JP7345943B1 - Rubble mound leveling system and rubble mound leveling method - Google Patents

Abstract

[Problem] To provide a technology that can perform the roughening process of a rubble mound without relying on a diver. [Solution] A leveling member suspended from the wire of the crane of a hoist ship, an altitude sensor attached to the crane wire for sensing the altitude, a positioning sensor for positioning the position of the crane's jib point, and an altitude sensor. The crane's wire payout amount is controlled according to the sensed altitude and the design height of the rubble foundation to be constructed, and the crane's jib is controlled according to the position determined by the positioning sensor and the position where the rubble foundation is to be constructed. A crane control unit that controls the movement of points. The altitude sensor is installed at a location above the sea level when the height of the lower end of the leveling member is adjusted to the design height of the rubble foundation. [Selection diagram] Figure 11

Description

The present invention relates to a technology for constructing a rubble mound on the seabed, which is the basis of a rubble foundation for a port structure such as an offshore wind turbine or a breakwater.

Traditionally, rubble foundations for port structures such as offshore wind turbines and breakwaters were
(1) A rubble mound is formed by depositing rubble thrown in from the sea side on the sea floor,
(2) In the rubble mound, remove rubble from areas that are piled up higher than the design height of the rubble foundation, and level the rubble mound by adding rubble to areas where the pile has not reached the design height of the rubble foundation.
(3) Compacting the top surface and slope of the rubble mound,
By doing so, you are building.

For example, Patent Document 1 describes a system that performs the process of forming a rubble mound (the process according to (1) above).

Further, Patent Document 2 describes a system that performs a step of tamping the top surface and slope of a rubble mound (the step according to (3) above).

JP 2021-161673 Publication Japanese Patent Application Publication No. 2021-161674

However, the step of leveling the roughness of the rubble mound according to (2) above has been performed manually by a diver. Specifically, a diver visually confirms on the seabed the areas where the piles are higher than the design height of the rubble foundation, and the areas where the piles have not reached the design height of the rubble foundation, and then determines the design height of the rubble foundation. The rubble that was piled up higher than the pile was manually moved to the part that had not piled up to the designed height of the rubble foundation.

Furthermore, recently, there has been an increase in the number of cases in which rubble foundations are constructed in deep water locations.

From the viewpoint of ensuring the safety of divers, there is a desire for a technology that can perform the process of leveling the roughness of rubble mounds according to (2) above without relying on divers. In particular, there is a need for technology that can perform the process of leveling the roughness of rubble mounds in deep water without relying on divers.

An object of the present invention is to provide a technique that can perform the process of leveling the roughness of a rubble mound without relying on a diver.

The rubble mound leveling system of the present invention is configured as follows in order to solve the above problems and achieve the objective.

The rubble mound leveling system levels the height of rubble mounds deposited on the ocean floor.

The leveling member is suspended from the wire of the hoist ship's crane. The altitude sensor is attached to the wire of the crane and senses the altitude. The positioning sensor positions the jib point of the crane. The crane control unit controls the amount of crane wire to be paid out according to the altitude sensed by the altitude sensor and the design height of the rubble foundation to be constructed, and also controls the crane's wire payout amount according to the altitude sensed by the altitude sensor and the design height of the rubble foundation to be constructed, and also controls the position determined by the positioning sensor and the construction of the rubble foundation. Control the movement of the crane's jib point according to the position.

Further, the altitude sensor is installed at a location located above the sea level when the height of the lower end of the leveling member is adjusted to the design height of the rubble foundation.

According to this configuration, the crane control unit moves the leveling member by controlling the wire payout amount of the crane and the movement of the crane's jib point, so that the leveling member is piled up higher than the design height of the rubble foundation in the rubble mound. You can move rubble from one location to another. Therefore, the process of leveling the roughness of the rubble mound can be carried out without relying on divers.

Further, the altitude sensor is installed at a location located above the sea level when the height of the lower end of the leveling member is adjusted to the design height of the rubble foundation. Therefore, the altitude sensor does not need to have a special configuration for underwater use.

For example, the leveling member may be a grab bucket, and the crane control unit may close the grab bucket from an open state while adjusting the height of the lower end of the grab bucket to a height corresponding to the design height of the rubble foundation. After the grab bucket is moved to a position different from the position where the grab bucket was moved to the closed state by maintaining the closed state, the grab bucket may be controlled to shift from the closed state to the open state. .

Further, for example, the leveling member is a grab bucket, and the crane control unit determines a first rectangular area and a second rectangular area from among a plurality of rectangular areas obtained by dividing the top surface of the rubble foundation into a matrix. 1. With the height of the lower end of the grab bucket adjusted to the rectangular area adjusted to a height corresponding to the design height of the rubble foundation, move the grab bucket from the open state to the closed state and maintain this closed state. After the grab bucket is aligned with the second rectangular area, the grab bucket may be moved from the closed state to the open state.

