JPH0642969A - Method and apparatus for measurement of posture of underwater installed object - Google Patents

Abstract

PURPOSE:To obtain a method and an apparatus wherein the posture of a structure such as a sinker as an anchor installed in the water or an anchor made of iron is measured. CONSTITUTION:A direction meter 10 which detects the direction of an arbitray reference line D1 and which outputs a directional signal is fixed onto an underwater installed object 3. Before its installation operation, the installed object 3 is suspended in a prescribed direction while a directional relative angle thetabetween the installed object 3 and a working ship 1 has been fixed, and the correspondence of the directional signal from the direction meter 10 when a measurable prescribed angle is changed to the directional value of a gyrocompass 20 mounted on the working ship is gathered as own-difference calibration data. When the posture of the underwater installed object 3 is measured, an own-difference included in the directional angle of the direction meter 10 is calibrated by the own-difference calibration data. In addition, an inclinometer 11 which detects an inclination and which outputs an inclination signal is fixed onto the installed object 3, and the posture of the underwater installed object 3 can be measured on the basis of the direction and the inclination.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for measuring the posture of an underwater installation object, and more particularly to a posture measurement method for an underwater installation object for measuring the posture of an underwater installation object such as an anchor or a sinker which is an iron anchor. And equipment.

[0002]

2. Description of the Related Art Underwater construction, especially offshore construction, installs anchors, sinkers, and other installations under the sea as weights for mooring a construction ship. Referring to FIG. 7A, the installation object has, for example, a size of 9 m × 7 m × 3 m and a weight of 11 m.
It is a structure with mooring hardware on one side at 50t.
When installing the installation object in the sea, it is necessary to grasp the direction in which the mooring direction of the work boat is determined as shown in FIG. 8 (A). If the seabed at the installation site is a steep slope, the installed object will move from the specified position as shown in Fig. 8 (B), so it is possible to plan the mooring of the construction ship at the target position. Disappear. Since the allowable values for the allowable azimuth and the allowable tilt angle for mooring ropes regarding the installation of sinkers are large, the monitoring accuracy is ±
Measurements of 2 ° or less and inclination error of ± 1 ° or less are required.

Conventionally, an installation object to be installed by a work ship such as a crane ship is hung and moved to the installation site, and the attitude of the installation object is grasped underwater by referring to the survey from the land shore and the gyro compass mounted on the ship. It was installed.

[0004]

However, the conventional method has the following problems. (1) In the case of offshore construction, the installation site is not always close to the landshore, and it may not be possible to survey from the landshore. (2) In the case of surveying from the landshore, it is necessary to send survey data to the construction ship side by radio, etc., and the work is not quick. (3) Even when using a compass of a work ship such as a crane ship, for example, a gyro compass, only the bearing of the ship can be grasped. Therefore, the installation body itself must be measured unless the relative posture between the suspended installation and the ship is constantly measured. I don't know his attitude. (4) Although the orientation and inclination of the installation object in the air is visually determined, it cannot be visually confirmed when it is suspended in water, and the posture change of the installation object due to tidal currents and unevenness of the seabed can be grasped. Can not.

The inventor can measure the orientation including the azimuth and inclination of an installed object by using an azimuth meter that detects an azimuth and outputs an azimuth signal and an inclinometer that detects an inclination in a predetermined direction and outputs an inclination signal. I paid attention to.

Here, the compass that measures the direction of the earth's magnetic field is
If there is a magnetic material in the vicinity, the correct direction signal will not be output. For example, a sinker as an installation object is an iron lump, and when a magnetic azimuth meter is fixed on this, an error called an error occurs in the azimuth signal of the azimuth meter due to the influence of the sinker on the magnetic field. In addition, an error called a deviation peculiar to that point is generated due to the inclination of the geomagnetism. Referring to FIG. 3, when the azimuth signal is not affected by the magnetic substance, the azimuth signal and the actual azimuth have a linear relationship represented by a dotted line only with a deviation. Since it includes the difference, the linearity is lost as shown by the solid line. In order to measure the azimuth of the installation, it is essential to calibrate the difference of the azimuth signal.

