JPH03238379A - Surveying of underwater reference point and buoy type reference point measuring apparatus used therefore - Google Patents

Abstract

PURPOSE:To achieve a higher accuracy of a reference point by measuring a distance to a transponder with a buoy simultaneously with a measurement of positions of buoys at least at two points on the sea. CONSTITUTION:Transponders 1-13 are sunk under sea near a point where a construction is set beforehand. A light wave measuring device 7 is set on the land. Then, a buoy 8 is located between the device 7 and the transponders 1-3. The buoy 8 has a mirror 11 erected to respond to the device 7 and an ultra-sonic vibrator 12 is stacked out into the sea. The buoy 8 emits a query ultrasonic signal from a transmitter/receiver 8D, receives a response ultrasonic signal from the transponder 2 and computes a distance to the transponder 2 with a response circuit 8. A distance data is recorded into a memory 8B together with a time data of a clock 8C. Then, timings of clocks of the device 7 and the buoy 8 are made to coincide to collate a position data of the device 7 with the distance data of the buoy 8 thereby enabling the obtaining of data measured simultaneously.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for measuring an underwater reference point of a transponder installed underwater and responsive to ultrasonic waves in order to determine the underwater position of an underwater working robot or the like. The present invention also relates to a buoy type control point surveying device for that purpose.

[Conventional technology]

When constructing a structure underwater or on the water surface, such as on the coast or the seabed, it is natural that a survey based on the construction plan is required, just as on land. However, there are no landmarks on the sea, and unlike on land, it is often impossible to mark the sea surface or put survey tape on it.
Therefore, there is also a method of determining the position of an underwater working robot, etc., using a known underwater position near a quay as a reference point. However, with this method, good accuracy cannot be expected for offshore underwater robots and the like because the reference point is too far away, and it is difficult to set up a reference point in places where there are no quays or the like.

] ■ 23) Therefore, there is a method in which a transponder that responds to ultrasonic waves is installed near the work location and this transponder is used as an underwater reference point. This method will be explained with reference to FIG. Fifth
The diagram shows L B L (Long Ba5e Line
5ystei+) method to determine the position of the underwater working robot 9. In this LBL method, three transponders 1 and 2.3 are installed on the seabed, the reference points of these transponders 1 and 2.3 are measured in advance, and underwater ultrasound waves emitted by an underwater work robot 9 are used. By receiving the response from the transponder 1.23, the relative position of the underwater robot 9 with respect to the transponder 1, 2.3 whose reference point is known is measured. That is,
The reference point is (X3+V3+23)+(Xt+5'2+Z
z) + (X3+V3+23) transponder 2
, 3.4, the distance L1. L2L3 is obtained, and the relative position (X, Y, Z) of the underwater robot throat 9 is calculated from the following equation (2).

Ll”” (X x+)”+ (Y y+)”+
(ZL2”= (X xz)2+ (Y yz)”
+ (ZL3”-(X x3)2+(Y y:+)
”+ (Measurement of the reference points of Z2 transponders 1, 2.3 is carried out as follows. Crane 5A of work boat 5
A mirror 6 is provided at the hanging position of the tip, and the position of the mirror 6 is measured by a light wave surveying device 7 installed at a known point on the coast (distance and direction T are measured). and,
At the same time as measuring the lowering position of the crane 5A, the transponder lowered by the crane 5A is sunk to the seabed. In this way, a transponder 1.2 with a known reference point
．． 3 is installed underwater.

[Problem to be solved by the invention]

In the above-described method of measuring the lowering position of the tip of the crane 5A and sinking the transponder, the lowering position differs from the underwater position due to the influence of tidal currents and the like until the transponder sinks to the seabed. Further, the work boat 5 rocks due to waves and the like, and the position of the mirror 6 at the tip of the crane 5A also changes. As described above, the conventional method has a problem in that the accuracy error of the reference point becomes large.

The present invention has been made in view of the above-mentioned problems of the conventional technology, and its purpose is to provide an underwater control point surveying method with excellent control point accuracy, and to
The purpose of this invention is to provide a compact buoy-type control point surveying device for this purpose.

[Means to solve the problem]

In order to achieve the above object, the underwater control point surveying method of the present invention provides a method for connecting a transponder that is installed underwater and responds to ultrasonic waves and a surveying device that is installed at a known point on the ground and measures the position of a buoy, which will be described later. A buoy is floated on the sea, and the surveying device measures the position of the buoy at at least two points on the sea, and at the same time measures the distance from the buoy to the transponder, thereby surveying the underwater reference position of the transponder. It is.

