JPH0971943A - Position and posture detection method and insertion method of caisson underwater machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the position and posture of an underwater machine with accuracy by comparing the pull-out amount of a wire and a pull-out angle with a preliminarily stored initial value of a central position of a caisson and a measured value at that time. SOLUTION: An underwater excavating machine 3 is suspendingly lowered from a hole position at the position of a small hole 4 at which the position of a winch 7 is bored in a caisson slab 2. The coordinates of the small hole 4 preliminarily input with a computer into which the caisson slab 2 is to be inserted, are compared with those of the bottom of the underwater machine. When they are identical to each other, the underwater machine is lowered as it is so that the machine may be inserted into the small hole 4 bored in the caisson slab. In the case when the coordinates fail to agree with each other, the signals are fed back to an insertion crane 6 and a winch 7, which suspend the underwater machine so that the coordinates may agree with each other, thereby controlling the positions and postures and execute correction work so as to match. When the machine is inserted into the desired small hole 4 as described above, there will start excavation work under the caisson slab 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position / posture detecting method and an inserting method of an underwater machine for a caisson in a caisson method used when constructing a foundation for a bridge or a jetty on the seabed or the waterbed, and particularly for a caisson Position and attitude detection of the underwater machine for caisson used to lower the caisson underwater excavation equipment that excavates the ground under the plate into the caisson and insert it accurately into the appropriate small holes drilled in the caisson plate. Method and insertion method.

[0002]

2. Description of the Related Art Conventionally, the caisson method has been used to construct the foundation of bridges and jetties on the seabed or waterbed. This method is to fill the caisson lower plate with compressed air and use that pressure to blow seawater or seawater. While preventing the infiltration of groundwater and suppressing the collapse of the hole wall, we put workers under the caisson, excavate and slide out the caisson lower plate while borrowing the power of the machine mainly by human power, and gradually the caisson by its own weight. It is a construction method in which it is sunk while being dropped into the ground. In this pneumatic caisson method, the caisson lower plate has recently been filled with water in order to eliminate the work under pressure of workers under the caisson lower plate, thereby preventing collapse of the hole wall,
A method of excavating the ground under the caisson bottom plate with an underwater excavator is considered.

In order to excavate the ground under the caisson as described above with an underwater excavator, first, the caisson is pushed into the ground by its own weight, and if the resistance of the ground increases and it becomes impossible to push it, the bottom ground of the caisson is underwater excavated. Excavate with a machine, reduce resistance, and further descend caisson while gradually descending into the ground. At this time, in order to place the underwater excavator under the caisson lower plate, a plurality of holes are provided in advance in the caisson lower plate, and the underwater excavator is lowered through the one hole of the caisson lower plate for excavation. There are possible ways to do this.

The method of lowering the underwater excavator to the lower side of the caisson lower plate through the hole formed in the caisson lower plate to excavate the ground is the method of caisson construction even if the caisson naturally descends during excavation. This is an excellent construction method in which the excavator can be safely retracted, and the caisson itself receives the turning torque during excavation to enable efficient excavation.

[0005]

However, the water in the caisson is in a muddy state, and thus an underwater machine such as an underwater excavator is suspended from above in a caisson filled with muddy water. It is very difficult to lower it and insert it visually into the specific small hole drilled in the caisson lower plate, and therefore this hanging work takes a long time,
There was a problem that this was a bottleneck in the whole caisson method. Therefore, there has been a demand for establishment of a position / orientation detecting method and an inserting method of the underwater machine which can easily insert the underwater machine in the caisson method into a specific small hole formed in the caisson lower plate.

The present invention has been made in view of the above circumstances, and an underwater machine such as an underwater excavator is suspended from above in a caisson filled with muddy water, and a caisson lower plate is pierced. Another object of the present invention is to provide a position / orientation detection method and insertion method for a caisson underwater machine that can be accurately inserted into a specific small hole without visual inspection.

[0007]

In order to achieve the above object, the present invention hangs an underwater machine from above ground or above water through a caisson, and selects from among a plurality of small holes formed in the caisson lower plate. In a method of selecting an appropriate one and inserting the underwater machine with a slight gap, a plurality of wires are V-shaped from the upper part of the underwater machine to detect the position and attitude of the underwater machine in water. And pulling out the plurality of wires on a winding detector on the ground, measuring the wire pull-out amount and pull-out angle, and calculating the position and orientation of the signal of the measured value from the wire pull-out amount and pull-out angle. Send the program to the input computer,
The computer is characterized in that an initial value of a center position in the caisson stored in advance in the computer is compared with the measured value to detect the position and orientation of the underwater machine in water.