An object of the present invention is to provide a method and apparatus for measuring the posture of an installation object installed in water.

[0008]

With reference to the schematic explanatory view of FIG. 1 and the block diagram of FIG. 2, according to the method for measuring the posture of an underwater installation of the present invention, the installation for installation in water by a hanging operation is performed. An azimuth meter that detects the azimuth on the object 3 and outputs an azimuth signal
Fix 10 Here, the azimuth signal from the azimuth meter 10 does not have a correct azimuth due to the influence of the magnetic substance near the azimuth meter 10 on the magnetic field, and includes an error called an error. The installation object 3 is hung in a predetermined orientation, the orientation of the installation object 3 is changed by a predetermined angle that can be measured from the predetermined orientation, the change in the orientation and the change in the orientation signal accompanying it are compared, and the rotation angle determines Calibrate the error included in the azimuth signal. The posture including the azimuth of the installation object 3 is measured by the azimuth signal after the calibration.
The posture measurement can be performed during the suspending operation and even after the installation in water.

When the installation 3 is suspended from the work boat 1, the installation 3 is suspended in a predetermined direction measured by the compass 20 mounted on the work boat 1 and the installation 3 is moved relative to the work boat 1. While the angle θ is fixed, the orientation of the work boat 1 is changed while measuring the orientation of the work boat 1 with the compass 20 mounted on the work boat 1. By comparing the heading signal and the heading change of the work boat 1, the deviation included in the heading signal is calibrated.

Preferably, an inclinometer 11 for detecting an inclination and outputting an inclination signal is fixed on the installation 3, and the orientation and inclination measured by the azimuth signal after the calibration and the inclination signal are included in the attitude measurement. .

The attitude measuring device for an underwater installed object according to the present invention comprises an azimuth meter 10 for detecting an azimuth fixed on an installed object 3 installed underwater by a suspending operation and outputting an azimuth signal. Swinging means for suspending 3 to change the azimuth of the installation object 3 by a predetermined angle that can be measured from the predetermined azimuth, and comparing the change of the azimuth and the change of the azimuth signal with it, the azimuth from the rotation angle Calibration means 22 for calibrating the signal, and measurement means 24 for measuring the azimuth signal after the calibration.
Be equipped with.

When the installation 3 is hung on the work boat 1, a compass 20 mounted on the work boat 1 for measuring the direction of the work boat 1 is further provided, and the swinging means is measured by the compass 20. The calibrating means 22 is measured by the compass 20 and the oscillating means for suspending the installation object 3 in a predetermined azimuth and changing the azimuth of the work ship 1 while fixing the relative angle θ of the installation object 3 with respect to the work ship 1. The calibration means 22 calibrates the difference included in the azimuth signal by comparing the azimuth change of the work boat 1 thus obtained.

Preferably, the posture measuring apparatus for an underwater installation of the present invention includes an inclinometer 11 to be fixed on the installation 3, and the inclination of the installation 3 is detected by the inclinometer 11 to output an inclination signal. , The attitude of the installation 3 including the azimuth and the inclination is measured by the measuring means 24.

[0014]

Operation Referring to the block diagram of FIG. 2, the azimuth meter 10 fixed on the installation object 3 installed in the water is an arbitrary reference line D.
The azimuth of 1 is detected and output as an azimuth signal. The arbitrary reference line D1 can be arbitrarily set on the installation object 3, and can be, for example, the direction of one side surface provided with the mooring hardware. The azimuth meter in the illustrated example is a Hall element compass type in which a magnet that follows the earth's magnetic field is surrounded by four Hall element plates and the azimuth is obtained from a voltage proportional to the magnetic field strength of the magnet generated in the Hall element. is there. However, the azimuth meter 10 of the present invention is not limited to the above-mentioned Hall element compass type, and any device that detects the azimuth of the arbitrary reference line D1 and outputs an azimuth signal is sufficient.