In addition, in the top surface of the rubble foundation, the first rectangular area and the second rectangular area may or may not be adjacent to each other.

Further, for example, the crane control unit may be configured to sequentially define a plurality of rectangular areas obtained by dividing the top surface of the rubble foundation into a matrix as the first rectangular area.

For example, when the grab bucket is shifted from the closed state to the open state, the crane control unit determines the current second rectangular area as the next first rectangular area, and sets the next second rectangular area as the current first rectangular area. It may be determined from among a rectangular area and a rectangular area different from the second rectangular area.

According to this invention, the step of leveling the rubble mound can be carried out without relying on divers.

It is a schematic diagram showing a rubble foundation construction system concerning this example. It is a schematic diagram showing a rubble foundation construction system concerning this example. FIGS. 3A and 3B are diagrams showing a rubble dropping barge. FIG. 2 is a block diagram showing a barge-side control system mounted on the rubble-dropping barge. FIG. 2 is a block diagram showing a hoist ship-side control system installed in the hoist ship. FIG. 6(A) is a horizontal plan view showing a construction area for constructing a rubble foundation, and FIG. 6(B) is a vertical plan view showing a construction area for constructing a rubble foundation. It is a flowchart which shows the process of forming a rubble mound. It is a figure showing the rubble mound formed in the rubble mound forming process. It is a flowchart which shows the roughening process of a rubble mound. It is a figure which shows the example of division of the area|region of the top surface in the roughening process of a rubble mound. It is a figure explaining the roughening process of a rubble mound. It is a figure explaining the roughening process of a rubble mound. It is a figure explaining the path|route which a bucket is moved in the roughening process of a rubble mound. It is a figure explaining the process of compacting the top end surface of a rubble mound. It is a figure explaining the process of compacting the slope of a rubble mound. It is a figure explaining the roughening process of the rubble mound of a modification. FIGS. 17(A) and 17(B) are diagrams showing a steel plate used in the step of leveling the roughness of the rubble mound.

Embodiments of this invention will be described below.

FIGS. 1 and 2 are schematic diagrams showing a rubble foundation construction system according to this example. FIG. 1 is a horizontal plan view, and FIG. 2 is a vertical plan view. The rubble foundation construction system of this example includes a rubble dropping barge 1 and a hoist boat 5. The rubble dropping barge 1 is provided with an opening 2. The hoist ship 5 is equipped with a crane 51 and loaded with rubble 6.

The rubble foundation is
(1) A process of depositing rubble 6 introduced from the sea side on the seabed to form a rubble mound,
(2) A process of leveling the roughness of the rubble mound, which involves removing rubble from areas of the rubble mound that are piled up higher than the design height of the rubble foundation, and adding rubble to areas where the pile has not reached the design height of the rubble foundation;
(3) The process of tamping the top surface of the rubble mound and the slope,
It is constructed by performing these steps in this order.

The rubble dropping barge 1 is used in the process related to (1) above, and is not used in the processes related to (2) and (3). The hoist ship 5 is used in the steps (1), (2), and (3) above.

The opening 2 of the rubble dropping barge 1 may have a prismatic or cylindrical shape in which the size of the opening on the sea side and the opening on the seabed are approximately the same, or the opening on the seabed side may have a prismatic or cylindrical shape. It may have a hopper-type shape in which the surface is smaller than the opening surface on the sea side, or it may have another shape. The opening 2 may have any shape as long as it allows the rubble 6 thrown in from the sea side to be thrown onto the seabed.

Furthermore, a fence 11 for preventing the diffusion of contaminated water is attached to the rubble dropping barge 1. This polluted water diffusion prevention fence 11 is hung and attached to the rubble dropping barge 1 so as to hang down toward the seabed. A polluted water diffusion prevention fence 11 surrounds the opening 2. The rubble 6 thrown into the opening 2 from the sea side passes through the inside of the polluted water diffusion prevention fence 11 (the space surrounded by the polluted water diffusion prevention fence 11) when being dropped onto the seabed. The polluted water diffusion prevention fence 11 prevents the rubble 6 thrown into the opening 2 from being washed away by the current, and suppresses water pollution in the surrounding sea area.

In FIG. 1, the grab bucket 52 is shown suspended from a wire 53 of a crane 51. The crane 51 grabs the rubble 6 loaded on the hoist ship 5 with a grab bucket 52. The crane 51 throws the rubble 6 grabbed by the grab bucket 52 into the opening 2 of the rubble dropping barge 1 from the sea side.

Note that the member suspended from the wire 53 is not limited to the grab bucket 52.

