JPH07229741A - Device for measuring degree of leveling rubble - Google Patents

Abstract

PURPOSE:To provide a device for measuring the degree of leveling rubbles where a mechanical detecting part is mounted on an underwater working machine, the degree of leveling rubbles is measured in parallel with the rubble leveling operation, and the accuracy of measurement and the measuring efficiency are improved. CONSTITUTION:In the system to measure the degree of leveling rubbles consisting of a support boat 5 which is afloat on the water surface and a crawler type underwater working machine 2 which is moved along the bottom by the remote control through a cable 6 from the support boat 5, a leveling degree measuring and detecting part 1 which is attached to the underwater working machine 2 and consists of a depth meter 8, a displacement sensor 11 for the ruggedness at the bottom and a constant pressure contact mechanism 9 is provided. In addition, a signal processing device provided on the support boat 5 to correct the position, the direction and the positional information of the underwater working machine obtained by a gyroscope 3 of the underwater working machine 2, and the input signal from the leveling degree detecting part 1 with the position, the direction and the positional information of the underwater working machine 2 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a leveling device for leveling up rubble stones.

[0002]

2. Description of the Related Art The following two methods are conventionally known to measure the level of rubble rubble used in coastal development works. (1) As shown in FIG. 4, a diver stands up at a measuring point to read the measuring rod 019 lowered from the support ship 05,
(2) As shown in FIG. 5, an acoustic sounding device 020 that measures the distance to the seabed by the support ship 05 by a cross fan beam scan 021 using sound waves and measures the leveling level. However, no sounding technology has yet been known that can be easily and accurately mounted by mounting a detection unit on an underwater working machine that performs rubble leveling work.

[0003]

That is, in the former case,
Since the sounding is carried out by a support ship and a diver, the sounding work is greatly influenced by the sea condition and the number of working days per year is restricted.
Sounding takes time and is inefficient. In the latter case of acoustic sounding using a cross-fan beam, if the distance between the sonar transmitter and receiver and the seabed increases, the spread of the cross-fan beam on the seafloor will increase, and the sounding accuracy will decrease, resulting in Since the sound is reflected by the reflection of sound from the 1-dot area of the cross fan beam for scanning, the gap between rubbles cannot be evaluated for small rubbles.

The present invention has been proposed in view of the above circumstances, and a mechanical detection unit is attached to an underwater working machine, and the rubble level is measured in parallel with the rubble leveling work, and the measurement accuracy is measured. It is also an object of the present invention to provide a rubble leveling degree measuring device that enhances the measurement efficiency.

[0005]

To this end, the present invention provides a rubble composed of a support vessel that floats on the surface of the water and a crawler-type underwater working machine that moves along the water bottom by remote control via a cable by the support vessel. In the degree-of-measurement system, it is attached to the above-mentioned underwater working machine, and is obtained by a leveling-measuring / detecting unit consisting of a depth gauge, a bottom surface unevenness displacement sensor, a constant pressure contact mechanism, and a plurality of displacement sensors, and a gyro of the above-mentioned underwater working machine. And a signal processing device which is attached to the support ship and corrects an input signal from the leveling degree detection unit, which is attached to the support ship, by the posture, direction and position information of the underwater working machine. It is characterized by having.

[0006]

According to this structure, the following actions are performed. (1) Since the level of rubble stones is used to evaluate the vertical unevenness of the water bottom, by mounting a detection unit consisting of a displacement sensor and a depth gauge on an underwater working machine and measuring it,
The level of break-in can be measured simply and directly. (2) Further, it is necessary to evaluate the size of the rubble stones and the gap between the rubble stones. The impact on the installed structure can also be evaluated.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall side view of a measuring device, FIG. 2 is an enlarged side view showing the detector of FIG. 1 and its front view, and FIG. It is a whole signal diagram of the leveling degree measuring device in.

First, FIGS. 1 and 2 show a construction in which the detection unit 1 is mounted on an underwater working machine 2. The outputs of a plurality of uneven displacement sensors 11 of the detection unit 1, the output of the depth meter 8 and the output of the gyro 3 are shown. Is sent to the onboard signal processing unit of the support ship 5 by the electric transmission device 4 via the electric transmission cable 6, and each output of the displacement sensor 11 is corrected and calculated by the depth and attitude information of the underwater working machine to obtain the degree of rubble removal. .