Since the difference between the installations 3 is unique to the shape of the installation 3, it is necessary to record data for calibrating the installation 3 individually. Creation of the calibration data for the case of using the work boat compass 20 will be described with reference to the flowchart of FIG. First, in step 401, the installation object 3 is hung in a predetermined orientation, for example, a target orientation for installing the installation object 3 or an orientation close to the target orientation. When the compass 20 is used, the relative angle θ between the orientation of the suspended installation 3 and the orientation of the work boat 1 is fixed. In step 402, the azimuth of the installation object 3 is changed by a predetermined angle that can be measured from the predetermined azimuth, for example ± several tens of degrees. When the compass 20 is used, the orientation of the work boat 1 is changed by ± 10 degrees while measuring the orientation of the work boat 1 with the compass 20. However, the angle to be changed is not limited to this angle, and it is sufficient if the predetermined angle to be changed can be measured. In step 403, the change in the azimuth signal of the azimuth meter 10 and the change in the predetermined angle from the predetermined azimuth are made to correspond to each other, and the difference calibration data is obtained. When the compass 20 is used, the (compass azimuth value −θ) during the azimuth change of ± several tens of degrees can be set as the predetermined angle change from the predetermined azimuth. That is, the own-calibration data is a correspondence table between the azimuth signal of the azimuth meter 10 and the corresponding azimuth correction azimuth such as the compass azimuth value. In step 404, the difference calibration data is recorded as a file.

Preferably, the azimuth of the installation 3 is rotated by 360 °, and the calibration data for the azimuths of all the azimuths is stored in the storage device 23.

Further, the magnetic compass needs to be separately corrected by a deviation representing the inclination of the earth's magnetism, and preferably the compass is used.
Let 20 be a gyro compass. Further, if the fixed relative angle θ is stored, the correspondence between the azimuth signal from the azimuth meter 10 and the compass azimuth value may be used as the self-calibration data.

The calibration of the azimuth signal of the azimuth meter 10 using the calibrated calibration data will be described with reference to the flowchart of FIG. In step 501, the self-calibration data is read from the storage device 23. Compass 10 entered in step 502
Of the azimuth signal and the read calibration data are compared.
That is, the azimuth signal is calibrated by directly reading the azimuth difference calibration data from the azimuth signal of the azimuth meter 10 or by obtaining the azimuth difference correction azimuth by the interpolation method. In step 503,
The calibrated error correction azimuth is given to the measuring means 24.

The measuring means 24 measures the posture of the installation 3 including the azimuth. The measurement of the posture can be performed at any time after the self-calibration data is stored.

Preferably, the inclination reference line I is placed on the installation 3.
Inclinometer 11 that detects the inclination at x and Iy and outputs the inclination signal
To fix. The inclinometer in the illustrated example is of a type that gives a tilt angle θx in one direction as a change in the resistance value Rx. However, the inclinometer 11 of the present invention is not limited to the inclinometer of the above-mentioned type, and it is sufficient as long as it detects the inclinations on the inclination reference lines Ix and Iy and outputs an inclination signal. The slope reference line is 2
It is not limited to books. The tilt signal is input to the measuring means 24 together with the calibrated azimuth signal, and the installation object 3
The posture including the azimuth and the inclination of is measured.

Thus, the object of the present invention, "to provide a method and apparatus for measuring the posture of an installation object to be installed in water" is achieved.

[0022]

Embodiments of the present invention will be described with reference to FIGS. A water resistant container 31 containing an azimuth meter 10 that detects the azimuth of the arbitrary reference line D1 and outputs the azimuth signal and an inclinometer 11 that detects the tilt on the tilt reference lines Ix and Iy and outputs the tilt signal is installed 3 It is fixed on the top and the cable 12 is routed from the container 31 to the work room 2 on the work boat 1. When the installation object 3 is hung by the hanging wire 39, the azimuth signal from the azimuth meter 10 and the tilt signal from the inclinometer 11 are sent to the working room 2. Work boat 1
Start the compass 20 such as the gyro compass that is installed and start posture measurement after a quiescent time.