In the rubble mound construction system of this example, the rubble stone dropping barge 1 is moored approximately directly above the position where the rubble mound is to be constructed (the position where the rubble stones 6 are dropped). In this example, the rubble dropping barge 1 is moored on the sea by four wires 21 (21a to 21d). A winch (not shown) is mounted for each wire 21 to connect one end of the wire 21. The hoist 5 uses a crane 51 to throw rubble 6 into the opening 2 of the rubble dumping barge 1. At this time, the hoist 5 throws the rubble 6 without coming alongside the rubble dumping barge 1. For example, the hoist boat 5 is moored at a location approximately 10 to 30 meters away from the rubble-dropping barge 1, and the crane 51 throws rubble 6 into the opening 2 of the rubble-dropping barge 1.

FIGS. 3A and 3B are diagrams showing a rubble dropping barge. FIG. 3(A) is a horizontal plan view, and FIG. 3(B) is a vertical plan view. FIG. 4 is a block diagram showing a barge side control system mounted on the rubble dropping barge.

The barge side control system mounted on the rubble dropping barge 1 includes a barge information processing device 30, a positioning unit 31, a shape detection unit 32, a winch control unit 33, and a wireless communication unit 34. .

The barge information processing device 30 controls a positioning unit 31, a shape detection unit 32, a winch control unit 33, and a wireless communication unit 34. For example, a personal computer may be used as the barge information processing device 30.

The positioning unit 31 positions the rubble dropping barge 1 using GPS (Global Positioning System). The positioning unit 31 may use a sensor (GPS sensor) that measures the current position using GPS. The positioning unit 31 positions the rubble-throwing barge 1 using a GPS sensor (not shown) attached to its own ship (rubbish-throwing barge 1). The positioning unit 31 periodically measures the position of the rubble dropping barge 1 and outputs the measured position to the barge information processing device 30.

The shape detection unit 32 detects the shape of a rubble mound formed on the ocean floor by using sound waves as exploration waves and detecting the reflected waves. The shape detection unit 32 has a sensor section 32a that irradiates sound waves and detects reflected waves. For example, a sonar device may be used as the shape detection unit 32. The shape detection unit 32 periodically detects the shape of a rubble mound formed on the seabed, and outputs the detected shape of the rubble mound to the barge information processing device 30.

As described above, the rubble dropping barge 1 is moored on the sea by four wires 21 (21a to 21d). The rubble dropping barge 1 is equipped with a winch 22 (22a to 22d) for each wire 21 to connect one end of the wire 21. In the example shown in FIG. 3, wire 21a is connected to winch 22a, wire 21b is connected to winch 22b, wire 21c is connected to winch 22c, and wire 21d is connected to winch 22d.

The end of each wire 21, which is not connected to the winch 22, is connected to an anchor (not shown) sunk in the seabed. The anchors to which each wire 21 is connected are different. In this example, as shown in FIG. 3, wires 21a and 21b connected to winches 22a and 22b provided on the bow side are crossed. Further, wires 21c and 21d connected to winches 22c and 22d provided on the stern side are also crossed. In other words, the anchor connecting the wires 21a and 21b is sunk in the seabed so that the wires 21a and 21b intersect. Similarly, an anchor connecting the wires 21c and 21d is sunk in the seabed so that the wires 21c and 21d intersect. In this example, since the wires 21a and 21b are crossed and the wires 21c and 21d are crossed, the amount of winding or feeding of the wires 21a to 21d connected by each winch 22a to 22d can be controlled. By adjusting, the mooring position of the rubble-throwing barge 1 can be adjusted along two axes, the length direction and the width direction of the rubble-throwing barge 1.

In this example, four winches 22a to 22d are provided, one at each of the four corners of the rubble throwing barge 1. It is also possible to arrange two of them in parallel.

The winch control unit 33 controls, for each winch 22, winding or unwinding of the wire 21 connected to the winch 22.

The wireless communication unit 34 performs wireless communication.

FIG. 5 is a block diagram showing a hoist ship-side control system installed in the hoist ship. The hoist ship side control system mounted on the hoist ship 5 includes a calculation device 60, a positioning unit 61, a crane control unit 62, a wireless communication unit 63, and a height measurement unit 64.

Arithmetic device 60 controls positioning unit 61, crane control unit 62, wireless communication unit 63, and height measurement unit 64. In addition, the calculation device 60 performs calculations for calculating the amount of rubble 6 thrown in by the crane 51, and performs calculations for each of the winches 22a to 22d provided on the rubble dumping barge 1, and the wires 21a to 21a connected to the winches 22a to 22d. Calculate the winding amount or feeding amount of 21d. For example, a personal computer may be used as the calculation device 60.