Further, an underwater machine is hung from the ground or above the water through the caisson, and an appropriate one is selected from a plurality of small holes formed in the caisson lower plate to allow the underwater machine to have a small gap. In order to detect the position and posture of the underwater machine in water, a plurality of wires are pulled out in a V shape from the upper part of the underwater machine, and the plurality of wires are used as a take-up detector on the ground. Each of them is wound up, the wire withdrawal amount and the withdrawal angle are measured, and the signal of the measured value is determined from the wire withdrawal amount and the withdrawal angle.
Send the program to calculate the attitude to the computer, and calculate the position and attitude of the underwater machine in water by comparing and determining the initial value of the center position in the caisson and the measured value stored in advance in the computer, It is characterized in that a signal of the calculated value is sent to a display means to display the position and orientation of the underwater machine in water.

Further, in order to detect the position and posture of the underwater machine in water, a plurality of wires are drawn out in a V shape from the upper part of the underwater machine, and the plurality of wires are respectively wound on a winding detector on the ground. , The wire pullout amount and pullout angle are measured, and a signal of the measured value is sent to a computer which inputs a program for calculating the position and orientation from the wire pullout amount and pullout angle, and the caisson central position stored in advance in the computer. The position of the underwater machine in water by comparing and determining the initial value of
The posture is calculated, and the position of the selected small hole previously input to the computer is compared and determined with the calculated value, and the signal is fed back to the insertion crane that suspends the submersible machine, and the submersible machine is operated. The position and posture of the underwater machine are controlled, and the underwater machine is inserted into the selected small hole.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described. An underwater machine is suspended from the ground or above the water onto a caisson by a rope, and the position and attitude in water are placed above the underwater machine. Four wires from the four sides of the upper end of the caisson are attached for detection, and these wires are respectively wound by the winding detectors on the ground, and the amount of wire withdrawal and the angle of withdrawal can be measured. There is. Then, when an appropriate one is selected from a plurality of small holes formed in the caisson lower plate and the underwater machine is inserted with a slight gap, the detection system is first activated to start the underwater machine. Is set to the home position of the upper center position in the caisson, and the initial value (coordinates) is input to the computer. At that time, the error of the detector must be reset. Next, the coordinates of a predetermined small hole formed in the caisson lower plate into which the underwater machine is to be inserted are input in advance to the computer.

Next, the underwater machine is lowered according to the coordinates of the small hole to be inserted in the caisson lower plate by the inserting crane suspending the underwater machine, and once the caisson lower plate is approached, the descending machine is lowered. It was stopped, the detector data at that time was input to the computer, and the program for calculating the position and orientation of the underwater machine from the three measured values of the wire withdrawal amount and the withdrawal angle (vertical angle and horizontal angle) was input in advance. The computer confirms the position and orientation of the underwater machine by comparing with the initial value. That is, the computer calculates the coordinates of the upper surface of the underwater machine from the comparison between the initial value (coordinates) and the above measured values, and further calculates the inclination of the upper surface of the underwater machine. To calculate.

Next, the coordinates of the small hole to be inserted, which was previously punched in the caisson lower plate, inputted by the computer and the coordinates of the lower surface (tip side) of the above-mentioned underwater machine are compared, and both coordinates are in agreement. Then, the underwater machine is lowered as it is and inserted into the small hole to be inserted in the caisson lower plate. At that time, if both coordinates do not match, a signal is fed back to the inserting crane that suspends the underwater machine so that they match, the position and attitude of the underwater machine are controlled, and correction work is performed so that they match. . In this way, when the underwater machine is inserted into the predetermined small hole, the position / orientation detection system of the underwater machine ends. In the above-described position / orientation detection system for the underwater machine, all the calculated values calculated by the computer are sent as signals to the display means, and the position / orientation of the underwater machine in water can be displayed constantly. .

