires are fixed to sinkers whose ends opposite to the end connected to the winch are sunk in four places around the caisson. With such a configuration, the wire is wound and unwound by the four winches, so that the caisson is mainly moved toward the sinker to which the wound wire is fixed.

Further, the caisson position adjusting system described in this section includes a position measuring means, a winch control means, and a system control unit. The position measuring means measures the position and orientation of the caisson in the plane direction, and the position and orientation of the caisson to be measured may be relative to a predetermined position and orientation, and is absolute. It may be a typical one. The winch control means controls the operation of the four winches, and as will be described later, controls the operation of each of the four winches in response to an operation command output from the system control unit. That is, the winch control means is mainly configured to control the AC servomotor of each winch.

On the other hand, the system control unit derives the operation of each of the four winches for moving the caisson to a predetermined target position and direction based on the position and orientation of the caisson in the plane direction measured by the position measuring means. do. At this time, the system control unit derives the operation of the four winches from the current position and orientation of the caisson and the target position and orientation by setting a predetermined target position and orientation in advance. Then, as described above, the system control unit outputs an operation command for causing each winch to perform the operation of the four derived winches to the winch control means.

That is, the caisson position adjustment system described in this section measures the position and orientation of the caisson in the plane direction by the position measuring means, and derives each winch operation for moving the caisson to a predetermined target position and direction by the system control unit. , And the operation control of the four winches by the winch control means is executed without human intervention. As a result, the position adjustment of the caisson is automated, so that there is almost no time lag between the measurement of the position and orientation of the caisson and the actual operation of the winch, and there is a risk of erroneous operation of the winch by the operator. It disappears. Further, since the AC servomotor type winch is controlled by the winch control means, the winch control is performed with high accuracy. Combined with these actions, the position of the caisson is adjusted more accurately.

(2) In the above item (1), as the operation of each of the four winches, the system control unit applies a brake to suppress both winding and unwinding of the wire, and a winch. Of the three operations, a torque-up operation that raises the torque value to enable winding of the wire and a torque-down operation that lowers the winch torque value to enable the wire to be unwound. A Kason position adjustment system (claim 1 ) that derives any one of them, and at this time, derives the winch that performs the torque-up operation and the winch that performs the torque-down operation so as to include at least one winch.

In the caisson position adjustment system described in this section, when the system control unit derives the operation of the four winches, the operation of each of the four winches is a hold operation, a torque up operation, and a torque down operation. It derives any one of the three operations. The hold operation is an operation of suppressing both winding and unwinding of the wire by applying the winch brake. On the other hand, the torque-up operation is an operation in which the wire can be wound by increasing the torque value of the winch, and the torque-down operation is an operation in which the wire is unwound by decreasing the torque value of the winch. It is an operation to make it possible. Further, the system control unit derives the four winches so that at least one winch for torque-up operation and one winch for torque-down operation are included in the four winches.

Then, the winch control means that receives the operation command from the system control unit controls the winch to perform the above-mentioned operation, so that the winch in the hold operation suppresses the winding and unwinding of the wire and the torque-up operation. The winch of the torque down operation operates to wind up the wire, and the winch of the torque down operation operates to unwind the wire. At this time, since the winch in the torque down operation is controlled to reduce the torque value until the wire can be unwound, the wire is unwound while the wire is under tension. That is, not only the winch of the hold operation and the torque up operation but also the winch of the torque down operation does not loosen the wire drawn out from the winch, so that the wire is entangled and the kink is prevented from occurring.

(3) In the above item (2), the system control unit includes a feeding amount measuring means for measuring the feeding amount of the wire from each of the four winches, and the system control unit is based on the measurement result of the feeding amount measuring means. It is determined whether or not each of the winches receiving the operation command of the torque up operation or the torque down operation is operating according to the operation command, and the winch not operating according to the operation command is A cason position adjustment system (claim 2 ) that outputs a command to further reduce the torque value of the winch that has received the operation command of the torque down operation to the winch control means when one or more units are present.

The caisson position adjusting system described in this section further includes a feeding amount measuring means, and the feeding amount measuring means is used for each of the four winches so as to measure the feeding amount of the wire from each winch. Will be installed. Then, in the system control unit, based on the wire feeding amount of each winch acquired from the feeding amount measuring means, each of the winches receiving the operation command of the torque up operation or the torque down operation follows the operation command of each winch. Determine if it is working. That is, since the winch of the torque-up operation should be operated so as to wind up the wire by increasing the torque value, if the amount of wire drawn out from this winch is reduced after the torque-up operation, , It is determined that the operation is performed according to the operation command, and if it does not decrease after the torque up operation, it is determined that the operation is not performed according to the operation command.

On the other hand, the winch of the torque down operation should be operated so as to feed out the wire by lowering the torque value. Therefore, if the amount of wire drawn out from this winch is increased after the torque down operation, If it is determined that the operation is performed according to the operation command and the torque is not increased after the torque down operation, it is determined that the operation is not performed according to the operation command. Then, if there is even one winch that is not operating according to the operation command, the system control unit outputs a command to the winch control means to further reduce the torque value of the winch that has received the operation command of the torque down operation. .. That is, if there is a winch in which the wire is not wound even though the torque value is increased, it is determined that the cause is that the wire is not drawn out from another winch in which the torque value is decreased. The torque value is further lowered so that the wire is unwound from such a winch. If there is a winch in which the wire cannot be unwound even though the torque value has been lowered, it is determined that the torque value of the winch is still too high, and the wire is unwound from the winch. , The torque value is further lowered.

With the above control, the torque value of the winch in the torque down operation is lowered by the width of the torque value required for feeding the wire, so that the slackening of the wire is more reliably prevented. Furthermore, if there is a winch that is not operating according to the operation command, the only control to be performed is to further reduce the torque value of the winch for torque down operation, so it is necessary to adjust the torque values of the four winches. However, torque control is simplified. As for the winch in the hold operation, the brake of the winch is operated, the wire feeding amount does not change, and the torque value does not need to be adjusted. Therefore, there is no problem even if the operation is not determined.

(4) In the above items (2) and (3), when the system control unit derives the operation of each of the four winches, the caisson in a state of being in the predetermined target position and orientation is arbitrary. In a plan view where the direction parallel to the normal of one side surface is the front-back direction and the direction orthogonal to the front-back direction on the horizontal plane is the left-right direction, the caisson is rotated to the right, the caisson is rotated to the left, and the caisson is rotated. From the six movement modes of right movement, left movement of the caisson, front movement of the caisson, and rear movement of the caisson, at least a movement mode for moving the caisson to the predetermined target position and direction is selected. A caisson position adjustment system (claim 3 ) that selects one and derives the operation of each of the four winches so that the movement mode of the selected caisson is executed.

The caisson position adjustment system described in this section is based on a direction determined by the system control unit from the normal of the side surface of the caisson in a predetermined target position and orientation when deriving the operation of each of the four winches. , At least one movement mode for moving the caisson in a predetermined target position and direction is selected from the following six movement modes. Specifically, the six movement modes are the front-back direction, the front-back direction and the horizontal plane in the direction parallel to the normal of any one side of the plurality of sides of the cason in a predetermined target position and orientation. It is determined in the plan view when the direction orthogonal to is the left-right direction.

That is, the six movement forms are the right rotation of the caisson, the left rotation of the caisson, the right movement of the caisson, the left movement of the caisson, the front movement of the caisson, and the rear movement of the caisson in the above-mentioned plan view. From these six movement modes, at least one movement mode for moving the caisson to a predetermined target position and direction is selected. Then, the system control unit derives the operation of each of the four winches so that the movement mode of the selected caisson is executed. At this time, when two or more movement modes for moving the caisson to a predetermined target position and direction are selected, the selected movement modes are sequentially executed based on a preset priority or the like. In addition, the operation of each of the four winches may be derived for each selected movement mode. In this way, the movement modes selected from the six preset movement modes are combined and executed as necessary, so that the movement of the caisson until it reaches a predetermined target position and direction is efficient. It will be executed continuously and targetedly. As a result, the efficiency of the caisson position adjustment work can be improved.