The positioning unit 61 uses GPS (Global Positioning System) to measure the position of the hoist 5 and the jib point of the crane 51. As with the positioning unit 31 described above, the positioning unit 61 may use a sensor (GPS sensor) that measures the current position using GPS. The positioning unit 61 measures the position of the hoist ship 5 using a GPS sensor (not shown) attached to the own ship (the hoist ship 5). Furthermore, the positioning unit 61 positions the jib point using a GPS sensor 61a (see FIG. 1) attached to the jib near the jib point. The positioning unit 61 periodically measures the position of the hoist ship 5 and outputs the measured position to the calculation device 60. Furthermore, the positioning unit 61 measures the position of the jib point as necessary, and outputs the measured position to the arithmetic device 60.

The crane control unit 62 has an operation amount detection unit (not shown) that detects the amount of operation of a handle, lever, pedal, etc. that operates the crane 51, and detects the amount of operation of a handle, lever, pedal, etc. that is detected. The movement of the crane 51 is controlled. An operator (driver) operates the crane 51 by operating a handle, lever, pedal, etc. The crane control unit 62 may also have an automatic operation function for automatically operating the crane 51 according to instructions from the barge information processing device 30.

Wireless communication unit 63 performs wireless communication. Transmission and reception of various data between the rubble dropping barge 1 and the hoist boat 5 is performed by wireless communication between the wireless communication unit 34 and the wireless communication unit 63.

The height measurement unit 64 measures the height of the lower end of the grab bucket 52, roughening member, weight, etc. suspended from the wire 53 using an altitude sensor 64a (see FIG. 1) attached to the wire 53. do.

The process of constructing a rubble foundation on the seabed using the rubble foundation construction system according to this example will be described below. As mentioned above, the rubble foundation is
(1) The process of forming a rubble mound by depositing rubble thrown in from the sea side on the seabed,
(2) A process of leveling the roughness of the rubble mound, which involves removing rubble from areas of the rubble mound that are piled up higher than the design height of the rubble foundation, and adding rubble to areas where the pile has not reached the design height of the rubble foundation;
(3) The process of tamping the top surface of the rubble mound and the slope,
It is constructed by performing these steps in this order.

First, the process of forming a rubble mound (the process related to (1) above) will be explained.

FIG. 6(A) is a horizontal plan view showing a construction area for constructing a rubble foundation, and FIG. 6(B) is a vertical plan view showing a construction area for constructing a rubble foundation. In addition, illustration of the hoist ship 5 is omitted in FIGS. 6(A) and 6(B).

FIG. 7 is a flowchart outlining the process of forming a rubble mound (rubble mound forming process). The computing device 60 determines a mooring position for mooring the rubble dropping barge 1 based on the position where the rubble 6 is to be dropped (s1). The position at which the rubble stones 6 are dropped is determined based on the shape of the rubble mound 100 (accumulated state of the rubble stones 6) at that point in the construction area.

The shape detection unit 32 periodically detects the shape of the rubble mound 100 within the construction area. Further, the positioning unit 31 periodically positions the rubble dropping barge 1. The barge information processing device 30 uses the wireless communication unit 34 to transmit the shape of the rubble mound 100 detected by the shape detection unit 32 and the position of the rubble dropping barge 1 measured by the positioning unit 31 to the hoist ship. Send to 5. The hoist ship 5 receives the shape of the rubble mound 100 detected by the shape detection unit 32 and the position of the rubble dropping barge 1 determined by the positioning unit 31 through the wireless communication unit 63 .

In s1, the calculation device 60 determines the position where the rubble 6 needs to be dropped from the shape of the rubble mound 100 formed in the construction area at that time, and mooring the rubble dropping barge 1. Determine the position. Since the computing device 60 has received the position of the rubble dropping barge 1, the absolute position (latitude, longitude) of the rubble mound 100 can be specified by using this position. The mooring position for mooring the rubble dropping barge 1 determined here is the position at which it is necessary to drop the rubble 6.

The computing device 60 transmits the mooring position of the rubble dropping barge 1 determined in s1 to the rubble dropping barge 1 using the wireless communication unit 63. The rubble dropping barge 1 receives the mooring position of its own ship through the wireless communication unit 34.

The barge information processing device 30 moves the rubble dropping barge 1 to the mooring position of its own ship determined in s1 (s2). In s2, the barge information processing device 30 updates each wire 21a to 21d based on the current position of the rubble-throwing barge 1 (the position measured by the positioning unit 31) and the mooring position of the own ship received in s1. Then, calculate the winding amount or the feeding amount. The barge information processing device 30 instructs the winch control unit 33 about the winding amount or payout amount of each of the wires 21a to 21d. The winch control unit 33 controls the driving of each of the winches 22a to 22d in accordance with this instruction, and winds each wire 21a to 21d by a specified amount of winding or pays out a specified amount of payout.