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a position / orientation detecting method and an inserting method of a caisson underwater machine according to the present invention will be described with reference to the drawings. 1 is a side view of the present embodiment, and FIG. 2 is a plan view of the present embodiment. In the drawing, a caisson 1 used in the present embodiment has a cylindrical shape or a rectangular tube shape, and a caisson 1 has a caisson lower portion at a lower portion thereof. A plate 2 is provided, and the caisson lower plate 2 is provided with a plurality of small holes 4 into which an underwater excavator 3 which is an underwater machine is inserted. Further, the outer wall of the caisson 1 is formed with a tip portion 5 in which a tip below the caisson lower plate 2 is inclined from the inner wall toward the outer wall.

On the other hand, a winch 7 is arranged on the movable insertion crane 6 installed above the caisson 1 on the ground or on the water so as to be movable in the left-right direction along the insertion crane 6. Further, the position of the underwater excavator 3 shown in FIGS. 1 and 2 is the home position, and from this position, the position of the winch 7 is shown at the position of the small hole 4 to be inserted in the caisson lower plate 2. Not adjusted by the computer, the underwater excavator 3 is hung by the rope 8 of the winch 7. Underwater excavator 3
Four wires 9 from the four sides of the upper end of the caisson 1 are attached to the upper part of the in order to detect the position and attitude in water, and these wires 9 are wound by the winding detector 10 on the ground. The wire pull-out amount and pull-out angle can be measured.

In the computer, the wire pull-out amounts (L1, L2, L3, L4) of the four wires and the pull-out vertical angles (θv1, θv2, θv) are previously set.
3 and θv4), the horizontal angle (θh1, θh)
2, θh3, θh4), a program for calculating the coordinates of the position at that time is input using the following calculation formula. For example, the coordinates in the case of the wire 9-2 shown in FIGS. 7 and 8 are: dx = L2 × sin (θv2) ... dy = L2 × sin (θh2) ... dz = L2 × cos (θv2). The coordinates of the point can be calculated by the computer using the three formulas.

The control of the underwater excavator 3 during the descent will be described below with reference to FIG.
It will be described according to the flowchart shown in FIG. When the underwater excavator 3 is at the home position, the initial value PO
(X, Y, Z) is input to the computer, and the coordinates H (Xh, Yh, Zh) of a predetermined small hole 4 formed in the caisson lower plate into which the underwater excavator 3 is to be inserted are stored in the computer in advance. Enter it. In this way, the underwater excavator 3 is hoisted down, and once the caisson lower plate 2 is approached, the descent is temporarily stopped, and the detector data at that time, that is, the respective wire pull-out amounts of four wires (L1, L2, L
3, L4) and also the vertical angle (θv1,
θv2, θv3, θv4) and pull-out horizontal angle (θh
1, θh2, θh3, θh4) are input to the computer, and the position and orientation of the underwater machine at that time are calculated from the above-mentioned wire pull-out amount and pull-out angle by a program input in advance.

That is, as shown in FIGS. 3 and 4, even when the underwater excavator 3 is tilted at an intermediate position, the computer compares the initial value with the initial coordinates PO '(X, Y). , Z), and further, the inclination of the upper surface of each point P1 ′, P2 ′, P3 ′, P4 ′ on the upper surface of the underwater machine is calculated. X, Y, Z) can be calculated.

Next, the coordinates PO (X, X, of the small hole 4 to be inserted in the caisson lower plate 2 previously input by the computer.
Y, Z) and coordinates PO ″ of the underside of the above-mentioned underwater machine (tip side)
(X, Y, Z) are compared, and if the two coordinates match, the submersible machine is lowered as it is and inserted into the small hole 4 to be inserted in the caisson lower plate. At that time, if the two coordinates do not match, a signal is fed back to the inserting crane 6 and the winch 7 on which the underwater machine is suspended so as to match them, and the position and attitude of the underwater machine are controlled so that they match. Make corrections. In this way, when the underwater machine 3 is inserted into the target small hole 4, the position and attitude detection system of the underwater machine is terminated, and then the caisson lower plate 2
The excavation work below starts.

According to the present embodiment, the initial value of the central position in the caisson prestored in the computer and the measured value at that time are compared and determined to detect the accurate position and attitude of the underwater excavator 3 in water. can do. Further, the underwater excavator 3 can be suspended from above in a caisson filled with muddy water and can be accurately inserted into a specific small hole 4 drilled in the caisson lower plate 2 without visual inspection. .