(5) In the above item (4), the system control unit presets the operation of each of the four winches for executing the movement mode for each of the six movement modes of the caisson. Position adjustment system (claim 4 ).
In the caisson position adjustment system described in this section, for each of the six movement modes of the caisson described in the above section (4), the operation of each of the four winches for executing the movement mode is the sinker sinking position. It is set in advance in the system control unit according to the routing route of the wire and the wire. For example, when the system control unit derives any one of the hold operation, the torque up operation, and the torque down operation as described in the above section (2) as the operation of each of the four winches. Is set for each of the four winch movements from the above three movements for each of the six movement modes of the caisson. As a result, since the trouble of deriving the operation of the four winches is saved, each of the six movement modes is executed more quickly, and the efficiency of the caisson position adjustment work can be further improved.

(6) In the above items (2 ) to (5), the position measuring means is installed on the existing structure, two total stations having an automatic tracking function, and all two units installed on the caisson. Caisson position adjustment system including directional mirror.
In the caisson position adjustment system described in this section, the position measuring means is installed on two total stations having an automatic tracking function, which are installed on an existing structure such as an existing caisson, and on the caisson to be moved2. It includes a stand omnidirectional mirror. A total station is a device that irradiates a target with laser light or the like, detects the reflected light, and simultaneously measures a distance and an angle. The two total stations track the two omnidirectional mirrors installed on the caisson and measure the angle and distance. As a result, the relative position and orientation of the caisson in the plane direction can be accurately grasped in real time from the measurement results of the two total stations.

(7) The caisson position adjusting system including the wireless communication means for communicating between the device installed on the caisson and the system control unit in the above items (2) to (6).
The caisson position adjustment system described in this section communicates between a device installed on the caisson, that is, a winch control means, and, if included in this system, a payout amount measuring means, and a system control unit. It is equipped with a wireless communication means that is performed wirelessly. For example, a wireless LAN is used as the wireless communication means, and the transmission of an operation command from the system control unit to the winch control means and the transmission of measurement data from the delivery amount measuring means to the system control unit are performed via the wireless communication means. Is done. As a result, even when the system control unit is installed at a location away from the caisson, commands and data can be exchanged without any problem.

(8) This is a method of adjusting the position and orientation of a caseon having a plurality of side surfaces floating on the water surface in the plane direction. Four AC servomotor type winches are installed on the caseon, and the four winches are installed. A position measuring means for fixing the tip of a wire drawn from each of the winches to each of the sinkers submerged in the water bottom at four locations around the caseon and measuring the position and orientation of the caseon in the plane direction, and the four units. The winch control means for controlling the operation of the winch and the system control unit are used, and the system control unit is used to move the caseon to a predetermined target position and direction based on the measurement result of the position measurement means. the derives the operation of each of the four winch, the operation command for causing the operation that issued conductor to the four winches, caisson alignment how to be output to the winch control means from said system control unit ..

(9) In the above item (8), as the operation of each of the four winches, the system control unit applies a brake to suppress both winding and unwinding of the wire, and a winch. Of the three operations, a torque-up operation that raises the torque value to enable winding of the wire and a torque-down operation that lowers the winch torque value to enable the wire to be unwound. A cason position adjusting method (claim 5 ) for deriving any one of them so that at least one winch for performing the torque-up operation and one winch for performing the torque-down operation are included at this time.
(10) In the above item (9), the feeding amount measuring means for measuring the feeding amount of the wire from each of the four winches is further used, and the measurement result of the feeding amount measuring means by the system control unit. Based on the above, it is determined whether or not each of the winches receiving the operation command of the torque up operation or the torque down operation is operating according to the operation command, and is not operating according to the operation command. A cason position adjusting method (claimed claim) in which when one or more winches are present, a command for further lowering the torque value of the winch receiving the operation command of the torque down operation is output from the system control unit to the winch control means. 6 ).

(11) In the above items (9) and (10), when the operation of each of the four winches is derived by the system control unit, the caisson in the state of being in the predetermined target position and orientation is optional. In a plan view where the direction parallel to the normal of one side surface is the front-back direction and the direction orthogonal to the front-back direction on the horizontal plane is the left-right direction, the caisson is rotated to the right, the caisson is rotated to the left, and the caisson is rotated. From the six movement modes of right movement, left movement of the caisson, front movement of the caisson, and rear movement of the caisson, at least a movement mode for moving the caisson to the predetermined target position and direction is selected. A caisson position adjusting method (claim 7 ) in which one is selected and the operation of each of the four winches is derived so that the movement mode of the selected caisson is executed.
(12) In the above item (11), for each of the six movement modes of the caisson, the operation of each of the four winches for executing the movement mode is preset in the system control unit. Position adjustment method (claim 8 ).

(13) In the above items (9 ) to (12), as the position measuring means, two total stations having an automatic tracking function installed on the existing structure and all two units installed on the caisson. Caisson position adjustment method using a directional mirror.
(14) The caisson position adjusting method for communicating between a device installed on the caisson and the system control unit by using the wireless communication means in the above items (9) to (13).
The caisson position adjustment methods according to items (8) to (14) are executed by using the caisson position adjustment systems according to items (1) to (7), respectively. It has the same function as the caisson position adjustment system in item 7).

Since the present invention is configured in this way, the position of the caisson can be adjusted more accurately.

It is the schematic which shows schematicly in the plan view the caisson position adjustment system which concerns on embodiment of this invention. It is a flow chart of the whole caisson installation work for showing the timing to execute the caisson position adjustment method which concerns on embodiment of this invention. It is a flowchart which shows an example of the procedure of the caisson position adjustment method which concerns on embodiment of this invention. Of the flowcharts of FIG. 3, it is a sub-flow chart showing in detail the processing in the caisson movement mode setting process. Of the flowcharts of FIG. 3, it is a sub-flow chart showing in detail the processing in the winch operation determination process. It is an image diagram which shows the difference between the current position of a caisson and a target position. It is an image diagram which shows the operation of each winch when the right rotation is executed as the movement form of a caisson. It is an image diagram which shows the operation of each winch when the left rotation is executed as the movement form of a caisson. It is an image diagram which shows the operation of each winch when right movement is executed as the movement form of a caisson. It is an image diagram which shows the operation of each winch when the left movement is executed as the movement form of a caisson. It is an image diagram which shows the operation of each winch when the forward movement is executed as the movement form of a caisson. It is an image diagram which shows the operation of each winch when the back movement is executed as the movement form of a caisson.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Here, detailed description of the same part or the corresponding part as in the prior art will be omitted, and the same part or the corresponding part will be indicated by the same reference numerals throughout the drawings.
FIG. 1 is a schematic view schematically showing the configuration of the caisson position adjusting system 10 according to the embodiment of the present invention from the plane direction, with a position adjacent to the existing caisson 64 (existing structure 62) as a target position. It shows how the caisson position adjustment system 10 is used to adjust the position of the caisson 60 that has floated on the water. As shown in the figure, the caisson position adjusting system 10 according to the embodiment of the present invention has an automatic tracking function installed on the existing caisson 64 as a position measuring means 12 for measuring the position and orientation of the caisson 60 in the plane direction. It includes two total stations 14 and two omnidirectional mirrors 16 installed on the caisson 60. The two total stations 14 track the two omnidirectional mirrors 16 on the caisson 60, respectively, and measure the distance and angle to the omnidirectional mirrors 16.

Further, the caisson position adjustment system 10 is fixed to four AC servomotor type winches 20 installed on the caisson 60 and a sinker 24 having one end sunk around the caisson 60 as a means for moving the caisson 60. The other end is provided with four wires 22 that are wound and unwound by each of the four winches 20. In the example of FIG. 1, each of the four wires 22 is hung on a pulley 26 (see FIGS. 7 to 12) provided on the caisson 60. Further, the caisson position adjusting system 10 includes a winch control means 28 for controlling the operation of the four winches 20 and a payout amount measuring means 30 for measuring the payout amount of the wires 22 from the four winches 20. .. The winch control means 28 is installed in the vicinity of the four winches 20, and the payout amount measuring means 30 is provided in each of the four winches 20. The winch control means 28 is composed of, for example, a control panel capable of electrically controlling the AC servomotor of each winch 20.