The calculation device 60 then performs an adjustment process to adjust the deviation between the current position of the rubble dropping barge 1 (the position measured by the positioning unit 31) and the mooring position of the own ship received in s1. This adjustment process is a process for adjusting the position of the rubble dropping barge 1, which is positioned by the positioning unit 31, to be the mooring position of the own ship received in s1. In this adjustment process as well, the barge information processing device 30 calculates the winding amount or payout amount for each of the wires 21a to 21d, and instructs the winch control unit 33 to calculate the winding amount or the payout amount.

When the rubble dropping barge 1 is moored at the mooring position determined in s1, it starts throwing in the rubble 6 (s3). In s3, a process is started in which the grab bucket 52 of the crane 51 grabs the rubble 6 loaded on the hoist boat 5 and throws it into the opening 2 of the rubble dumping barge 1 from the sea side. At this time, the hoist boat 5 is moored at a certain distance (approximately 10 m to 30 m) from the rubble dropping barge 1.

The computing device 60 periodically receives the shape of the rubble mound 100 detected by the shape detection unit 32 of the rubble dumping barge 1, and calculates the height of the rubble mound 100 at the mooring position of the rubble dumping barge 1 at that time. When it is determined that the design height has been reached, the charging of the rubble 6 that started in s3 is stopped (s4, s5).

The calculation device 60 determines whether the rubble mound 100 has been formed based on the shape of the rubble mound 100 detected by the shape detection unit 32 of the rubble dropping barge 1 (s6). If the calculation device 60 determines that the rubble mound 100 has not been formed, it returns to s1 and repeats the above processing.

Furthermore, when the calculation device 60 determines that the rubble mound 100 has been formed, it ends this process.

In many cases, the rubble mound 100 formed in the above-described process has parts A1 and A2 where the rubble stones 6 are piled up higher than the design height H, or the rubble mounds reach a height that reaches the design height H, as shown in FIG. There are portions B1 and B2 where 6 is not stacked.

Note that the rubble mound may be formed by other steps instead of the steps described above. That is, the above-described process is an example of forming the rubble mound 100.

The rubble foundation construction system according to this example removes the part of the rubble 6 that is accumulated higher than the design height of the rubble foundation from the rubble mound 100 formed in the above-described rubble mound forming process, and A step of leveling the roughness of the rubble mound 100 is performed in which rubble 6 is added to the parts where the rubble has not been piled up. In this process of leveling the roughness of the rubble mound, the rubble dropping barge 1 is not used. In addition, in this roughening step, basically, the rubble 6 that is piled up higher than the design height of the rubble foundation is added (moved) to the part that is not piled up to the design height of the rubble foundation.

In the roughening process of this example, the grab bucket 52 is suspended from the wire 53 of the crane 51. FIG. 9 is a flowchart showing this roughening process.

In this roughening step, for example, the top area of the rubble foundation is divided into n×m rectangular areas as shown in FIG. The size of the rectangular area is determined according to the size of the grab bucket 52.

The position of the grab bucket 52 is adjusted to the initial position by the crane control unit 62 (s11). The initial position is, for example, a rectangular area 1-1 shown in FIG. 10. In s11, the positioning unit 61 aligns the grab bucket 52 based on the position of the jib point measured by the GPS sensor 61a. Further, the grab bucket 52 is opened by the crane control unit 62 (s12).

The height of the grab bucket 52 is adjusted by the crane control unit 62 (s13). In s13, the height measurement unit 64 adjusts the lower end of the grab bucket 52 to the design height of the top surface of the rubble foundation based on the altitude measured by the altitude sensor 64a. As shown in FIGS. 11 and 12, the altitude sensor 64a is attached to a wire suspending the grab bucket 52, and is located above the sea level.

The grab bucket 52 is closed by the crane control unit 62 (s14). As shown in FIG. 11, if the position where the grab bucket 52 is aligned is a part where the rubble 6 is piled up higher than the design height, the extra piled rubble 6 is grabbed by the grab bucket 52. Furthermore, as shown in FIG. 12, if the position where the grab buckets 52 are aligned is a part where the rubble 6 is not piled up as high as the design height, the rubble 6 will not be grabbed by the grab buckets 52.

The position of the grab bucket 52 is moved by the crane control unit 62 (s15). For example, in s15, the grab bucket 52 is moved to a rectangular area adjacent to the rectangular area where the grab bucket 52 is aligned at that time. For example, the grab bucket 52 is moved in the direction indicated by the arrow in FIG. That is, the grab bucket 52 is moved so as to scan the top surface of the rubble foundation. Further, in s15, the height of the grab bucket 52 is raised by several tens of cm to several meters, and the position of the grab bucket 52 is moved.