[0020]

According to the present invention described above, a plurality of wires are drawn out in a V shape from the upper part of an underwater machine, and the plurality of wires are taken up by a take-up detector on the ground, and the amount of each wire drawn out. And position from the withdrawal angle,
Since the signal of the wire pull-out amount and the pull-out angle measured by the winding detector is sent to the computer which inputs the program for calculating the posture, the computer stores the initial value of the center position in the caisson and the measured value at that time. An accurate position and orientation of the underwater machine in water can be detected by comparison and determination. At that time, since all the calculated values calculated by the computer are sent to the display means as signals, the insertion work can be performed while constantly displaying the position and orientation of the underwater machine in water, and the underwater machine can be operated in muddy water. Suspended from above in a caisson filled with
It can be accurately inserted into a specific small hole formed in the caisson lower plate without visual inspection.

Further, the position of the selected specific small hole input to the computer is compared with the calculated position and orientation of the underwater machine, and if both positions match, the underwater machine is lowered as it is. It can be easily inserted into a small hole in a caisson filled with muddy water without visual inspection. At that time, if both positions do not match, the signal is fed back to the inserting crane that suspends the underwater machine to control the position of the underwater machine, and the correction work to match both positions can be easily performed. .

[Brief description of drawings]

FIG. 1 is a side view of a home position of this embodiment.

FIG. 2 is a plan view of the present embodiment shown in FIG.

FIG. 3 is a side view of the present embodiment at a mid-descent position.

4 is a plan view of the present embodiment shown in FIG.

FIG. 5 is a side view of this embodiment in an inserted state.

6 is a plan view of the present embodiment shown in FIG.

FIG. 7 is an explanatory diagram of coordinate calculation of a wire 9-2.

FIG. 8 is an explanatory diagram of coordinate calculation of a wire 9-2.

FIG. 9 is an explanatory diagram of a flowchart of the present embodiment.

[Explanation of symbols]

 1 caisson 2 caisson lower plate 3 underwater excavator 4 small hole 5 tip 6 insertion crane 7 winch 8 rope 9 wire 10 take-up detector

Claims (3)

[Claims] 1. An underwater machine is suspended from the ground or above the water through a caisson, and an appropriate one is selected from a plurality of small holes formed in the caisson lower plate so that the underwater machine has a small gap. In order to detect the position and posture of the underwater machine in water, a plurality of wires are pulled out in a V shape from the upper part of the underwater machine, and the plurality of wires are used as a take-up detector on the ground. Each winding, measuring the wire pull-out amount and pull-out angle, send the signal of the measured value to the computer that has input a program for calculating the position and orientation from the wire pull-out amount and pull-out angle,
Position and attitude of the underwater machine for caisson, characterized by detecting the position and attitude of the underwater machine in water by comparing and judging the initial value of the center position in the caisson stored in advance in the computer and the measured value. Detection method. 2. An underwater machine is suspended from the ground or above the water through a caisson, and an appropriate one is selected from a plurality of small holes formed in the caisson lower plate so that the underwater machine has a small gap. In order to detect the position and posture of the underwater machine in water, a plurality of wires are pulled out in a V shape from the upper part of the underwater machine, and the plurality of wires are used as a take-up detector on the ground. Each winding, measuring the wire pull-out amount and pull-out angle, send the signal of the measured value to the computer that has input a program for calculating the position and orientation from the wire pull-out amount and pull-out angle,
In the computer, the initial value of the center position in the caisson stored in advance and the measured value are compared and determined to calculate the position and orientation of the underwater machine in water, and a signal of the calculated value is sent to the display means to send the signal. Position of the underwater machine for caisson, which is characterized by displaying the position and attitude of the underwater machine in water.
Attitude display method. 3. An underwater machine is suspended from the ground or above the water through a caisson, and an appropriate one is selected from a plurality of small holes formed in the caisson lower plate to allow the underwater machine to have a small gap. In order to detect the position and posture of the underwater machine in water, a plurality of wires are pulled out in a V shape from the upper part of the underwater machine, and the plurality of wires are used as a take-up detector on the ground. Each winding, measuring the wire pull-out amount and pull-out angle, send the signal of the measured value to the computer that has input a program for calculating the position and orientation from the wire pull-out amount and pull-out angle,
An initial value of the center position in the caisson stored in advance in the computer is compared and determined with the measured value to calculate the position and orientation of the underwater machine in water, and a selected small value input in advance in the computer is calculated. The position of the underwater machine is compared with the calculated value, and the signal is fed back to the insertion crane that suspends the underwater machine to control the position and attitude of the underwater machine. A method for inserting an underwater machine for caisson, which is characterized in that