Further, the caisson position adjustment system 10 includes a system control unit 32 installed on the existing caisson 64, and wireless communication means 34 provided on the caisson 60 and the existing caisson 64. The system control unit 32 acquires measurement data from the two total stations 14 and outputs operation commands to the four winches 20 to the winch control means 28, which will be described in detail later. A monitoring monitor 46 for displaying various information calculated by the system control unit 32 is connected to the system control unit 32, and the monitoring monitor 46 is installed in a management room 56 provided on the existing caisson 64. There is. Further, for example, a personal computer or the like is used for the system control unit 32, and the system control unit 32 can be operated with a mouse or a keyboard. Further, for the wireless communication means 34, for example, a wireless LAN or the like is used, and each device installed in the caisson 60 (winch control means 28, feeding amount measuring means 30, etc.) and each device installed in the existing caisson 64. Establish wireless communication with (system control unit 32, etc.).

In the example of FIG. 1, in addition to each component of the caisson position adjustment system 10 described above, a device for managing water injection of a plurality of basins 44 provided in the caisson 60 is installed. Specifically, on the caisson 60, a biaxial inclinometer 40, a plurality of water level gauges 42 installed for each of the caisson 60's boxes 44, and a data recording device 48 connected to all of the plurality of water level gauges 42. It has. The plurality of water level gauges 42 measure the water level of the basin 44 in which each is installed, and all the water level data measured by each water level gauge 42 is transmitted to the data recording device 48 and collected by the data recording device 48. And recorded. The system control unit 32 acquires the measurement data of the biaxial inclinometer 40 and the measurement data of the plurality of water level gauges 42 recorded in the data recording device 48 via the wireless communication means 34, and uses these measurement data as the measurement data. Based on this, each information necessary for water injection management to the basin 44 is calculated and displayed on the monitoring monitor 46.

That is, in the example of FIG. 1, the system control unit 32 of the caisson position adjustment system 10 is configured to calculate the information required for water injection management, but a control device different from the system control unit 32 is used. , The information required for water injection management may be calculated. The amount of water injected into each basin 44 of the caisson 60 is adjusted by injecting water in the water into the basin 44 or draining the water in the basin 44 into the water by four submersible pumps 50. The operation of the four submersible pumps 50 is performed by the work manager using the pump remote device 54 while checking each information for water injection management displayed on the monitoring monitor 46 in the control room 56. The water injection management of each basin 44 of the caisson 60 and the operation control of the submersible pump 50 based on the water injection management may be automated by using various computers.

Subsequently, FIG. 2 is a flowchart of the caisson installation work for showing the timing of executing the caisson position adjustment method according to the embodiment of the present invention, which is executed by using the caisson position adjustment system 10 shown in FIG. Is shown. Since this flowchart is composed of S10 to S110 and the timing for executing the caisson position adjusting method according to the embodiment of the present invention is S60, the steps excluding S60 will be briefly described here.
S10 (pre-survey): Pre-survey the caisson 60 to be installed. That is, before towing the caisson 60, the finished shape of the caisson 60 is measured to accurately grasp the size and the like of the caisson 60. These measurement results are input to the system control unit 32 as needed.

S20 (Caisson equipment): The caisson 60 and the existing caisson 64 are equipped with each component of the caisson position adjustment system 10 and each device for managing water injection of the caisson 60.
S30 (Calibration): Calibrate each measuring device installed in S20. Further, it may be confirmed that each device operates normally.
S40 (Caisson towing): The caisson 60 is towed to the vicinity of the installation target position. At this time, a method of towing the caisson 60 in a floating state by a towing ship, a method of towing the caisson 60 in a suspended state by a large hoist, etc. are used according to the size of the caisson 60, the towing distance, etc. Be done.

S50 (primary water injection): Water is injected into each of the boxes 44 provided in the caisson 60 by the submersible pump 50. At this time, while checking various information necessary for water injection management displayed on the monitoring monitor 46 by the system control unit 32, water injection is performed in a well-balanced manner so that the water level difference between the basins 44 does not become excessively large. Then, the water level of each basin 44 is adjusted so that the water injection amount is about 80% of the planned water injection amount at the time of installation. By doing so, the caisson 60 is in a state of rising near the target position of installation while having a stable weight that does not move significantly due to the influence of water flow or the like. The operation of the submersible pump 50 is performed by using the pump remote device 54 installed in the control room 56.
S60 (Caisson position adjustment): The caisson 60 is moved to a predetermined target position and direction by the caisson position adjustment method according to the embodiment of the present invention. Details will be described later.

S70 (secondary water injection): In the above S60, after the caisson 60 is moved to the target position, water is injected again into each of the caisson 60 boxes 44 by the submersible pump 50. At this time, while checking various information necessary for water injection management displayed on the monitoring monitor 46, water is injected in a well-balanced manner so that the water level difference between the basins 44 does not become excessively large, and the plan at the time of installation is planned. Adjust the amount of water injection or the amount of water injection that is judged to be appropriate on the spot.
S80 (caisson sunk): By injecting water in the above S70 and increasing the weight of the caisson 60, the caisson 60 is settled and sunk.
S90 (finished shape measurement): The finished shape of the caisson 60 in the sunk state is measured, and it is determined whether or not the caisson 60 is accurately sunk at the target position. Then, when it is determined that the caisson 60 is accurately sunk in the target position (YES), the process proceeds to S110, and when it is determined that the caisson 60 is not accurately sunk in the target position (NO), S100 is performed. Move to.

S100 (drainage): In the above S90, when it is determined that the caisson 60 is not accurately submerged at the target position, the submersible pump 50 is used to drain the caisson 60 from each of the boxes 44. At this time, while checking various information necessary for water injection management displayed on the monitoring monitor 46, drainage is performed in a well-balanced manner so that the water level difference between the basins 44 does not become excessively large. Then, by lowering the water level of each of the boxes 44 and reducing the weight of the caisson 60, the caisson 60 is resurfaced. After that, it returns to the above S60.
S110 (Installation completed): In the above S90, when it is determined that the caisson 60 is accurately sunk at the target position, the installation of the caisson 60 is completed.

Next, the caisson position adjusting method according to the embodiment of the present invention, which is executed in the caisson position adjusting step of S60 of FIG. 2, will be described in detail with reference to the flowchart of FIG. 3 and the sub-flow charts of FIGS. 4 and 5. The caisson position adjusting method according to the embodiment of the present invention is configured by S200 to S330 shown in FIG. 3 as an example, and details of the caisson movement mode setting process of S220 are shown in the sub-flow chart of FIG. Details of the operation determination process are shown in the sub-flow charts of FIG. 5, respectively. For the configuration of the caisson position adjustment system 10 and the like, refer to FIG. 1 as appropriate.

S200 (preparation for position adjustment): Prepares for adjusting the position of the caisson 60. That is, as shown in FIG. 1, sinkers 24 are sunk in the water bottoms at four locations around the caisson 60, and the ends of the wires 22 drawn out from each of the four winches 20 are attached to the pulleys 26 (see FIGS. 7 to 12). ), And fixed to the sinker 24. Then, the brakes are applied to all the winches 20 in a state where tension is applied so that each wire 22 does not loosen. The sinker 24 is sunk at an appropriate position according to the relationship between the current position of the caisson 60 and a predetermined target position, the positions of the winch 20 and the pulley 26, and the like. Further, at this point, the target position and direction for moving the caisson 60 may be set in the system control unit 32.

S210 (Caisson position measurement): The position measuring means 12 measures the position and orientation of the caisson 60 in the current plane direction. That is, the two total stations 14 measure the distances and angles to the two omnidirectional mirrors 16 on the caisson 60, and transmit the measurement data to the system control unit 32. Then, the system control unit 32 determines, for example, a predetermined target position and orientation of the caisson 60 from the measurement data of the total station 14, the position of the omnidirectional mirror 16 on the caisson 60, the size of the caisson 16, and the like. The relative position and orientation of the caisson 60 in the plane direction are calculated. The position of the caisson 60 shall be continuously measured by the position measuring means 12 and the system control unit 32.

