JPH02206807A - Positioning method for barge type platform - Google Patents

Abstract

PURPOSE:To constitute a measurement instrument at low cost, to reduce malfunction, to eliminate initial setting at the starting time of measurement by means of a manual operation and to improve measurement accuracy irrespective of peripheral environment by installing a pair of laser oscillators and laser beam-receiving boards. CONSTITUTION:A pair of laser oscillators 21 and 21 are fitted at the double side end parts of the tip parts of a bridge girder 12, and the directions are set in such a way that laser beams to be emitted become vertical with respect to the surface of the sea. A pair of the laser beam-receiving boards 22 and 22 are installed on the double side end parts of the edges of a girder block 13 in the barge type platform 17 in correspondence with the oscillators 21 and 21. As the platform 17 approaches the tip part of the girder 12, the oscillators 21 and 21 emit the laser beams in the vertical direction with respect to the surface of the sea, and drop two bobs near the beams. Next, the platform 17 executes rough position by setting the bobs to be targets until the light-receiving boards 22 and 22 receive the laser beams from the oscillators 21 and 21. The light-receiving boards 22 and 22 receive the laser beams and precisely position the platform 17. Thus, malfunction can be reduced, measurement precision can be improved and the measurement device can be obtained at low cost.

Description

Detailed Description of the Invention "Industrial Field of Application" This invention is useful for, for example, when transporting and unloading a girder in parts to a sea bridge under construction, a barge, which is a means of transport, is placed at a certain position on the sea. The present invention relates to a method of positioning a barge for fixing it to a barge.

"Prior Art" As a means for measuring the relative positional relationship between a barge floating on water and a point fixed on land or water, the seventh
There is a system as shown in the figure.

That is, in the figure, reference numeral 1 is a barge floating on the water, and on this barge 1, three transits 2, . . . , which emit laser beams toward land 2 are installed.

Further, on the land 2, three reflecting prisms 3, . . . are installed corresponding to the transits 2, . The laser beam reflected by the reflection prisms 3, . . . is received again by the transits 2, . positional relationship is measured. Then, based on the measured data of these transits 2, . . . , a calculation means (computer) 4 calculates the relative positional relationship between the barge 1 and the land 2.

"Problems to be Solved by the Invention" However, the conventional system requires three expensive transits 2,... and three reflecting prisms 3,..., making the system as a whole very expensive. It ends up. Also, if the distance between transits 2, . . . and reflecting prisms 3, . . . is long, the directions of each transit 2, . If the interval is not increased, measurement accuracy will decrease. Furthermore, there is a possibility that the transits 2, . . . may react to light different from the light reflected from the reflecting prisms 3, . Furthermore, at the start of measurement, the transit 2,... is manually moved to the reflecting prism 3,
Because it is necessary to carry out work aimed at... It is unsuitable as a positioning system.

This invention was made in view of the above-mentioned circumstances, and it is possible to construct a measuring device at a low cost, have fewer malfunctions, do not require manual initial settings at the start of measurement, and has good measurement accuracy regardless of the surrounding environment. barge.

The purpose is to provide a positioning method.

"Means for Solving the Problem" Therefore, in order to transport the transported object to a structure on the water, the transported object is unloaded from a barge that is loaded on top and sails on the water. In the method for positioning the barge, a plurality of light beams are emitted from the structure toward the water surface, and each light beam is received by a light receiver provided on the barge corresponding to each of the light beams. The above problem is solved by determining the planar positional relationship between the structure and the barge, and controlling the position of the barge so that the planar positional relationship is approximately constant.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 6 are diagrams showing an embodiment in which the barge positioning method of the present invention is applied to transporting girder blocks to an offshore bridge.

First, the method of transporting girder blocks to an offshore bridge to which this embodiment is applied will be explained with reference to FIGS. , these piers 10, . . . (only one is shown in the figure), a main cable 11 is installed by connecting the tops thereof. Furthermore, bridge girders 12 are formed in a cantilever shape from the central portions of these piers 10 toward adjacent piers 10. This bridge girder 12 is constructed by connecting a plurality of girder blocks 13, 13, . . . in its length direction. From main cable 11,
A large number of hangers 14, 14, . . . for fixing the bridge girder 12 are suspended. Further, reference numeral 15.15 is a pair of wire winding machines provided on the main cable ll,
It is configured to be movable along the main cable 11 using a wire and a winch (both paths shown).

The girder block 13 is connected to a barge 17 from a yard along the coast, etc.
It is transported using Then, the barge 17 is connected to the bridge girder 12.
When the barge 17 is positioned and fixed at this position, the wire hoist 15.15
are moved above the girder block 13, and the wire hoists 18.18 are lowered from the wire hoists 15.15 (see FIG. 4).

Then, the tips of these wires 18 and 18 are connected to the girder block 1.
After being connected to both ends of the wires 18 and 18 respectively
is hoisted up by the hoist 15.15,
The girder block 13 is being lifted up (see Figure 5).

Furthermore, by moving the wire winding machine 15.15 along the main cable 11 at a position where the lifted girder block 13 is approximately parallel to the bridge girder 12, the girder block 13 is pulled toward the bridge girder 12 side, and these are Concatenate (
(See Figure 6).

By repeating the above steps, the bridge girder 12 can be extended toward the adjacent piers 10, and an offshore bridge can be constructed.

The barge positioning method according to the embodiment of the present invention is used when fixing the barge as shown in FIG.

