JPH0754448B2 - Positioning method of the ship - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial field of application" The present invention is directed to, for example, when a girder is divided into a marine bridge being constructed for transportation and unloading, a carrier, which is a transportation means, is located at a fixed position on the sea. The present invention relates to a positioning method of a barge for fixing to a ship.

"Prior Art" As a means for measuring the relative positional relationship between a barge floating on water and a point fixed on land or on the water,
There is a system as shown in the figure. That is, in the figure, reference numeral 1 is a pontoon floating on the water, and on this pedestal 1, three transits 2, ... Which emit laser light toward the land 2 are installed. Further, on the land 2, reflection prisms 3, ... Corresponding to the transits 2 ,.
The base is installed. The laser light reflected by the reflecting prisms 3, ... Is again received by the transit 2 ,. The relative positional relationship between the transit 2 and the corresponding reflecting prism 3 is measured from the angle and arrival time of the laser light. . The arithmetic means (computer) 4 calculates the relative positional relationship between the pier 1 and the land 2 based on the measured data of the transits 2, ....

[Problems to be Solved by the Invention] However, the above-described conventional system requires three expensive transits 2, ... And three reflecting prisms 3, respectively, which makes the overall system very expensive. Also, the transit 2, ... And the reflecting prism 3 ,.
If the distance between and is long, the orientation of each of the transits 2, ... Is hardly changed. Therefore, unless the interval between the reflecting prisms 3 ,. Further, the transits 2, ... May react to light different from the reflected light from the reflecting prisms 3 ,. In addition, at the start of the measurement, a human-powered transit 2,
Since it is necessary to direct the ... towards the reflecting prisms 3, ..., regardless of the continuous work in the same area such as a pile driving ship, it is necessary to move the girder block to the construction site of the offshore bridge between certain areas. It is not suitable as a positioning system for reciprocating.

The present invention has been made in view of the above circumstances, the measuring device can be configured at low cost, and there are few malfunctions, and initial setting at the start of measurement by human power is unnecessary, and the measurement accuracy is good regardless of the surrounding environment. The purpose is to provide a positioning method for the pier.

"Means for Solving the Problem" Therefore, in order to convey a package to a structure on the water, the present invention loads the package on the upper portion and unloads the package from a pier that travels on the water. In the positioning method of the pontoon, in addition to emitting a plurality of light rays from the structure toward the water surface, by receiving each light ray by a light receiver provided in the pontoon corresponding to these light rays, The above problem is solved by determining the planar positional relationship between the structure and the pontoon, and controlling the position of the pedestal so that the planar positional relationship is substantially constant to perform the positioning.

[Examples] Examples of the present invention will be described below with reference to the drawings.

1 to 6 are views showing an embodiment in which the method of positioning a barge of the present invention is applied to transportation of a girder block to a marine bridge.

First, a method of transporting a girder block to a marine bridge to which this embodiment is applied will be described with reference to FIGS. 4 to 6. In these drawings, reference numeral 10 is a pier standing upright on the sea surface. , Between these piers 10, ... (only one is shown in the figure), connect the tops of the main cables 11
Has been erected. Further, a bridge girder 12 is formed in a cantilever shape from the central portion of these bridge piers 10 toward the adjacent bridge piers 10. This bridge girder 12 is composed of a plurality of girder blocks 13, 13,
... are connected in the length direction.
From the main cable 11, hanger 14 for fixing the bridge girder 12,
There are a lot of 14 ... Reference numerals 15 and 15 are wire winding machines provided on the main cable 11 in a pair, and are configured to be movable along the main cable 11 by a wire and a winch (both not shown).

The girder block 13 is transported from a yard along the coast or the like by using a barge 17. When the pontoon 17 reaches near the tip of the bridge girder 12 and the pedestal 17 is positioned and fixed at this position, the wire hoisting machines 15 and 15 cause the girder block 13 to move.
The wires 18 and 18 are moved up and the wires 18 and 18 are hung from the wire winders 15 and 15 (see FIG. 4).

Next, after the ends of these wires 18, 18 are connected to both ends of the girder block 13, respectively, the wires 18, 18 are hoisted by the hoisting machines 15, 15, thereby hoisting the girder block 13 (fifth). See figure).

Further, by moving the wire hoisting machines 15, 15 along the main cable 11 at the position where the suspended girder block 13 is substantially parallel to the bridge girder 12, the girder block 13 is moved.
Pull them to the 12 side and connect them (see FIG. 6).

By repeating the above process, the bridge girders 12 and the adjacent piers 10
You can extend it to build a sea bridge.

The method of positioning a pontoon, which is an embodiment of the present invention, is used when the pontoon is fixed as shown in FIG.

This will be described with reference to FIGS. 1 and 2. At the tip of the bridge girder 12, laser oscillators are provided at both ends thereof.
A pair of 21, 21 are attached. This laser oscillator
The orientation of 21 is set so that the laser light emitted from it will be vertical toward the sea surface. Further, at one end of the girder block 13 on the pedestal 17, a pair of laser receivers 22 and 22 are provided at both ends thereof corresponding to the laser oscillators 21 and 21, respectively. The laser receiver 22 is
For example, the light receiving element such as a photodiode is arranged in a matrix, and the light receiving position of the laser light can be measured two-dimensionally. These laser receivers 22 and 22 are connected to a computing means (computer) (not shown), and the computing means calculates a planar positional relationship between the bridge girder 12 and the girder block 13, and displays means (not shown) such as a CRT. Is displayed in.