S220 (Caisson movement mode setting): The system control unit 32 sets the movement mode of the caisson 60 for moving the caisson 60 in a predetermined target position and direction. From here, the process proceeds to the sub-flow chart of FIG. Here, the movement mode of the caisson 60 is set based on a direction determined with reference to the normal of any one side surface of the caisson 60a in a predetermined target position and orientation as shown in FIG. NS. In this embodiment, since the caseon 60 (60a) has a rectangular shape in a plan view, the direction parallel to the normal of the side surface corresponding to the upper side or the lower side in the drawing of the caseon 60a is the front-back direction, and this front-back direction. The movement mode of the caseon 60 is set with the direction orthogonal to the horizontal plane (the direction parallel to the normal of the side surface corresponding to the right side and the left side in the drawing of the caseon 60a) as the left-right direction. Specifically, in FIG. 6, the movement mode of the caseon 60 is that the axis orthogonal to the paper surface is rotated as a rotation axis, the caseon 60 is rotated right or left, and the caseon is translated to the right or left in the drawing. It shows the forward movement or the backward movement of the cason 60, which is the right movement or the left movement of the 60, and the translation movement in the downward direction or the upward direction in the figure. All the processes performed in S400 to S520 of FIG. 4 are executed by the system control unit 32.

S400 (Calculation of position difference): The difference between the current position and orientation of the caisson 60 in the plane direction and a predetermined target position and orientation of the caisson 60 is calculated. Specifically, for example, as shown in FIG. 6, of the four sides of the caisson 60 having a rectangular view in a plan view, the caisson 60 is located at a position on the upper side and the lower side in the drawing at a position intersecting the lines parallel to the right side and the left side. The induction points NP1 and NP2 are virtually set. Similarly, the target points TP1 and TP2 are virtually set at positions corresponding to the induction points NP1 and NP2 of the caisson 60a in a state of being moved to a predetermined target position and direction. The caisson 60 shown in FIG. 6 is a caisson 60 at the time when the position is measured in S210, and when the position and orientation of the caisson 60 change, the positions of the induction points NP1 and NP2 change, but the target points TP1 and TP2 The position of is unchanged.

Then, the differences h1 and h2 in the left-right direction in the figure and the differences v1 and v2 in the vertical direction in the figure between the induction points NP1 and NP2 and the target points TP1 and TP2 are calculated. Further, the difference h3 between the induction points NP1 and NP2 in the left-right direction in the figure is calculated. For each difference calculated here, the difference including positive and negative is calculated. For example, in FIG. 6, assuming a coordinate system that increases in the upward direction and the right direction in the figure, the difference h3 in the left-right direction in the figure between the induction points NP1 and NP2 is a positive value with respect to the induction point NP1. It becomes. Further, the difference h1 in the left-right direction between the induction point NP1 and the target point TP1 in the figure is a negative (minus) value with respect to the target point TP1. Similarly, the difference h2 in the left-right direction in the figure between the induction point NP2 and the target point TP2 is a negative (minus) value with respect to the target point TP2, and the difference v1 in the vertical direction in the figure between the induction point NP1 and the target point TP1. Is a positive (plus) value with respect to the target point TP1, and the difference v2 in the vertical direction in the figure between the induction point NP2 and the target point TP2 is a positive (plus) value with reference to the target point TP2. In the following, a case where the difference value calculated including positive and negative in this way is used will be described as an example. Further, the difference value calculated in this way may be displayed on the monitoring monitor 46.

S410 (right rotation determination): It is determined whether or not the difference h3 between the induction points NP1 and NP2 of the caisson 60 calculated in S400 is equal to or greater than the preset right rotation threshold value. In this embodiment, in the coordinate system increasing to the right in FIG. 6, the difference h3 in the left-right direction in the figure between the induction points NP1 and NP2 with respect to the induction point NP1 is a positive value, and When the value is equal to or greater than the right rotation threshold value (YES), the process proceeds to S420, and in other cases (NO), the process proceeds to S430.
S420 (right rotation setting): Right rotation is set as the movement mode of the caisson 60, and the process proceeds to S230 in FIG.

S430 (Left rotation determination): It is determined whether or not the difference h3 between the induction points NP1 and NP2 of the caisson 60 calculated in S400 is equal to or greater than the preset left rotation threshold value. In this embodiment, in the coordinate system increasing to the right in FIG. 6, the difference h3 in the left-right direction in the figure between the induction points NP1 and NP2 with respect to the induction point NP1 is a negative value, and When the absolute value is equal to or greater than the left-hand rotation threshold value (YES), the process proceeds to S440, and in other cases (NO), the process proceeds to S450.
S440 (left rotation setting): Left rotation is set as the movement mode of the caisson 60, and the process proceeds to S230 in FIG.

S450 (Right movement determination): It is determined whether or not the differences h1 and h2 between the induction points NP1 and NP2 of the caisson 60 and the target points TP1 and TP2 calculated in S400 above are equal to or greater than the preset right movement threshold value. .. In this embodiment, in the coordinate system increasing to the right in FIG. 6, the difference h1 in the left-right direction in the figure between the induction point NP1 and the target point TP1 with reference to the target point TP1 is a negative value. Moreover, when the absolute value is equal to or greater than the right movement threshold, or the difference h2 in the left-right direction between the induction point NP2 and the target point TP2 with reference to the target point TP2 is a negative (minus) value. When the absolute value is equal to or greater than the right movement threshold (YES), the process proceeds to S460, and in other cases (NO), the process proceeds to S470. Since this step is performed when the rotation determination of S410 and S430 is passed (NO), it is considered that there is almost no difference between the induction points NP1 and NP2 in the left-right direction in FIG. Therefore, only one of the difference h1 in the left-right direction in the figure between the induction point NP1 and the target point TP1 and the difference h2 in the left-right direction in the figure between the induction point NP2 and the target point TP2 is used in this step. It may be used for judgment.
S460 (right movement setting): Right movement is set as the movement mode of the caisson 60, and the process proceeds to S230 in FIG.

S470 (Left movement determination): It is determined whether or not the differences h1 and h2 between the induction points NP1 and NP2 of the caisson 60 and the target points TP1 and TP2 calculated in S400 above are equal to or greater than the preset left movement threshold value. .. In this embodiment, in the coordinate system increasing to the right in FIG. 6, the difference h1 in the left-right direction in the figure between the guidance point NP1 and the target point TP1 with reference to the target point TP1 is a positive value. When the value is equal to or greater than the left movement threshold, or the difference h2 between the induction point NP2 and the target point TP2 in the left-right direction in the figure with reference to the target point TP2 is a positive value. If the value is equal to or greater than the left movement threshold (YES), the process proceeds to S480, and if the value is not equal to or greater than the left movement threshold (NO), the process proceeds to S490. Since this step is performed when the rotation determination of S410 and S430 is passed (NO) as in the case of S450, the difference between the induction points NP1 and NP2 in the left-right direction in FIG. 6 is almost the same. It is considered that there is no such thing. Therefore, only one of the difference h1 in the left-right direction in the figure between the induction point NP1 and the target point TP1 and the difference h2 in the left-right direction in the figure between the induction point NP2 and the target point TP2 is used in this step. It may be used for judgment.
S480 (left movement setting): Left movement is set as the movement mode of the caisson 60, and the process proceeds to S230 in FIG.

S490 (forward movement determination): It is determined whether or not the differences v1 and v2 between the induction points NP1 and NP2 of the caisson 60 and the target points TP1 and TP2 calculated in S400 above are equal to or greater than the preset forward movement threshold value. .. In this embodiment, in the coordinate system increasing in the upward direction of FIG. 6, the difference v1 in the vertical direction in the figure between the guidance point NP1 and the target point TP1 with respect to the target point TP1 is a positive value. Moreover, when the value is equal to or more than the threshold value of the forward movement, or the difference v2 in the vertical direction in the figure between the induction point NP2 and the target point TP2 with reference to the target point TP2 is a positive value. When the value is equal to or greater than the forward movement threshold (YES), the process proceeds to S500, and in other cases (NO), the process proceeds to S510. Since this step is performed when the rotation determination of S410 and S430 is passed (NO), the difference v1 between the induction point NP1 and the target point TP1 and the difference between the induction point NP2 and the target point TP2. It is considered that v2 is almost equal. Therefore, only one of the difference v1 between the induction point NP1 and the target point TP1 and the difference v2 between the induction point NP2 and the target point TP2 may be used for the determination in this step.
S500 (forward movement setting): The forward movement is set as the movement mode of the caisson 60, and the process proceeds to S230 in FIG.

