JPH0540164A - Survey method of reference point under water and buoy-type reference point survey device used for this method - Google Patents

Abstract

PURPOSE:To obtain a survey method of a reference point under water with an improved accuracy of the reference point. CONSTITUTION:A survey method of a reference point under water allows transponders 1, 2, and 3 which respond to ultrasonic wave to be sank at a specified position under water, a buoy 8 which can measure an absolute position of latitude and longitude and at the same time a distance to the transponder to be floated on the sea near the transponders 1, 2, and 3, and at the same time the buoy 8 to measure the absolute position at least two points on the sea. At the same time, the reference position under water of the transponders 1, 2, and 3 is surveyed by allowing the buoy 8 to measure a distance to the transponders 1, 2, and 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for surveying an underwater reference point of a transponder which is installed in water and responds to ultrasonic waves in order to determine the underwater position of an underwater working robot or the like. Further, the present invention relates to a buoy type reference point surveying device.

[0002]

2. Description of the Related Art When constructing a structure underwater or on the surface of water such as the coast or the seabed, it is natural that surveying based on a construction plan is required as in the case of land. However, there is no mark on the sea, marking the sea surface,
Unlike the land, it is often impossible to put tape for surveying. Therefore, there is also a method of determining the position of the underwater work robot or the like by using a known underwater position near the quay as a reference point. However, with this method, it is too far from the reference point for an offshore underwater working robot or the like, and good accuracy cannot be expected. Also, it is difficult to set a reference point in places where there is no quay.

Therefore, there is a method in which a transponder that responds to ultrasonic waves is installed near the work position and this transponder is used as an underwater reference point. This method will be described with reference to FIG. FIG. 5 shows a method of determining the position of the underwater work robot 9 by the LBL (Long Base Line System) method. In this LBL method, three transponders 1, 2 and 3 are installed on the seabed, and these transponders 1 and 2 are previously set.
The positions serving as the reference points of 2, 3 are measured in advance, and the transponders 1, 2, of the underwater ultrasonic waves emitted by the underwater working robot 9 are measured.
By receiving the response by 3, the relative position of the underwater work robot 9 with respect to the transponders 1, 2, 3 whose reference points are known is measured. That is, the reference point is (x ₁ , y ₁
, z ₁ ), (x ₂ , y ₂ , z ₂ ), (x ₃ , y ₃ ,
z ₃ ), the transponders 1, 2, and 3 and the distance L1,
L2 and L3 are obtained, and the relative position (X, Y, Z) of the underwater work robot 9 is calculated from the following equations. L1 ² = (X − x ₁ ) ² + (Y − y ₁ ) ² + (Z − z ₁ ) ² L2 ² = (X − x ₂ ) ² + (Y − y ₂ ) ² + (Z − z ₂ ) ² L3 ² = (X −x ₃ ) ² + (Y −y ₃ ) ² + (Z −z ₃ ) ²

The measurement of the reference points of the transponders 1, 2, 3 is performed as follows. Crane 5A of work boat 5
The mirror 6 is provided at the tip hanging position, and the position of the mirror 6 is measured (the distance L and the azimuth γ are measured) by the optical wave surveying device 7 installed at a known point on the coast. And
At the same time as measuring the hanging position of the crane 5A, the transponder hung by the crane 5A is sunk to the seabed. Thus, the transponder 1, whose reference point is known,
2 and 3 are installed in water.

[0005]

The crane 5A described above
In the method of measuring the fishing-down position of the tip and sinking the transponder, the fishing-down position and the underwater position are different by the influence of the tidal current, etc. until the transponder sinks to the seabed. Further, the work boat 5 swings 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 that the accuracy error of the reference point becomes large.

The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to provide an underwater reference point surveying method with excellent reference point accuracy, and , It is an object of the present invention to provide a compact buoy type control point surveying device.

[0007]

In order to achieve the above-mentioned object, the underwater reference point surveying method of the present invention submerges a transponder responsive to ultrasonic waves at a predetermined position in water, and outputs the latitude and longitude on the sea near the transponder. A buoy capable of measuring the absolute position of the transponder and measuring the distance to the transponder, the buoy measuring the absolute position of at least two points on the sea, and at the same time the buoy measures the distance to the transponder. The underwater reference position of is measured.

And as a buoy type reference point surveying device,
Receiver for global positioning system capable of measuring absolute position of latitude and longitude, transmitter / receiver for measuring distance to transponder responding to underwater ultrasonic wave, distance data of the transmitter / receiver and absolute position data of the receiver And a memory unit for recording the measured values at the same time.