When the movement of the grab bucket 52 in s15 is completed, the grab bucket 52 is opened by the crane control unit 62 (s16). As a result, the rubble 6 grabbed by the grab bucket 52 in s14 is thrown into the position to which the grab bucket 52 was moved in s15. If the position to which the grab bucket 52 is moved in s15 is a portion where the rubble 6 is not piled up to the designed height, the rubble 6 grabbed by the grab bucket 52 is additionally thrown in in s14.

The height of the grab bucket 52 is adjusted by the crane control unit 62 (s17). Step s17 is the same as step s13 described above, and the lower end of the grab bucket 52 is adjusted to the design height of the top surface of the rubble foundation based on the altitude measured by the height sensor 64a by the height measurement unit 64. The grab bucket 52 is closed by the crane control unit 62 (s18). s18 is the same as s14 described above. By performing this s18, when the grab bucket 52 is opened in s16, the rubble 6 that has been grabbed by the grab bucket 52 is added, and the rubble 6 that has been piled up higher than the design height is removed by the grab bucket 52. You can grab it.

It is determined whether the position of the grab bucket 52 at that point is the end position of the scan (s19). For example, in the example shown in FIG. 13, the end position is a rectangular area nm. If the position of the grab bucket 52 is not the scanning end position, the process returns to s15 and the above process is repeated. Further, if the position of the grab bucket 52 is the end position of scanning, it is determined whether the processes from s11 to s19 have been repeated a set number of times (s20). Specifically, it is determined whether the top surface of the rubble foundation has been scanned a set number of times by moving the grab bucket 52.

If it is determined in s20 that the set number of times has not been repeated, the process returns to s11 and the above process is repeated. If it is determined in s20 that the process has been repeated a set number of times, this roughening process is ended.

In this roughening step, in the above-mentioned step of forming the rubble mound, in the area where the rubble stones 6 are piled up higher than the design height, the excess rubble stones 6 are grabbed by the grab bucket 52, and the rubble stones 6 grabbed by the grab bucket 52 are In the step of forming the rubble mound described above, the rubble 6 is additionally thrown into the part where the height has not reached the designed height.

Furthermore, in this roughening process, the processes from s11 to s19 are repeated a set number of times, so that the height of the top surface of the rubble mound can be leveled to be approximately uniform.

In addition, in this roughening step, the crane 51 may be operated by an operator or may be operated by an automatic operation function.

The rubble foundation construction system according to this example performs a tamping process of tamping the slope and the top surface of the rubble mound whose top surface has been leveled in the above-described rubble mound roughening process. First, the process of leveling the top surface of the rubble mound by compacting it and leveling it will be explained. In this top surface leveling process, as shown in FIG. 14, a weight 55 whose lower end surface is flat is suspended from the wire 53 of the crane 51 instead of the grab bucket 52.

The step of tamping the top surface of the rubble mound is a step of repeating the procedure of lifting a weight 55 with the crane 51 and dropping it onto the top surface of the rubble mound.

The worker determines the area in which the top surface of the rubble mound is to be tamped. The range in which the top end face is tamped determined here is the range in which the lower end face of the dropped weight 55 is brought into contact and compacted. That is, the range in which the top surface is tamped determined here is the size of the bottom surface of the lower end surface of the weight 55. In the process of tamping the top surface of the rubble mound, the entire top surface of the rubble mound is tamped while changing the leveling range of the top surface.

Specifically, the operator operates the crane 51 to align the lower end surface of the weight 55 with the determined top end surface tamping range. At this time, the operator operates the crane 51 so that the center of the lower end surface of the weight 55 is located directly above the center position of the determined range of tamping the top end surface. The operator aligns the weight 55 based on the position of the jib point, which is measured by the positioning unit 61 using the GPS sensor 61a. Then, the worker lowers the weight 55 suspended from the wire 53 of the crane 51 until the lower end surface of the weight 55 contacts the top surface of the rubble mound and is placed thereon.

The height measured by the height measurement unit 64 with the altitude sensor 64a attached to the wire 53 of the crane, the length of the wire 53 from the installation position of the altitude sensor 64a to the hanging position of the weight 55, and the height of the weight 55. From the height of the rubble mound, the computer calculates the current height of the top surface of the rubble mound (current height), the difference between the current height of the top surface and the design height (remaining adjustment height), and the lifting height of the weight 55. (not shown) and notifies the operator operating the crane 51.

The operator checks the notified current height, remaining adjustment height, and lifting height, lifts the weight 55, and drops it onto the top surface. The top end surface of the rubble mound is tamped down by the bottom surface of the dropped weight 55.

Note that the operator operating the crane 51 lifts the weight 55 using the remaining adjustment height and lifting height calculated by the computer as a guide. The actual height at which the crane 51 has lifted the weight 55 is input from the crane 51 to the computer. Furthermore, when the crane 51 drops the lifted weight 55, that fact is input into the computer. Therefore, the computer can determine the timing at which the weight 55 lifted by the crane 51 is dropped.