S510 (post-movement determination): It is determined whether or not the differences v1 and v2 between the induction points NP1 and NP2 of the caisson 60 and the target points TP1 and TP2 calculated in S400 above are equal to or greater than the preset post-movement threshold value. .. In this embodiment, in the upwardly increasing coordinate system of FIG. 6, the difference v1 in the vertical direction in the figure between the induction point NP1 and the target point TP1 with respect to the target point TP1 is a negative value. Moreover, when the absolute value is equal to or greater than the backward movement threshold, or the difference v2 in the vertical direction between the induction point NP2 and the target point TP2 with reference to the target point TP2 is a negative (minus) value. When the absolute value is equal to or greater than the backward movement threshold (YES), the process proceeds to S520, and in other cases (NO), the process proceeds to S230 in FIG. Since this step is performed when the rotation determination of S410 and S430 is passed (NO) as in S490, the difference v1 between the induction point NP1 and the target point TP1 and the induction point NP2 The difference v2 from the target point TP2 is considered to be substantially equal. Therefore, only one of the difference v1 between the induction point NP1 and the target point TP1 and the difference v2 between the induction point NP2 and the target point TP2 may be used for the determination in this step.
S520 (rear movement setting): The rear movement is set as the movement mode of the caisson 60, and the process proceeds to S230 in FIG.

It should be noted that the threshold value of each movement form used in the determination of each movement form described above shall be set to an appropriate value in consideration of the size of the caisson 60 and the characteristics of each movement form. Further, the positive and negative directions of the coordinate system in FIG. 6, the setting positions of the induction points and the target points, the contents of the difference to be calculated, etc. are not limited to the above-described embodiment, but may be different directions, positions, contents, etc. There may be. Further, the method of setting the movement form of the caisson 60 described in S400 to S520 is an example of the method of setting the movement form used in the caisson position adjusting method according to the embodiment of the present invention, and the method of setting the movement form is described by another setting method. The movement form of the caisson 60 may be set.
Here, the process returns to the flowchart of FIG.

S230 (Movement form setting determination): The system control unit 32 determines whether or not the movement form of the caisson 60 has been set in the above S220 (S400 to S520). Then, when some movement form is set as the movement form of the caisson 60, that is, when any of the above processes S420, S440, S460, S480, S500, and S520 has been passed (YES), S240 Move to. On the other hand, when nothing is set as the movement mode of the caisson 60, that is, when none of the above processes S420, S440, S460, S480, S500, and S520 has passed (NO), the caisson 60 is It is determined that the caisson position has been moved to a predetermined target position and direction, and the caisson position adjustment method according to the embodiment of the present invention is completed.

S240 (winch operation derivation): The system control unit 32 derives the operation of each of the four winches 20 for executing the movement mode of the caisson 60 set in S220. In this embodiment, as each operation of the winch 20, a hold operation is performed in which the winch 20 is braked to suppress both winding and unwinding of the wire 22, and a torque value of the winch 20 is increased to wind the wire 22. One of the torque-up operation for making the wire 22 possible and the torque-down operation for lowering the torque value of the winch 20 so that the wire 22 can be extended is derived. Further, in this embodiment, the operation of each of the four winches 20 is preset for each of the six movement modes of the caisson 60. Therefore, in this step, the operation of each of the four winches 20 corresponding to the movement mode of the caisson 60 set in S220 is selected from the operation of the winch 20 for each movement mode set in advance. Just do it.

Here, the operation of each of the four winches 20 set for each of the six movement modes of the caisson 60 will be described. 7 to 12 show the operation of each of the four winches 20 corresponding to each of the six movement modes of the caisson 60. In each of these figures, the winch 20A is the winch that pays out the wire 22 fixed to the sinker 24 in the upper left of the figure, and the winch 20B is the winch that pays out the wire 22 fixed to the sinker 24 in the lower right of the figure. The winch that feeds out the wire 22 fixed to the sinker 24 in the lower left of the center is called the winch 20C, and the winch that feeds out the wire 22 fixed to the sinker 24 in the upper right of the figure is called the winch 20D. First, FIG. 7 shows an operation corresponding to the clockwise rotation of the caisson 60, in which the winch 20A has a torque-up operation M2, the winch 20B has a torque-up operation M2, the winch 20C has a hold operation M1, and the winch 20D has a torque-down operation M3. Set. Further, FIG. 8 shows an operation corresponding to the counterclockwise rotation of the caisson 60, in which the winch 20A has a torque down operation M3, the winch 20B has a hold operation M1, the winch 20C has a torque up operation M2, and the winch 20D has a torque up operation M2. Set.

Similarly, in FIG. 9, which shows the operation corresponding to the right movement of the caseon 60, the winch 20A has a torque down operation M3, the winch 20B has a torque up operation M2, the winch 20C has a torque down operation M3, and the winch 20D has a torque up operation M2. In FIG. 10, which shows the operation corresponding to the left movement of the caseon 60, the winch 20A has a torque-up operation M2, the winch 20B has a torque-down operation M3, the winch 20C has a torque-up operation M2, and the winch 20D has a torque-down operation M3. Set. Further, in FIG. 11 showing an operation corresponding to the forward movement of the caseon 60, a torque down operation M3 is set on the winch 20A, a torque up operation M2 is set on the winch 20B, a torque up operation M2 is set on the winch 20C, and a torque down operation M3 is set on the winch 20D. In FIG. 12, which shows an operation corresponding to the backward movement of the caseon 60, a torque-up operation M2 is set on the winch 20A, a torque-down operation M3 is set on the winch 20B, a torque-down operation M3 is set on the winch 20C, and a torque-up operation M2 is set on the winch 20D. Will be done.

S250 (operation command output): An operation command for causing each of the four winches 20 to perform the operation of the four winches 20 derived in S240 is issued from the system control unit 32 via the wireless communication means 34. Output to the winch control means 28. Before the operation is controlled by the winch control means 28 that receives this operation command, the four winches 20 are in a braked state by the processing in S200 described above or S330 described later. Therefore, the output of the operation command only needs to be performed on the winch 20 that receives the operation command of the torque up operation M2 and the torque down operation M3. Further, priority and order are given to each operation command so that the torque up operation M2 is performed before the torque down operation M3.

S260 (start of winch operation): In response to the operation command output in S250, the winch control means 28 controls the operation of the four winches 20 to operate each winch 20. First, the winch 20 from which the hold operation M1 is derived in S240 maintains the braked state and suppresses the winding and unwinding of the wire 22. Next, the winch 20 that has received the operation command of the torque-up operation M2 is increased in torque value to the maximum after the brake is released by the winch control means 28. Here, the maximum torque value is set to 10t, and the torque value of the winch 20 that has received the operation command of the torque-up operation M2 is increased to 10t and fixed to this torque value. Subsequently, in the winch 20 that has received the operation command of the torque down operation M3, the torque value is once raised to 10 tons after the brake is released by the winch control means 28, and then the torque value is lowered by one step (-). 1t). The operation of each winch 20 for each of the six movement modes of the caisson 60 is shown in FIG. 7 for right rotation, FIG. 8 for left rotation, FIG. 9 for right movement, FIG. 10 for left movement, and forward movement. See FIG. 11 and FIG. 12 for backward movement, respectively.

S270 (winch state measurement): The payout amount measuring means 30 measures the payout amount of the wire 22 from each of the four winches 20. The measurement by the feeding amount measuring means 30 shall be continuously performed. Further, at the timing before and after the operation of each winch 20 is controlled by the winch control means 28 (the timing before and after the S260), the system control unit 32 controls the payout amount via the wireless communication means 34. Obtain the measurement result from 30. Then, the system control unit 32 calculates the change (increase / decrease) in the feeding amount of the wire 22 in each winch 20 before and after the operation of each winch 20 is controlled by the winch control means 28. The acquisition of the measurement result from the feeding amount measuring means 30 and the calculation of the change in the feeding amount may be omitted for the winch 20 of the hold operation M1, and the winding amount may be replaced with the feeding amount of the wire 22. May be dealt with. Further, the amount of wire 22 drawn out in each winch 20 that is continuously measured may be displayed on the monitoring monitor 46 together with the torque value of each winch 20 and the like.