[0009]

The absolute position of a buoy on the sea is measured 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 points on the sea, it is known that
Depending on the distance from the sea reference point of the point to the transponder,
The position of the transponder is determined. The buoy is small, has stability against waves, and has excellent accuracy as a sea reference point.

The memory unit provided in the buoy type reference point surveying device is provided with the simultaneous measurement data of the absolute position data of the receiving unit for measuring the absolute position of latitude and longitude and the distance data of the transmitting / receiving unit for measuring the distance to the transponder. Is stored and the underwater reference position of the transponder is determined by the calculation after collecting the buoy.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an underwater reference point surveying method of the present invention, FIG. 2 is a block diagram of equipment used in the underwater reference point surveying method, and FIGS. 3 and 4 are views showing a buoy type reference point surveying device.

FIG. 1 is similar to FIG. 5 in that it has three transposers.
In the case of the LBL method in which the water reference points are 1, 2, 3
Illustrated. This transponder 1, 2, 3 is built
Pre-sink in the sea near where things will be installed. And
Position buoy 8 on the sea near transponders 1, 2 and 3
Let This buoy 8 is an receiver for the global positioning system.
The tena 11 is installed upright and the ultrasonic waves of the ultrasonic distance measuring transceiver
The oscillator 12 is projected into the sea. Also, this buoy 8
Is moved by boat 13 or the like (tow or boat 13
After collecting it inside and floating it again). Such a buoy
The principle of surveying by 8 is as follows. First, buoy 8
1st maritime point P₁For Global Positioning System reception
Antennas 11 in some sections enable multiple global positioning systems
By receiving the position signal from the satellite, the buoy 8
Absolute position of (X₁, Y₁, Z₁) Is measured. This whole
Example of Global Positioning System
For example, one using the US Air Force's Nabster satellite
With a system that can measure absolute position on the ground surface with high accuracy
is there. Simultaneously with the measurement of this absolute position, ultrasonic vibration of the buoy 8
Transponder 1 for the interrogation signal from the armature 12
The response signal from the buoy 8 causes the transponder
Measure the distances M11, M12, M13 to 1, 2, and 3. This
Buoy 8 absolute position measurement and transponders 1, 2, 3
Distance measurements at the same time are performed and these measurement data are recorded.
Remembered Next, buoy 8 is the second maritime point P.₂Move to
Be done. And this second maritime point P₂At buoy 8
Absolute position of (X₂, Y₂, Z₂) And buoy 8 to Tran
Distances M21, M22 and M23 to the spawners 1, 2 and 3 are the same
Is measured and stored in. After all, the first maritime point P₁ (X₁，
Y ₁, Z₁) And the second maritime point P₂ (X₂, Y₂, Z₂)But
It becomes a sea reference point, and this sea reference point P₁, P₂From
The distances M11, M12, M13 to the responders 1, 2, 3
By M21, M22, M23, the transponders 1, 2, 3
Position (x₁ , Y₁ , z₁), (X₂, Y₂ , z₂),
(X₃, Y₃ , z₃) Is surveyed.

The above-mentioned method is premised on that the buoy 8 simultaneously measures the absolute position and the distance to the transponder. A concrete device configuration for realizing this simultaneous measurement will be described with reference to FIG. In FIG. 2, 1, 2 and 3 are transponders, 14 and 15 are global positioning system geostationary satellites, and 8
Indicates a buoy. The buoy 8 includes a receiving unit 16 for the global positioning system, a memory unit 17, and a transmitting / receiving unit 18 for ultrasonic measurement. The receiving unit 16 is the receiving circuit 16
A and a measuring circuit 16B, the memory unit 17 includes a memory 17A and a timer 17B, and the transmitting / receiving unit 18 includes a response circuit 18A and a transceiver 18B. Timer 17B
In response to the instruction from, the receiver 16 and the transmitter / receiver 18 simultaneously start the measurement. The receiving circuit 16A receives position signals from a plurality of global positioning system geostationary satellites, and the measuring circuit 16A receives the position signals.
B measures the absolute position of buoy 8. This absolute position data is recorded in the memory 17A. In addition, the buoy 8 emits an interrogation ultrasonic signal from the transmitter / receiver 18B, and the transponder 1,
Response circuit 18A receives the response ultrasonic signals from 2 and 3.
The distances to the transponders 1, 2 and 3 are calculated with the distance data, and the distance data is recorded in the memory 17A as a pair with the absolute position data. Then, after collecting the buoy 8, these data are taken out and the underwater reference points of the transponders 1, 2, 3 are calculated. It is also possible to send a control signal to the buoy 8 as the measurement timing without using the timer 17B and activate the receiving unit 16 and the transducer 18 of the buoy 8 at the same time.