The worker who is operating the crane 51 repeatedly lifts and drops the weight 55, and when he determines that the current height of the top surface of the rubble mound has reached the design height, he lifts the weight 55 and, when he determines that the current height of the top surface of the rubble mound has reached the design height, the worker lifts the weight 55 and lowers it. Complete hardening. Additionally, if there is an area that has not yet been tamped (unprocessed area) on the top surface of the rubble mound, the operator operating the crane 51 determines the area to be tamped within that unprocessed area. and perform the process described above. The operator operating the crane 51 determines that the process of tamping the top surface of the rubble mound is complete when determining that there is no untreated area.

Even in the process of tamping the top surface of the rubble mound, the altitude sensor 64a is always attached to the wire 53 of the crane 51 so as to be located above the sea level.

Here, a method of calculating the lifting height of the weight 55 using the computer will be briefly explained.

When the weight 55 is dropped, the computer calculates the difference in height of the top surface before and after dropping the weight 55 this time (hereinafter referred to as the current adjustment height). Further, as described above, the height at which the weight 55 is actually lifted this time is input to the computer from the crane 51 side.

The computer also calculates the remaining adjustment height, which is the difference between the current height of the top surface of the rubble mound and the construction height after dropping the weight 55.

The computer determines the lifting height of the weight 55 using the current adjustment height A, the previous lifting height B, and the remaining adjustment height C.
Lifting height of weight 55 = (A×C)/B
Calculated by The previous lifting height B is proportional to the amount of energy applied to the rubble mound (rolling the top surface of the rubble mound) by dropping the weight 55. Further, the current adjustment height A is the height at which the top surface of the rolled rubble mound is lowered with respect to the amount of energy given by the fall of the weight 55. That is, A/B is the height at which the top surface of the rolled rubble mound is lowered with respect to the unit lifting height of the weight 55.

In addition, as the top surface of the rubble mound is tamped down each time the rolling force due to the falling weight 55 is repeated, the amount of depression (decreasing amount) of the top surface per unit energy applied to the top surface is small. Become. Therefore, a configuration may be adopted in which the proportionality constant α (α>1) is used to calculate the lifting height of the weight 55. in particular,
Lifting height of weight 55 = α×(A×C)/B
It may also be calculated by calculation. As mentioned above, A is the current adjustment height, B is the previous lifting height, and C is the remaining adjustment height.

In addition, since α varies depending on the hardness of the stones used to form the rubble mound, the condition of the soil on the seabed where the rubble mound was formed, etc., the proportionality constant α should not be set to a fixed value, but to an initial value (for example, α = approximately 1.1), and may be changed using the current adjustment height A and the previous lifting height B.

Furthermore, an upper limit value for the calculated lifting height may be determined in advance. For example, the upper limit may be set to 50 cm. Furthermore, the lifting height at which the weight 55 is initially dropped for the determined leveling range of the top surface may also be set to this upper limit value.

As is clear from the above explanation, the lifting height of the weight 55 calculated by the computer is merely a guide to make the operator who is operating the crane 51 aware of the height. , the lifting height of the weight 55 by the crane 51 is not limited.

In this example, in the process of leveling the top surface, each time the operator drops the weight 55 onto the top surface, the current height and remaining adjustment height of the top surface are adjusted by operating the crane 51. It is possible to efficiently reduce the time required to have a worker check the information.

The top surface of the rubble mound is tamped by the above-described top surface leveling process. On the other hand, since the slope of the rubble mound has not been tamped at this point, the process of tamping this slope continues.

In this slope leveling step, as shown in FIG. 15, a weight 56 whose lower end surface is an inclined surface is suspended from a wire 53 of a crane 51. The slope of the lower end surface of this weight 56 is the same as the slope of the rubble mound. The process of tamping the slope of the rubble mound is a process of repeating the procedure of lifting a weight 56 with the crane 51 and dropping it onto the slope of the rubble mound.

The process of tamping the slope of this rubble mound is almost the same as the process of tamping the top surface of the rubble mound described above, and the difference is that a weight 56 whose lower end surface is an inclined surface is used, and 56 is dropped on the slope of the rubble mound.

In this way, according to the rubble foundation construction system of this example, the process of leveling the roughness of the rubble mound can be performed without relying on divers. Furthermore, after tamping the slope of the rubble mound, the top surface of the rubble mound may be tamped.

- Modified Example In the above example, the roughening process of the rubble mound was performed using the grab bucket 52 suspended from the wire 53 of the crane 51, but the process was carried out by suspending the steel plate 58 from the wire 53 of the crane 51. It's okay. For example, as shown in FIG. 16, after adjusting the lower end of the steel plate 58 to the design height of the rubble mound, the crane 51 may move the steel plate 58 in a horizontal direction with respect to the top surface of the rubble mound.