Here, an arbitrary reference line D which is the orientation of the installation object 3
If the direction D2 of the work vessel 1 detected by the compass 20 and the compass 20, for example, the bow direction is not parallel, the relative angle θ between D1 and D2 is measured in advance near the island shade or the land shore. In surveying, the installation object 3 is fixed to the work boat 1 using an adjustment rope or the like so that the relative angle θ between the two directions does not deviate.

The self-calibration data includes the compass 20 and the compass signal of the compass 10 at the time when the work boat 1 is pushed and rotated from a predetermined bearing with the relative angle θ fixed.
It is recorded by associating with the azimuth value of. If the relative angle θ is not 0 °, the azimuth angle obtained by correcting the azimuth value of the compass 20 with the relative angle θ is recorded.

FIG. 3 shows an example of the self-calibration data and a graph display when the azimuth signal is output as a current value. In FIG. 3, the current value is recorded at 1 mA intervals, but it is naturally possible to record it more finely and continuously. The calibrating means 22 calibrates the input azimuth signal by selecting the azimuth signal on the self-calibration data closest to the input azimuth signal from the azimuth meter 10 and finding the corresponding azimuth angle by interpolation or the like. For example, in the case of the calibration data shown in Fig. 3, the calibration azimuth angle when the input azimuth signal is 11.2mA is 11mA and 12mA.
133.6 ° (= 127 + {160-127}) from the azimuth angle with
× 0.2) is required.

An attitude measurement monitor 25 is provided in the measuring means 24, and the efficiency of the installation work can be improved by continuously observing the attitude of the installation object 3. FIG. 6 shows an example of the posture measurement monitor 25. The posture of the installation object 3 can be arbitrarily measured during the installation or immediately after the installation, and can be output to the printer 26 provided in the measuring means 24. It is also possible to record the posture measurement data of the installation object 3 in the storage device 23.

FIG. 7 and FIG. 9 show an example of the attitude detection unit 30 for detachably fixing the azimuth meter 10 and / or the inclinometer 11 on the installation 3. The mounting base 34 is fixed on the installation 3 by spot welding or the like, and the mounting base 34 is provided with a seat 35 for the legs of the mounting 32. On the mount 32, the compass 10 and / or inclinometer
A water resistant container 31 containing 11 and an underwater separating device 33 are attached. The mounting base 32 is fixed to the mounting base 34 with a certain strength by an opening / closing hook 37 of the underwater separating device 33. Installation 3
After the measurement of the posture of the underwater separation device 33 is suspended in the water from the port side of the work boat 1, and a command signal 40 such as an ultrasonic signal is transmitted / received by the underwater separation device 33 (not shown). Then, the attitude detection unit 30 can be recovered by the hanging cable 39 by opening the open / close hook 37. The collected attitude detection unit 30 will be used at the next installation.

[0028]

As described above, the method and apparatus for measuring the attitude of an underwater installation according to the present invention uses the compass or inclinometer fixed on the body of the underwater installation, and thus has the following remarkable effects. (B) It is not necessary to survey from the landshore, and it is possible to instantaneously measure and record the direction and inclination while sailing while suspending the installation object, during installation while hanging the object underwater, and after landing on the seabed. . (B) Since the azimuth and inclination of the installed object can be recorded, the history of posture measurement of an arbitrary installed object can be reproduced and displayed. (C) Since the compensating and deviation of the compass can be calibrated at the same time,
Highly accurate measurement is possible.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of the present invention.

FIG. 3 is an explanatory diagram of self-calibration data.

FIG. 4 is a flow chart of creating a self-calibration data.

FIG. 5 is a azimuth signal self-calibration flowchart.

FIG. 6 is an example of an attitude display monitor.

FIG. 7 is an explanatory diagram of an underwater installation object and a posture detection unit.

FIG. 8 is an explanatory diagram of an installation example of an underwater installation object.

FIG. 9 is an explanatory diagram of a posture detection unit recovery method of the present invention.