When the barge 17 approaches the tip of the bridge girder 12, it emits laser light in the vertical direction from the tip of the bridge girder 12 toward the sea surface using the laser oscillators 21 and 21, and comes close to this laser light. Lower two plumb bobs (not shown). Barge 17
Is a laser oscillator 2 by the laser receiving plates 22 and 22.
Until the laser light from 1 and 21 is received, coarse positioning is performed with the aim of swinging down. And laser receiver 2
When the laser light is received by 2 and 22, the platform 17 is precisely positioned by this laser light.

That is, since the positional relationship between the bridge girder 12 and the laser oscillators 21, 21 can be uniquely determined, and the laser light from the laser oscillators 21, 21 travels in the vertical direction, the laser attached to the girder block 13 If the laser light can be received at the substantially central portion of the light receiving plates 22, 22, the laser light receiving plate 22,
22 is located directly below the laser oscillators 21, 21. Therefore, if the position of the laser light on the laser receiver 22 at that time is measured, the planar positional relationship between the bridge girder 12 and the girder block 13 can be measured, and based on this, the positioning of the pier 17 is performed. It can be performed. This arithmetic processing is performed by the arithmetic means.

Specifically, as shown in FIG. 3, the center points of the laser receivers 22 and 22 located on the left and right of the pier 17 are set to A and B, respectively, and the position of the laser light on the receiver 22 is set to A. If it is expressed as', B ', the deviation amount of A', B'with respect to A, B (from FIG. 3) is calculated by the calculation means and displayed on the display means. Next, while observing the display means, if the operator of the barge 17 advances the barge 17 so that the point A'is superimposed on the point A, the position control of the barge 17 can be performed. Similarly, looking at the display means, the straight line A'B '
By rotating the barge 17 so as to be parallel to AB, the direction of the barge 17 can be controlled. In this way, the barge 17
Can be stopped at a predetermined position.

The berth 17 can be positioned by the method described above. Here, the pontoon positioning method of this embodiment emits laser light in the vertical direction toward the sea surface,
It is not necessary to manually direct the laser beam in a predetermined direction at the start of measurement as in the conventional case, and the measurement process is simplified, and compared with the conventional case where the position is detected from distance and angle data. The planar positional relationship between the bridge girder 12 and the girder block 13 can be directly measured, and the measurement accuracy becomes high without malfunction. Therefore, this method is suitable as a positioning method for a pier that reciprocates between certain areas as in this embodiment. Moreover, since the positional relationship is directly measured without detecting the position from the distance and angle data, it is not necessary to use three sets of measuring devices as in the conventional case, and
Since sufficient measurement can be performed with a set, the entire measuring device can be constructed at low cost.

The details of the method for positioning a pontoon of the present invention are not limited to those in the above embodiment, and various modifications are possible.

[Advantages of the Invention] As described in detail above, according to the present invention, in order to carry a package to a structure on the water, the package is loaded on an upper portion and the transportation is carried out from a barge that travels on the water. In the method of positioning a pontoon when unloading an object, a plurality of light rays are emitted from the structure toward the water surface, and each light ray is received by a light receiver provided on the pontoon corresponding to these light rays. By receiving the light, the planar positional relationship between the structure and the pontoon was obtained, and the positioning was performed by controlling the position of the pedestal so that this planar positional relationship was substantially constant. There is no need to manually direct the laser beam in a predetermined direction at the start, which simplifies the measurement process and, compared to the conventional method of detecting the position from distance and angle data, directly Plane between the ship and the package The relative position can be measured, and the measurement accuracy becomes high because of malfunction. Moreover, since the position is not detected from the distance and angle data, and the positional relationship is directly measured,
Since three sets of measuring equipment are not required as in the prior art and sufficient measurement can be made with two sets, the entire measuring device can be constructed at low cost.

[Brief description of drawings]

1 to 3 are views for explaining a method of positioning a pontoon, which is an embodiment of the present invention. 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 a positioning control method,
4 to 6 are process diagrams for explaining a method of transporting a girder block to which the same embodiment is applied, and FIG. 7 is a schematic perspective view showing a conventional positioning system for a barge. 12 …… Bridge girder (structure), 13 …… Girder block (transportation),
17 …… Boat, 21 …… Laser oscillator, 22 …… Laser receiver.

Claims (1)

[Claims] 1. A method for transporting a package to a structure on water,
A method of positioning a carrier for unloading the carrier from a carrier traveling on water by loading this carrier on the upper side, and emitting a plurality of light rays from the structure toward the water surface, By receiving the respective light rays by the light receiver provided on the pontoon corresponding to these light rays, the planar positional relationship between the structure and the pontoon is obtained, and the planar positional relationship is made substantially constant. A method of positioning a pontoon that controls the position of the pontoon.