In this case, the roughness of the rubble mound can be leveled by a simple construction method in which the crane 51 moves the steel plate 58 in the horizontal direction with respect to the top surface of the rubble mound.

Further, the steel plate 58 may be plate-shaped and have a certain thickness (several cm to several tens of cm), and as shown in FIG. 17(A), a groove 58a penetrating through the thickness may be formed. It may be formed on the outer periphery of the steel plate 58, or it may be formed on the inside of the steel plate 58 with a plurality of holes 58b penetrating in the thickness direction. When using the steel plate 58 shown in FIGS. 17(A) and 17(B), water resistance that occurs when the crane 51 moves the steel plate 58 in the horizontal direction with respect to the top surface of the rubble mound can be suppressed.

It should be noted that the present invention is not limited to the above-described embodiments as they are, but can be embodied by modifying the constituent elements within the scope of the invention at the implementation stage. Moreover, various inventions can be formed by appropriately combining the plurality of components disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiments.

1...Rubble dropping barge 5...Trump boat 51...Crane 52...Grab bucket 53...Wire 58...Steel plate 58a...Groove 58b...Hole 60...Arithmetic device 61...Positioning unit 61a...GPS sensor 62...Crane control unit 63...Wireless communication Unit 64... Height measurement unit 64a... Altitude sensor 100... Rubble mound

Claims (8)

A rubble mound leveling system for leveling the height of rubble mounds deposited on the seabed,
A leveling member suspended from the wire of a hoist ship's crane,
an altitude sensor attached to a wire of the crane to sense altitude;
a positioning sensor that positions the jib point of the crane;
Controlling the wire payout amount of the crane according to the altitude sensed by the altitude sensor and the design height of the rubble foundation to be constructed, and the position determined by the positioning sensor and the position at which the rubble foundation is to be constructed. a crane control unit that controls movement of the jib point of the crane according to the
The altitude sensor is installed at a location located above sea level when the height of the lower end of the leveling member is adjusted to the design height of the rubble foundation.
Rubble mound leveling system. The crane control unit moves the leveling member by controlling the payout amount of the wire of the crane and the movement of the jib point of the crane, so that the leveling member is piled up higher than the design height of the rubble foundation in the rubble mound. moving the rubble from the location where it is being carried out to another location;
The rubble mound leveling system according to claim 1. The leveling member is a grab bucket,
The crane control unit includes:
Shifting the grab bucket from an open state to a closed state while adjusting the height of the lower end of the grab bucket to a height corresponding to the design height of the rubble foundation,
maintaining the closed state and moving the grab bucket to a position different from the position where it was shifted to the closed state, and then shifting the grab bucket from the closed state to the open state;
The rubble mound leveling system according to claim 1 or 2. The leveling member is a grab bucket,
The crane control unit includes:
Defining a first rectangular area and a second rectangular area from among a plurality of rectangular areas obtained by dividing the top surface of the rubble foundation into a matrix,
Shifting the grab bucket from an open state to a closed state while adjusting the height of the lower end of the grab bucket that is aligned with the first rectangular area to a height that corresponds to the design height of the rubble foundation;
After maintaining the closed state and aligning the grab bucket with the second rectangular area, shifting the grab bucket from the closed state to the open state;
The rubble mound leveling system according to claim 1 or 2. On the top surface of the rubble foundation, the first rectangular area and the second rectangular area are adjacent to each other,
The rubble mound leveling system according to claim 4. The crane control unit includes:
A plurality of rectangular areas obtained by dividing the top surface of the rubble foundation into a matrix are sequentially defined as the first rectangular area,
The rubble mound leveling system according to claim 4 or 5. The crane control unit includes:
When the grab bucket is shifted from the closed state to the open state, the current second rectangular area is set as the next next first rectangular area, and the next next second rectangular area is set as the current first rectangular area, and determined from a rectangular area different from the second rectangular area;
The rubble mound leveling system according to any one of claims 4 to 6. A rubble mound leveling method for leveling the height of a rubble mound deposited on the seabed,
Height adjustment processing that controls the amount of wire paid out by the crane according to the altitude sensed by an altitude sensor attached to the wire of the crane of the hoist ship and the design height of the rubble foundation to be constructed;
performing a movement adjustment process of controlling the movement of the jib point of the crane according to the position of the jib point of the crane determined by a positioning sensor and the position where the rubble foundation is to be constructed;
The altitude sensor is installed at a location located above sea level when the height of the lower end of the leveling member is adjusted to the design height of the rubble foundation.
How to level a rubble mound.

Images