[Explanation of symbols]

 1 Work Vessel 2 Operation Room 3 Installations 4 Mooring Hardware 10 Direction Meter 11 Inclinometer 12 Cable 20 Gyro Compass 22 Calibration Means 23 Calibration Data 24 Measuring Means 25 Attitude Measurement Monitor 25a Mooring Line Direction 26 Printer 30 Attitude Detection Unit 31 Water resistant container 32 Mounting base 33 Underwater disconnecting device 34 Mounting base 35 Catch 37 Opening / closing hook 38 Underwater disconnecting device control section 39 Suspension wire 40 Command signal

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Satoru Miura 2-19-1 Tobita-cho, Chofu-shi, Tokyo Kashima Construction Co., Ltd. Technical Research Institute (72) Shunjiro Takase 1 Kamei-cho, Takamatsu-shi, Kagawa 3 Kashima Construction Stock company Shikoku branch (72) Inventor Hisao Ito 1 Kamei-cho, Takamatsu city, Kagawa prefecture 3 Kashima construction company Shikoku branch

Claims (8)

[Claims] 1. An azimuth meter for detecting at least an azimuth and outputting an azimuth signal is fixed on an installation object to be installed in water by a hanging operation, and the installation object is hung in a predetermined azimuth direction from the predetermined azimuth direction. The azimuth signal is calibrated by changing the azimuth of the installation by a measurable predetermined angle and comparing the change of the azimuth and the accompanying change of the azimuth signal, and the azimuth of the installation is calibrated by the azimuth signal after calibration. A method for measuring the posture of an underwater installation that measures the posture that includes the. 2. The attitude measuring method according to claim 1, wherein the installation object is suspended from a ship in a predetermined orientation, and the orientation of the ship is measured with a compass mounted on the ship while the relative angle of the installation object to the ship is fixed. A method for measuring the attitude of an underwater installation, which comprises calibrating the azimuth signal by changing the azimuth of the ship and comparing the azimuth signal with the azimuth change of the ship. 3. The posture measuring method according to claim 1 or 2, wherein an inclinometer for detecting inclination and outputting an inclination signal is fixed on the installed object, and the tilt signal and the inclination signal after the calibration are used. An attitude measuring method for an underwater installation object, which comprises measuring an attitude including an azimuth and an inclination of the installation object. 4. The attitude measuring method according to claim 1, 2, or 3, wherein the azimuth meter and the inclinometer are detachably fixed on the installed object. 5. An azimuth meter for detecting an azimuth fixed on an installation object to be installed in the water by a suspending operation and outputting an azimuth signal, and suspending the installation object in a predetermined azimuth and measurable from the predetermined azimuth. An oscillating means for changing the azimuth of the installation by an angle, a calibrating means for calibrating the azimuth signal by comparing the change of the azimuth and a change of the azimuth signal with it, and measuring the azimuth signal after the calibration. A posture measuring device for an underwater installation, which comprises a measuring means for 6. An azimuth meter for detecting an azimuth fixed on an installation to be installed underwater by a suspending operation from the ship and outputting an azimuth signal, a compass mounted on the ship for measuring the azimuth of the ship, and a predetermined one. Rocking means for changing the bearing of the ship while suspending the installed object in the bearing and fixing the relative angle of the installed object with respect to the ship, the bearing signal and the bearing change of the ship measured by the compass. An attitude measuring device for an underwater installation, comprising: a calibrating unit that calibrates the azimuth signal by comparing and a measuring unit that measures the calibrated azimuth signal. 7. The attitude measuring device according to claim 5, further comprising an inclinometer fixed on the installation object for detecting an inclination and outputting an inclination signal, the azimuth signal and the inclination signal after the calibration. A posture measuring device for an underwater installation, which measures the above by the measuring means. 8. The attitude measuring apparatus according to claim 5, 6 or 7, wherein the attitude measuring apparatus comprises means for detachably fixing the azimuth meter and the inclinometer on the installation object.