Next, the structure of the buoy type reference point surveying device will be described with reference to FIGS. FIG. 3A is a top view.
(B) shows a side view, and the buoy type reference point surveying device 20 is
A buoyancy float 22 is provided around the floating body shaft portion 21. An ultrasonic transducer 24 is attached to the tip of a retractable shaft 23 provided on the lower surface of the floating body shaft portion 21. Further, an antenna 26 for the global positioning system is attached to the tip of a shaft 25 that can be expanded and contracted in two stages provided on the upper surface of the floating body shaft portion 21. Further, in the center of the floating body shaft portion 21, the receiving portion, the memory portion and the transmitting / receiving portion of FIG. 2 are housed. The buoyancy float 22 of the buoy type reference point surveying device 20 can remove air, and the shafts 23 and 25 can be housed in the floating body shaft portion 21. Therefore, the buoyancy float 22 can be made compact and easy to carry.

FIG. 4 (a) is a top view and FIG. 4 (b) is a side view. The buoy type reference point surveying device 30 is a tripod leg 32, 33 which is detachably attached to the upper and lower surfaces of a triangular plate 31 of foam material. Is installed. An ultrasonic transducer 34 is attached to the tip of the lower tripod leg 32, and an antenna 35 of the global positioning system is attached to the tip of the upper tripod leg 33. Further, the receiving portion, the memory portion, and the transmitting / receiving portion of FIG. 2 are housed in the center of the triangular plate 31. By removing the tripod legs 32 and 33, the buoy type reference point surveying device 30 becomes compact and easy to carry. No matter which buoy type reference point surveying device 20 or 30 is used, a work boat equipped with a crane or the like is not necessary during measurement, so it does not interfere with the passing boat even when measuring in the vicinity of the route, and the best survey is possible. You can select points. In addition, since it is a buoy type, it has excellent stability against shaking and falls due to waves. Further, the antennas 26 and 35 and the ultrasonic transducer 24,
Since the interval between 34 can also be made small, the measurement error caused by the sway of the buoy due to waves can be reduced.

[0016]

Since the present invention has the above-mentioned structure,
The following effects are achieved. The underwater reference point surveying method of the present invention immerses a transponder that responds to ultrasonic waves at a predetermined position in water and floats a buoy that can measure the absolute position of latitude and longitude and the distance to the transponder on the sea near the transponder. , The buoy measures absolute positions of at least two points on the sea, and at the same time, the buoy measures a distance to the transponder to measure an underwater reference position of the transponder,
The buoy serves as a reference point on the sea, and the position of the transponder is determined by measuring the distance from two known sea reference points to the transponder, so that the transponder sunk into a place where the tidal current is far from the coast is fast. Even if there is, the position in the water can be accurately measured. Also,
Since the buoy is small and stable against waves and has high accuracy as a sea reference point, the best survey point can be selected by simply carrying it on a small boat and floating it, and the survey error can be reduced.

The buoy type reference point surveying device is as follows:
The receiver for global positioning system that can measure the absolute position of latitude and longitude, the transceiver that measures the distance to the transponder that responds to underwater ultrasonic waves, the distance data of the transceiver and the absolute position data of the receiver. There is one that is equipped with a memory unit that records what is measured at the same time, and after the survey, the underwater reference position of the transponder can be determined by calculation from the absolute position data and distance data that the memory unit has. The buoy-type reference point surveying device itself requires less equipment, and the buoy can be made compact and easy to handle.

[Brief description of drawings]

FIG. 1 is a diagram showing an underwater reference point surveying method of the present invention.

FIG. 2 is a block diagram of an apparatus used for an underwater reference point surveying method.

FIG. 3 is a view showing a buoy type reference point surveying device.

FIG. 4 is a view showing another buoy type reference point surveying device.

FIG. 5 is a diagram showing a conventional underwater reference point surveying method.

[Explanation of symbols]

 1,2,3 transponder, 8,20,30 buoy 16 receiver 17 memory 18 transmitter / receiver

Claims (2)

[Claims] 1. A subponder that responds to ultrasonic waves is submerged at a predetermined position in water, and a buoy that can measure the absolute position of latitude and longitude and the distance to the transponder is floated on the sea near the transponder, and the buoy is on the sea. At the same time as measuring the absolute positions of at least two points, the buoy measures the distance to the transponder to measure the underwater reference position of the transponder. 2. A receiver for a global positioning system capable of measuring the absolute position of latitude and longitude, a transmitter / receiver for measuring a distance to a transponder responding to underwater ultrasonic waves, distance data of the transmitter / receiver and the reception. A buoy type reference point surveying device comprising: a memory unit for recording the absolute position data of the unit, which is measured at the same time.