The buoy-type control point surveying device has a transmitter/receiver unit that measures the distance to the transponder that responds to underwater ultrasound, a memory unit that records the distance data of the transmitter/receiver over time, and is installed at a known point on the ground. Some devices are equipped with a mirror that responds to a light wave surveying device.

[Effect]

The position of a buoy on the sea is measured by a surveying device and becomes a reference point on the sea. If the distance to the transponder is measured at the same time as the measurement of at least two sea reference points, the position of the transponder is determined by the distance from the two known sea reference points to the transponder. Buoys are small, stable against waves, and have excellent accuracy as maritime reference points.

The memory unit included in the buoy-type reference point surveying device records the distance data of the transmitting and receiving unit that measures the distance to the transponder over time, and the light wave surveying device measures the position of the buoy at the same measurement time. The distance to the transponder and the position of the buoy are determined by comparing it with the location data such as .

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing the underwater control point surveying method of the present invention, FIG. 2 is a block diagram of equipment used in the underwater control point surveying method,
FIGS. 3 and 4 are diagrams showing a buoy-type control point surveying device.

Similar to FIG. 5, FIG. 1 shows three transponders 1,
The figure shows the case of the LBL method with 2.3 as the underwater reference point. This transponder 1.2°3 is pre-immersed in the sea near where the structure will be installed. Then, a light wave surveying device 7 is installed at a known point on land. Next, the buoy 8 is positioned between the light wave surveying device 7 and the transponder 1.2.3. This buoy 8 has a mirror 11 erected thereon which responds to the light wave surveying device 7, and an ultrasonic transducer 12 protruding into the sea. Further, this buoy 8 is moved by a boat 13 or the like (by being towed or re-floated after being recovered in the port 13, etc.). The principle of surveying using the light wave surveying device 7 and the buoy 8 is as follows. First, at the first sea point P of the buoy 8, the light wave surveying device 7 measures the position of the buoy 8 (distance N1 and direction α), and calculates the position (X+, Y+, Z+
). At the same time, the ultrasonic transducer 12 of buoy 8
According to the response signals of transponders 1 and 2.3 to the interrogation signal from buoy 8, transponders 1 and 2.3
Distance to jl1M11. M12. Having measured and recorded M13, buoy 8 is then moved to a second sea point P2. Then, at this second sea point P, the light wave surveying device 7 measures the position of the buoy 8 (distance N2 and direction β) and records the position (χz, b, Zz). At the same time, the buoy 8
Distance from to transponder 1.2.3! M21. M
22. Measure and record M2S. In the end, the first sea point P, (χ, , Y, , Zl) and the second sea point P2 (X□Y
□22) becomes the sea control point, and this sea control point P,,P
, the distance IMII to the transponder 1.2.3 from ,
M12. M13, M21, M22. M2S
The position of transponder 1, 2°3 (X++y1
+2+)+ (Xz+V2+zZ)+ (Xs+)'x
+2s) is measured. Note that the buoy positioning method is not limited to the light wave surveying device 7, and the buoy positioning method may be determined by a radio wave surveying device. In that case, you will meet buoy 8.
11 and a radio wave surveying antenna may be provided.

The method described above is based on the premise that the light wave surveying device 7 and the buoy 8 measure simultaneously, and a specific equipment configuration for realizing this simultaneous measurement will be explained with reference to FIG. 2. In Figure 2,
2 indicates a transponder, 7 indicates a light wave surveying device, and 8 indicates a buoy. The light wave surveying device 7 includes a light wave transducer 7A and a memory 7.
From B and clock 7C. This light wave surveying device 7 emits an interrogation optical signal, receives a response optical signal reflected by a mirror 8A, which will be described later, and measures the distance and direction to the buoy 8. This position data is recorded in the memory 7B together with the time data of the clock 7C. Buoy 8 is mirror 8 for light wave surveying.
A, memory 8B and clock 8C forming the memory section
, a transducer 8D and a response circuit 8E that constitute a transceiver section
It's intimidating. This buoy 8 emits an interrogation ultrasonic signal from a transducer 8D, receives a response ultrasonic signal from the transponder 2, calculates the distance to the transponder 2 in a response circuit 8E, and the distance data is the time data of the clock 8C. It is also recorded in the memory 8B. And the light wave measurement device 7
Simultaneous measurement data can be obtained by changing the timing of the clocks of the buoy 8 and comparing the position data of the light wave surveying device 7 and the distance data of the buoy 8. Buoy 8
This verification can be done after collecting the . Note that it is also possible to send the measurement timing of the light wave surveying device 7 as a control radio wave to the buoy 8 and operate the response circuit 8E of the buoy 8 without using a clock.