S280 (winch operation determination): The system control unit 32 determines whether or not each of the four winches 20 is operating according to the operation command. From here, the process proceeds to the sub-flow chart of FIG. All the processes performed in S600 to S680 of FIG. 5 are executed by the system control unit 32.
S600 (determination winch setting): From the four winches 20, one winch 20 for which the operation determination has not been performed is selected and set as the operation determination target winch 20.

S610 (hold operation winch determination): It is determined whether or not the winch 20 whose operation is to be determined is the winch 20 that has received the operation command of the hold operation M1. Then, when the winch 20 receives the operation command of the hold operation M1 (YES), the process proceeds to S650, and when the winch 20 receives another operation command other than the hold operation M1 (NO), the process proceeds to S620. Transition.
S620 (torque-up operation winch determination): It is determined whether or not the winch 20 whose operation is to be determined is the winch 20 that has received the operation command of the torque-up operation M2. Then, in the case of the winch 20 receiving the operation command of the torque-up operation M2 (YES), the process proceeds to S630, and another operation command other than the torque-up operation M2, that is, the operation command of the torque down operation M3 is received. If the winch 20 is (NO), the process proceeds to S640.

S630 (Wire winding determination): It is determined whether or not the wire 22 is wound in the winch 20 whose operation is to be determined, which receives the operation command of the torque-up operation M2. Specifically, the change in the winch 20 whose operation is to be determined is referred to from the change in the feeding amount of the wire 22 in each winch 20 calculated in S270. Then, when it indicates that the feeding amount of the wire 22 is reduced (that is, the wire 22 is wound) (YES), the process proceeds to S650, and the feeding amount of the wire 22 is not reduced (that is, the wire 22 is wound). , The wire 22 is not wound) (NO), the process proceeds to S660.

S640 (wire feeding determination): It is determined whether or not the wire 22 can be fed in the winch 20 to be operated, which has received the operation command of the torque down operation M3. Specifically, the change in the winch 20 whose operation is to be determined is referred to from the change in the feeding amount of the wire 22 in each winch 20 calculated in S270. Then, when it indicates that the feeding amount of the wire 22 is increasing (that is, the wire 22 is being fed) (YES), the process proceeds to S670, and the feeding amount of the wire 22 is not increasing (that is, that is). If it indicates that the wire 22 has not been extended) (NO), the process proceeds to S660.

S650 (operation OK determination setting): In the above S610, when it is determined that the winch 20 of the operation determination target is the winch 20 of the hold operation M1, or in the above S630, the winch 20 of the torque-up operation M2 of the operation determination target is When it is determined that the wire 22 is wound, it is determined that the winch 20 to be operated is operating according to the operation command, and it is set that the operation is OK.
S660 (operation NG determination setting): In the above S630, when it is determined that the winch 20 of the torque up operation M2 of the operation determination target does not wind the wire 22, or in the above S640, the torque down operation of the operation determination target. When it is determined that the winch 20 of the M3 does not extend the wire 22, it is determined that the winch 20 of the operation determination target is not operating according to the operation command, and it is set that the operation is NG.

S670 (operation OK determination setting): In the above S640, when it is determined that the winch 20 of the torque down operation M3 of the operation determination target is paying out the wire 22, the winch 20 of the operation determination target is in accordance with the operation command. It is determined that the operation is OK, and it is set that the operation is OK.
S680 (confirmation of determination winch): It is determined whether or not the operation determination has been performed for all four winches 20. Then, when the operation determination is performed for all four winches 20 (YES), the process proceeds to S290 in FIG. 3, and when the winch 20 for which the operation determination is not performed remains (NO), the process returns to S600. do. That is, the above steps S600 to S670 are repeatedly executed until the operation of all four winches 20 is determined.

From here, the process returns to the flowchart of FIG.
S290 (operation determination confirmation): The system control unit 32 determines whether or not the winch 20 set as operation NG exists in the winch operation determination in S280. If even one winch 20 set to operate NG exists (YES), the process proceeds to S300, the winch 20 set to operate NG does not exist, and all winches 20 are set to operate OK. If (NO), the operation and torque value currently set in each winch 20 are maintained as they are, and the process proceeds to S310.

S300 (torque adjustment): When it is determined that there is a winch 20 set as operation NG in the above S290, the torque value of the winch 20 that has received the operation command of the torque down operation M3 among the four winches 20. Is output from the system control unit 32 to the winch control means 28. Then, the winch control means 28 lowers the torque value of the winch 20 that has received the operation command of the torque down operation M3 by one step. After that, it returns to the above S270. That is, the torque adjustment of the winch 20 of the torque down operation M3, the measurement of the winch state, and the operation determination of the winch 20 are repeatedly executed until the winch 20 of the operation NG disappears. In the case where there are two winches 20 that have received the operation command of the torque down operation M3, if there is a winch 20 that is set to operate NG among those two winches 20, there is no winch 20. In this case, a command for lowering the torque value may be output for the winch 20 of the torque down operation M3, which is considered to be the cause of the operation NG, according to the positional relationship of each winch 20 and the sinker 24.

S310 (Caisson position measurement): As described in S210 above, since the position measurement of the caisson 60 is continuously performed by the position measuring means 12 and the system control unit 32, in this step, the caisson 60 at the present time is used. Acquire position and orientation data.
S320 (Position difference determination): Similar to the above S400, the system control unit 32 calculates the difference between the current position and orientation of the caisson 60 in the plane direction and the predetermined target position and orientation of the caisson 60. That is, as shown in FIG. 6, the difference h1 in the left-right direction in the figure and the difference v1 in the vertical direction in the figure between the induction point NP1 and the target point TP1, and the difference v1 in the vertical direction in the figure, and the induction point NP2 and the target point TP2 in the left-right direction in the figure. The difference h2, the difference v2 in the vertical direction in the figure, and the difference h3 in the horizontal direction in the figure between the induction points NP1 and NP2 are calculated.

Further, the system control unit 32 determines whether or not the calculated difference is equal to or greater than the threshold value for the movement mode of the caisson 60 set in S220. The comparison between the threshold value and the difference of each movement form is as described in S410, S430, S450, S470, S490, and S510, and thus the description thereof is omitted here. Then, when the calculated difference is equal to or greater than the threshold value of the currently set movement mode of the caisson 60 (YES), the process returns to S310. That is, the currently set movement mode is continuously executed until the difference between the current position and the target position of the caisson 60 becomes smaller than the threshold value of each movement mode. Then, when the difference between the current position of the caisson 60 and the target position becomes smaller than the threshold value of the currently set movement mode of the caisson 60 (NO), the process proceeds to S330.

S330 (all winch brakes): In the above S320, when it is determined that the difference between the current position of the caisson 60 and the target position is smaller than the threshold value of the currently set movement mode of the caisson 60, the system control unit 32 determines. , It is determined that the movement in the currently set movement mode has been sufficiently performed, and a command to brake all four winches 20 is output to the winch control means 28. Then, all four winches 20 are braked by the control of the winch control means 28. After that, it returns to the above S210.
That is, the caisson position adjusting method according to the embodiment of the present invention is a necessary movement mode from the six movement modes as shown in FIGS. 7 to 12 until the caisson 60 is moved to a predetermined target position. Is repeatedly selected and executed.

In the above-described embodiment, the predetermined target position and direction for moving the caisson 60 are set adjacent to the existing caisson 64 (existing structure 62), but the caisson position according to the embodiment of the present invention. The adjustment system and the caisson position adjustment method are not limited to this, and may be used when the caisson 60 is installed at a position away from the existing structure 62, or when the caisson 60 is installed independently. Is. In this case, each device (total station 14, system control unit 32, etc.) installed on the existing caisson 64 in FIG. 1 is placed on, for example, a pontoon or the like floating in the vicinity of a predetermined target position of the caisson 60. , The caisson 60 may be installed on land or the like in the vicinity of a predetermined target position. Further, the shape of the caisson 60 for adjusting the position is not limited to the rectangular shape in a plan view as in the above-described embodiment, and any shape having a plurality of side surfaces, for example, a trapezoid, a pentagon, or the like in a plan view It may be a polygon of.