The detection unit 1 is lifted by the detection unit elevating / lowering actuator 10 to the upper part of the underwater working machine except when the rubble level is measured, so that other work is not hindered. At the time of measurement, the detector is set at the position shown in FIG. A plurality of independently upward and downward displacement detection pickups 12 (endless crawler belt shape, cylindrical shape or spherical shape) are pressed by a constant pressure contact actuator 9 on the rubble with a constant pressure. that time,
The amount of displacement is an uneven displacement sensor 11 using a reed switch.
Is converted into an electric signal. Further, the detection limiter 13 is protected by the protection limiter 13 so as not to be damaged by overstroke. The depth of the detector is detected by the depth meter 8.

Next, referring to FIG. 3, the signal system will be described. The displacement signal converted into the electric signal by the uneven displacement sensor 11 is amplified by the amplifier 15, and then processed through the transmission device 4 and the transmission cable 6 to process the signal of the support vessel. Sent to section 18.
Similarly, the attitude, azimuth, and position of the underwater work machine are calculated by the signal processing unit 18 using the signal from the gyro 3. The position of each detection pickup is obtained from the position, orientation, and attitude of the underwater work machine. In addition, the depth of each detection pickup depends on the displacement signal from each detection sensor, the attitude of the underwater work machine,
It is calculated from the depth of the detector. As a result of the above processing, the position and depth of each detection sensor can be obtained with high accuracy, and thus the level of rubble stones can be measured with high accuracy.

[0011]

According to such an apparatus, the following effects can be obtained. (1) Since the displacement sensor can be directly pressed against the rubble with a constant pressure, it is possible to continuously measure the rubble level with higher accuracy than the conventional means. (2) By mounting it on an underwater work machine, it is possible to measure the level of rubble stones in parallel with the rubble stone leveling work, and work efficiency can be greatly improved.

[0012] In short, according to the present invention, in a rubble leveling measurement system comprising a support vessel that floats on the surface of the water and a crawler type underwater working machine that moves along the water bottom by remote control via a cable by the support vessel. , Attached to the above-mentioned underwater working machine, depth gauge, uneven displacement sensor on the bottom of the water,
Constant pressure contact mechanism, a leveling degree measurement and detection unit consisting of a plurality of displacement sensors, the attitude, direction and position information of the underwater working machine obtained by the gyro of the underwater working machine, and the above-mentioned leveling degree attached to the support vessel. By equipping the signal processing device that corrects the input signal from the detection unit with the above-mentioned posture, orientation, and position information of the underwater work machine, the mechanical detection unit is attached to the underwater work machine to carry out rubble crushing work. INDUSTRIAL APPLICABILITY The present invention is extremely useful industrially, since a rubble leveling degree measuring device that measures the level of rubble level in parallel and improves the measurement accuracy and efficiency is obtained.

[Brief description of drawings]

FIG. 1 is an overall side view showing a measuring device according to an embodiment of the present invention.

2 is an enlarged view and a front view of the detector of FIG. 1. FIG.

3 is an overall signal system diagram of the measuring device in FIG.

FIG. 4 is a side view showing a conventional procedure for measuring the level of rubble stones.

FIG. 5 is a side view showing another conventional rubble leveling means different from FIG.

[Explanation of symbols]

 1 Detection Unit 2 Underwater Working Machine 3 Gyro 4 Transmission Device 5 Support Ship 6 Transmission Cable 7 Detection Portion Cover 8 Depth Meter 9 Actuator for Constant Pressure Contact 10 Actuator for Elevating Detection Unit 11 Displacement Sensor (Reed Switch Type) 12 Displacement Detection Pickup 13 Limiter for protection 14 Magnet 15 Amplifier 16 Operation part 17 Recording part 18 Signal processing part

Claims (1)

[Claims] 1. A rubble leveling measurement system comprising a support ship floating on the surface of water and a crawler-type underwater working machine that is remotely operated along the water bottom by the support ship via a cable, wherein the underwater working machine Depth gauge, unevenness sensor on the bottom of the water, constant pressure contact mechanism, a leveling detection unit consisting of multiple displacement sensors, and the attitude, orientation and direction of the underwater work machine obtained by the gyro of the underwater work machine. A rubble stone characterized by including position information and a signal processing device which is attached on the support ship and corrects an input signal from the leveling degree detection unit by the attitude, direction and position information of the underwater working machine. Measurement device.