Next, the configuration of the buoy type control point surveying device is shown in Figures 3 and 4.
This will be explained using figures.

FIG. 3(a) shows a top view, FIG. 3(b) shows a side view,
The buoy-type control point surveying device 20 includes a buoyancy float 22 around a floating body shaft portion 21. An ultrasonic vibrator 24 is attached to the tip of a telescopic shaft 23 provided on the lower surface of the floating body shaft portion 21 . In addition, the floating body shaft portion 21
A mirror 26 is attached to the tip of a two-step telescopic shaft 25 provided on the top surface. In addition, the floating body shaft part 2
The memory section and the transmitting/receiving section shown in FIG. 2 are housed in the center of the device. Buoyancy float 2 of this buoy type control point surveying device 20
2 can be deflated and the shafts 23 and 25 can be stored within the floating body shaft portion 21, making it compact and easy to carry.

FIG. 4(a) shows a top view, FIG. 4(b) shows a side view,
The buoy type control point surveying device 30 includes a triangular plate 3 made of foam material.
A removable tripod leg 3233 is attached to the upper and lower surfaces of 1. An ultrasonic transducer 34 is attached to the tip of the lower tripod leg 32, and a mirror 35 is attached to the tip of the upper tripod leg 33. Further, a memory section and a transmitting/receiving section shown in FIG. 2 are housed in the center of the triangular plate 31. By removing the tripod legs 32 and 33, this buoy type reference point surveying device 30 becomes compact and easy to carry.

No matter which buoy-type control point surveying device 20.30 is used, a work boat equipped with a crane or the like is not required during measurement, so even when measuring near the navigation route, it does not interfere with passing ships and provides the best surveying method. Points can be selected. Also, since it is buoy-shaped, it has excellent stability against shaking and overturning due to waves. Furthermore, since the distance between the ξ-couple 26.35 and the ultrasonic transducer 24.34 can be reduced, measurement errors caused by vibration caused by waves can be reduced.

〔Effect of the invention〕

Since the present invention has the above-described configuration, it produces the effects described below.

The underwater control point surveying method of the present invention involves floating a buoy on the sea between a transponder that is installed underwater and responds to ultrasonic waves and a surveying device that is installed at a known point on the ground and measures the position of the buoy, which will be described later. The surveying device measures the position of the buoy at at least two points, and at the same time measures the distance from the buoy to the transponder, thereby surveying the underwater reference position of the transponder, and the buoy is the reference point on the sea. The position of the transponder is determined by measuring the distance from two known sea reference points to the transponder, so even if the transponder is submerged far from the coast and in a place with strong currents, it will remain underwater. The location can be measured accurately. In addition, buoys are small, stable against waves, and highly accurate as maritime reference points, so the best surveying points can be selected simply by being carried and floated on a small boat, and surveying errors can be reduced. can.

The buoy-type control point surveying device has a transmitter/receiver unit that measures the distance to the transponder that responds to underwater ultrasound, a memory unit that records the distance data of the transmitter/receiver over time, and is installed at a known point on the ground. It is equipped with a mirror that responds to the light wave surveying device, and after the survey,
Distance data recorded along with time held in the memory section,
The distance to the transponder and the position of the buoy can be determined by comparing the position data of a light wave surveying device, etc. that measures the position of the buoy at the same measurement time, so the buoy type control point surveying device itself should be equipped with this method. The amount of equipment is reduced, and the buoy can be made smaller and easier to handle.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the underwater control point surveying method of the present invention, FIG. 2 is a block diagram of equipment used in the underwater control point surveying method,
3 and 4 are diagrams showing a buoy-type control point surveying device, and FIG. 5 is a diagram showing a conventional underwater control point surveying method. 1.2.3-)-Rance bonder, 7...Light wave surveying device (surveying device), 8.20.30... Buoy (buoy type control point surveying device),
8B, 8C--memory section, 8E, 8D--transmitting/receiving section, 11, 26. 35--Mirror

Claims (2)

[Claims] (1) Floating a buoy on the sea between a transponder installed underwater that responds to ultrasonic waves and a surveying device installed at a known point on the ground and measuring the position of the buoy, which will be described later; An underwater reference point surveying method characterized in that the underwater reference position of the transponder is surveyed by measuring the distance of the buoy to the transponder at the same time as the surveying device measures the position of the transponder. (2) A transmitting/receiving unit that measures the distance to the transponder that responds to underwater ultrasound, a memory unit that records the distance data of the transmitting/receiving unit over time, and responds to a light wave surveying device installed at a known point on the ground. A buoy-type control point surveying device characterized by comprising a mirror.