Now, according to the embodiment of the present invention having the above configuration, it is possible to obtain the following effects. That is, as shown in FIG. 1, the caisson position adjusting system 10 according to the embodiment of the present invention has a position in the plane direction of the caisson 60 that has surfaced on the water surface during installation work of the caisson 60 (see FIG. 2) and the like. It adjusts the orientation. Then, as a means for moving the caisson 60, four AC servomotor type winches 20 installed on the caisson 60 and four wires 22 wound and unwound by each of the four winches 20 are provided. I have. The ends of the four wires 22 opposite to the ends connected to the winch 20 are fixed to sinkers 24 submerged in four places around the caisson 60. With such a configuration, the wires 22 are wound and unwound by the four winches 20 to move the caisson 60 mainly in the direction of the sinker 24 to which the wound wires 22 are fixed. Can be done.

Further, the caisson position adjusting system 10 according to the embodiment of the present invention includes a position measuring means 12, a winch control means 28, and a system control unit 32. The position measuring means 12 measures the position and orientation of the caisson 60 in the plane direction, and the position and orientation of the caisson 60 to be measured may be relative to a predetermined position and orientation. Well, it can be absolute. The winch control means 28 controls the operation of the four winches 20, and as will be described later, controls the operation of each of the four winches 20 in response to an operation command output from the system control unit 32. do. That is, the winch control means 28 is mainly configured to control the AC servomotor of each winch 20.

On the other hand, the system control unit 32 has four winches 20 for moving the caisson 60 to a predetermined target position and direction based on the position and orientation of the caisson 60 in the plane direction measured by the position measuring means 12. Each operation is derived (see S240 in FIG. 3). At this time, the system control unit 32 derives the operation of the four winches 20 from the current position and orientation of the caisson 60 and the target position and orientation by setting a predetermined target position and orientation in advance. .. Then, as described above, the system control unit 32 outputs an operation command for causing each winch 20 to perform the operation of the four derived winches 20 to the winch control means 28 (FIG. 3). See S250).

That is, the caisson position adjustment system 10 according to the embodiment of the present invention measures the position and orientation of the caisson 60 in the plane direction by the position measuring means 12, and moves the caisson 60 to a predetermined target position and direction by the system control unit 32. It is possible to derive the operation of each winch 20 and control the operation of the four winches 20 by the winch control means 28 without human intervention. As a result, automation of the position adjustment of the caisson 60 can be realized, so that there is almost no time lag between the measurement of the position and orientation of the caisson 60 and the actual operation of the winch 20, and the winch by the operator There is no risk of erroneous operation of 20. Further, since the winch control means 28 controls the winch 20 of the AC servomotor type, the winch control can be performed with high accuracy. Combined with these effects, the position of the caisson 60 can be adjusted more accurately.

Further, in the caisson position adjusting system 10 according to the embodiment of the present invention, the position measuring means 12 includes two total stations 14 having an automatic tracking function in which the position measuring means 12 is installed on an existing structure 62 such as an existing caisson 64. It includes two omnidirectional mirrors 16 installed on the caisson 60 to be moved. The total station 14 is a device that irradiates a target object with laser light or the like, detects the reflected light, and simultaneously measures a distance and an angle. The two total stations 14 track the two omnidirectional mirrors 16 installed on the caisson 60 and measure the angle and the distance. As a result, the relative position and orientation of the caisson 60 in the plane direction can be accurately grasped in real time from the measurement results of the two total stations 14.

Further, in the caisson position adjustment system 10 according to the embodiment of the present invention, when the system control unit 32 derives the operation of the four winches 20, the operation of each of the four winches 20 is the hold operation M1. One of the three operations of the torque-up operation M2 and the torque-down operation M3 (see FIGS. 7 to 12) is derived. The hold operation M1 is an operation of suppressing both winding and unwinding of the wire 22 by applying the brake of the winch 20. On the other hand, the torque-up operation M2 is an operation that enables the wire 22 to be wound by increasing the torque value of the winch 20, and the torque-down operation M3 is an operation that lowers the torque value of the winch 20. , This is an operation that enables the wire 22 to be unwound. Further, the system control unit 32 derives the four winches 20 to include at least one winch 20 that performs the torque-up operation M2 and one winch 20 that performs the torque-down operation M3.

Then, the winch control means 28 that receives the operation command from the system control unit 32 controls the winch 20 to perform the above-mentioned operation, so that the winch 20 of the hold operation M1 suppresses the winding and unwinding of the wire 22. Then, the winch 20 of the torque-up operation M2 operates so as to wind up the wire 22, and the winch 20 of the torque-down operation M3 operates so as to unwind the wire 22. At this time, since the winch 20 of the torque down operation M3 is controlled to lower the torque value until the wire 22 can be fed, the wire 22 can be fed while the wire 22 is under tension. .. That is, not only the winch 20 of the hold operation M1 and the torque up operation M2, but also the winch 20 of the torque down operation M3 does not loosen the wire 22 that is unwound from the winch 20. It becomes possible to do.

Further, the caisson position adjusting system 10 according to the embodiment of the present invention includes a feeding amount measuring means 30, and the feeding amount measuring means 30 measures the feeding amount of the wire 22 from each winch 20. It will be installed in each of the four winches 20. Then, the system control unit 32 receives an operation command of the torque-up operation M2 or the torque-down operation M3 based on the extension amount of the wire 22 of each winch 20 acquired from the extension amount measuring means 30, and each of the winches 20 receives the operation command. It is determined whether or not the operation is performed according to each operation command (see S280 and FIG. 5 in FIG. 3). That is, since the winch 20 of the torque-up operation M2 should operate so as to wind up the wire 22 by increasing the torque value, the amount of wire 22 drawn out from the winch 20 is the torque-up operation M2. If it decreases later, it is determined that it is operating according to the operation command, and if it does not decrease after the torque-up operation M2, it is determined that it is not operating according to the operation command (S630 in FIG. 5). , S650, S660).

On the other hand, since the winch 20 of the torque down operation M3 should operate so as to feed out the wire 22 by lowering the torque value, the amount of wire 22 drawn out from the winch 20 is after the torque down operation M3. If it increases, it is determined that it is operating according to the operation command, and if it does not increase after the torque down operation M3, it is determined that it is not operating according to the operation command (S640 in FIG. 5). See S660 and S670). Then, when there is even one winch 20 that is not operating according to the operation command, the system control unit 32 issues a command to further lower the torque value of the winch 20 that has received the operation command of the torque down operation M3. Output to means 28 (see S290 and S300 in FIG. 3). That is, if there is a winch 20 in which the wire 22 is not wound even though the torque value is increased, the cause is that the wire 22 is not extended from another winch 20 in which the torque value is decreased. Therefore, the torque value is further lowered so that the wire 22 is unwound from such a winch 20. If there is a winch 20 in which the wire 22 cannot be extended even though the torque value is lowered, it is determined that the torque value of the winch 20 is still too high, and the winch 20 to the wire 22 is determined to be the cause. The torque value is further lowered so that

With the above control, the torque value of the winch 20 of the torque down operation M3 is lowered by the width of the torque value required for feeding out the wire 22, so that the loosening of the wire 22 can be prevented more reliably. .. Further, since the only control performed when there is a winch 20 that is not operating according to the operation command is to further reduce the torque value of the winch 20 of the torque down operation M3, the torque values of the four winches 20 are set. No adjustment is required and torque control can be simplified. As for the winch 20 of the hold operation M1, the brake of the winch 20 is operated, the feeding amount of the wire 22 does not change, and the torque value does not need to be adjusted. Therefore, there is a problem even if the operation is not determined. There is no such thing (see S610 and S650 in FIG. 5).

Further, the caisson position adjusting system 10 according to the embodiment of the present invention communicates between the device installed on the caisson 60, that is, the winch control means 28 and the feeding amount measuring means 30, and the system control unit 32. , The wireless communication means 34 is provided. For example, a wireless LAN is used as the wireless communication means 34, and an operation command is transmitted from the system control unit 32 to the winch control means 28, and measurement data is transmitted from the payout amount measuring means 30 to the system control unit 32. This is done via the wireless communication means 34. As a result, even when the system control unit 32 is installed at a location away from the caisson 60, commands and data can be exchanged without any problem.