This will be explained with reference to FIGS. 1 and 2. A pair of laser oscillators 21, 21 are attached to the tip of the bridge girder 12 at both ends thereof. The direction of the laser oscillator 21 is set so that the laser beam emitted from the laser oscillator 21 is directed vertically toward the sea surface. Moreover, at one end of the girder block 13 on the barge 17,
A pair of laser receiving panels 22.22 are provided at both end portions of the laser oscillators 21.21. The laser light receiving panel 22 has a structure in which light receiving elements such as photo diodes are arranged in a matrix, and can two-dimensionally measure the light receiving position of the laser light. These laser receiving panels 22, 22 are connected to a calculation means (computer) not shown, and this calculation means calculates the two-dimensional positional relationship between the bridge girder 12 and the girder block 13, and displays it on a display means (illustrated path) such as a CRT. will be displayed.

When the barge 17 approaches the tip of the bridge girder 12, this bridge girder 12
A laser beam is emitted vertically toward the sea surface from the tip using the laser oscillator 21.21, and two plumb bobbins (paths shown) are lowered close to this laser beam. Until the barge 17 receives the laser beam from the laser oscillator 21.21 by the laser receiving plate 22.22, it performs rough positioning with the plumb stroke as the target. When the laser light is received by the laser receivers 22, 22, the barge 17 is precisely positioned using the laser light.

In other words, the positional relationship between the bridge girder 12 and the laser oscillator 21.21 can be uniquely determined.
．． Since the laser light from 21 travels in the vertical direction, the laser light receiving panel 22 attached to the girder block 13
．． If the laser beam can be received at approximately the center of the laser receiving plate 22.22, this means that the laser receiving plate 22.22 is located directly below the laser oscillator 21.21. Therefore, by measuring the position of the laser beam on the laser receiver 22 at that point, it is possible to measure the planar positional relationship between the bridge girder 12 and the girder block 13, and based on this, the position of the barge 17 can be determined. It can be performed. This arithmetic processing is performed by the arithmetic means.

Specifically, as shown in FIG.
, B, and the positions of the laser beams on the light receiving plate 22 are respectively A'B', then A with respect to A and B is
The amount of deviation of ' and B' (■ to ■ in FIG. 3) is calculated by the calculation means and displayed on the display means. Next, while looking at this display means, the operator of the barge 17 moves the barge 17 so that point A' overlaps point A, thereby controlling the position of the barge 17. Similarly, while looking at the display means, move the barge 17 so that straight line A'B' is parallel to straight line AB.
By rotating the barge 17, the direction of the barge 17 can be controlled. In this way, it becomes possible to stop the barge 17 at a predetermined position.

The barge 17 can be positioned by the method described above. Here, the barge positioning method of this embodiment is as follows:
Since the laser beam is emitted vertically toward the sea surface, there is no need to manually direct the laser beam in a predetermined direction at the start of measurement as in the conventional method, which simplifies the measurement process. Compared to the case where the position is detected from distance and angle data, as in the case of detecting the position from distance and angle data, the two-dimensional positional relationship between the bridge girder 12 and the girder block 13 can be directly measured, there is no malfunction, and the measurement accuracy is high. . Therefore, this embodiment is a suitable method for positioning a barge that shuttles between certain areas. Additionally, since the positional relationship is directly measured without detecting the position from distance and angle data, there is no need for three sets of measurement equipment as in the conventional method, and two sets are sufficient for measurement. Therefore, the entire measuring device can be constructed at low cost.

Note that the details of the barge positioning method of the present invention are not limited to the above-mentioned embodiments, and various modifications are possible.

``Effects of the Invention'' As explained in detail above, according to the present invention, in order to transport objects to a structure on the water, a barge carrying the objects loaded on top and sailing on the water is used. In the method for positioning the barge when unloading the cargo, a plurality of light beams are emitted from the structure toward the water surface, and a light receiver provided on the barge is used to emit light beams corresponding to each of the light beams. By receiving the light beam, the planar positional relationship between the structure and the barge was determined, and the positioning was performed by controlling the position of the barge so that this planar positional relationship was approximately constant.
There is no need to manually direct the laser beam in a predetermined direction at the start of measurement as in the past, which simplifies the measurement process. It is possible to measure the two-dimensional positional relationship between the structure and the transported object, and there is no malfunction and the measurement accuracy is high. In addition, since the position is not detected from distance and angle data, but the positional relationship is directly measured, there is no need for three sets of measurement equipment as in the past, and two sets are sufficient for measurement. The entire measuring device can be constructed at low cost.

[Brief explanation of the drawing]

1 to 3 are diagrams for explaining a method for positioning a barge according to an embodiment of the present invention, in which FIG. 1 is a front view showing a state in the middle of positioning, and FIG. 2 is the same. Side view,
FIG. 3 is a plan view for explaining the positioning control method;
4 to 6 are process diagrams for explaining the girder block transportation method to which this embodiment is applied, and FIG. 7 is a schematic perspective view showing a conventional barge positioning system. 12... Bridge girder (structure), 13... Girder block (transportation object), 17... Barge, 21...
...Laser oscillator, 22...Laser receiving panel.

Claims (1)

[Claims] A method for positioning a barge when unloading the cargo from a barge that sails on water with the cargo loaded on top for transporting the cargo to a structure on the water, the method comprising: The planar positional relationship between the structure and the barge is determined by emitting a plurality of light beams toward the water surface and receiving each light beam with a light receiver installed on the barge corresponding to each of these light beams. A barge positioning method that performs positioning by controlling the position of the barge so that this two-dimensional positional relationship is approximately constant.