Further, in the caisson position adjusting system 10 according to the embodiment of the present invention, when the system control unit 32 derives the operation of each of the four winches 20, the side surface of the caisson 60a at a predetermined target position and orientation. From the six movement modes shown in FIGS. 7 to 12, at least one movement mode for moving the caisson 60 in a predetermined target position and direction is selected from the six movement modes shown in FIGS. 7 to 12 based on the direction determined from the normal line of the above (FIG. 3 S220, see FIG. 4). For example, in the example of FIG. 6, the six movement modes are the four side surfaces of the cason 60a in a predetermined target position and orientation, which correspond to the upper side, the lower side, the right side, and the left side in FIG. The direction parallel to the normal of the side surface corresponding to the upper side or the lower side is the front-back direction (the lower side in FIG. 6 is the front direction, the upper side is the rear direction), and the direction orthogonal to this front-back direction on the horizontal plane is the left-right direction (in FIG. 6). It is determined by the plan view when the right side is to the right and the left side is to the left.

That is, the six movement modes are shown in FIGS. 7 to 12, with the left-right direction in the figure as the left-right direction, the lower direction in the figure as the front direction, and the upper direction in the figure as the rear direction. The right rotation of the cason 60, the left rotation of the cason 60 shown in FIG. 8, the right movement of the cason 60 shown in FIG. 9, the left movement of the cason 60 shown in FIG. This is the rearward movement of the Kason 60 shown in. From these six movement modes, at least one movement mode for moving the caisson 60 to a predetermined target position and direction is selected. Then, the system control unit 32 derives the operation of each of the four winches 20 so that the movement mode of the selected caisson 60 is executed. At this time, when two or more movement modes for moving the caisson 60 to a predetermined target position and direction are selected, the selected movement modes are sequentially executed based on a preset priority or the like. As described above, the operation of each of the four winches 20 may be derived for each selected movement mode. In this way, the movement modes selected from the six preset movement modes are combined and executed as necessary to move the caisson 60 until it reaches a predetermined target position and direction. It can be executed efficiently and continuously. As a result, the efficiency of the position adjustment work of the caisson 60 can be improved.

Moreover, in the caisson position adjustment system 10 according to the embodiment of the present invention, the operation of each of the four winches 20 for executing the movement mode is performed for each of the six movement modes of the caisson 60 as described above. It may be set in advance in the system control unit 32 according to the sinking position of the sinker 24, the routing route of the wire 22, and the like. For example, when the system control unit 32 derives any one of the hold operation M1, the torque up operation M2, and the torque down operation M3 as described above as the operation of each of the four winches 20. As shown in FIGS. 7 to 12, the operation of each of the four winches 20 is set from the above three operations for each of the six movement modes of the caisson 60. As a result, it is possible to save the trouble of deriving the operation of the four winches 20, so that each of the six movement modes can be executed more quickly, and the efficiency of the position adjustment work of the caisson 60 can be further improved. It becomes possible.
The caisson position adjustment method according to the embodiment of the present invention shown in FIGS. 3 to 5 is equivalent to the caisson position adjustment system 10 by being executed by using the caisson position adjustment system 10 as described above. Can produce the effects of.

10: Caisson position adjustment system, 12: position measuring means, 20 (20A to 20D): winch, 22: wire, 24: sinker, 28: winch control means, 30: feeding amount measuring means, 32: system control unit, 60 : Caisson, 62: Existing structure, M1: Hold operation, M2: Torque up operation, M3: Torque down operation

Claims (8)

A system that adjusts the position and orientation of a caisson with multiple sides floating on the surface of the water in the plane direction.
Four AC servomotor type winches installed on the caisson,
Four wires, one end of which is fixed to each of the four sinkers sunk on the bottom of the water around the caisson, and the other end of which is wound and unwound by each of the four winches.
A position measuring means for measuring the position and orientation of the caisson in the plane direction,
A winch control means for controlling the operation of the four winches, and
Based on the measurement result of the position measuring means, the operation of each of the four winches for moving the caisson to a predetermined target position and direction is derived, and the derived operation is performed on the four winches. an operation command for causing, seen including a system control unit, the output to the winch control means,
As the operation of each of the four winches, the system control unit applies a brake to suppress both winding and unwinding of the wire, and raises the torque value of the winch to wind the wire. One of the three operations, that is, the torque-up operation that makes the winch possible and the torque-down operation that lowers the winch torque value so that the wire can be unwound, is derived. , The Kason position adjusting system, characterized in that the winch that performs the torque-up operation and the winch that performs the torque-down operation are led out so as to be included at least one by one. A feeding amount measuring means for measuring a feeding amount of the wire from each of the four winches is included.
Based on the measurement result of the feeding amount measuring means, the system control unit determines whether or not each of the winches receiving the operation command of the torque up operation or the torque down operation is operating according to the operation command. When there is one or more winches that are not operating according to the operation command, the winch control means is given a command to further reduce the torque value of the winch that has received the operation command for the torque down operation. caisson positioning system according to claim 1, wherein the output. When deriving the operation of each of the four winches, the system control unit moves back and forth in a direction parallel to the normal of any one side surface of the caisson in a predetermined target position and orientation. In a plan view when the direction, which is orthogonal to the front-back direction and the horizontal direction, is the left-right direction, the caisson is rotated to the right, the caisson is rotated to the left, the caisson is moved to the right, the caisson is moved to the left, and the caisson is in front of the caisson. From the six movement modes of movement and backward movement of the caisson, at least one movement mode for moving the caisson to the predetermined target position and direction is selected, and the movement mode of the selected caisson is The caisson positioning system according to claim 1 or 2 , wherein the operation of each of the four winches is derived so as to be executed. The system control unit, for each of the six movement form of caissons, caisson according to claim 3, wherein the operation of each of the four winch for executing the movement form is characterized in that it is set in advance Position adjustment system. A method of adjusting the position and orientation of a caisson having a plurality of side surfaces floating on the surface of the water in the plane direction.
Four AC servomotor type winches are installed on the caisson, and the tips of the wires drawn from each of the four winches are fixed to each of the sinkers sunk in the water bottom at four locations around the caisson. death,
A position measuring means for measuring the position and orientation of the caisson in the plane direction, a winch control means for controlling the operation of the four winches, and a system control unit are used.
Based on the measurement result of the position measuring means, the system control unit derives the operation of each of the four winches for moving the caisson to a predetermined target position and direction, and the derived operation is described as described above. An operation command for causing the four winches to be executed is output from the system control unit to the winch control means .
As the operation of each of the four winches, the system control unit applies a brake to suppress both winding and unwinding of the wire, and raises the torque value of the winch to wind the wire. One of the three operations, that is, the torque-up operation that makes the winch possible and the torque-down operation that lowers the winch torque value so that the wire can be unwound, is derived. A cason position adjusting method, characterized in that a winch that performs the torque-up operation and a winch that performs the torque-down operation are led out so as to include at least one winch. Further utilizing the feeding amount measuring means for measuring the feeding amount of the wire from each of the four winches,
Whether or not each of the winches receiving the operation command of the torque up operation or the torque down operation is operated according to the operation command based on the measurement result of the payout amount measuring means by the system control unit. When there is one or more winches that are not operating according to the operation command, the system control unit issues a command to further reduce the torque value of the winch that has received the operation command for the torque down operation. The cason position adjusting method according to claim 5, wherein the output is output to the winch control means. When the system control unit derives the operation of each of the four winches, it moves back and forth in a direction parallel to the normal of any one side surface of the caisson in a predetermined target position and orientation. In a plan view when the direction, which is orthogonal to the front-back direction and the horizontal direction, is the left-right direction, the caisson is rotated to the right, the caisson is rotated to the left, the caisson is moved to the right, the caisson is moved to the left, and the caisson is in front of the caisson. From the six movement modes of movement and backward movement of the caisson, at least one movement mode for moving the caisson to the predetermined target position and direction is selected, and the movement mode of the selected caisson is The caisson position adjusting method according to claim 5 or 6 , wherein the operation of each of the four winches is derived so as to be executed. The caisson according to claim 7 , wherein the operation of each of the four winches for executing the movement mode is preset for the system control unit for each of the six movement modes of the caisson. Position adjustment method.

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