JPH10115522A - Method for guiding and mounting box body, etc. - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve accuracy for measuring an attitude of a moving body such as a box body or the like without limitations to atmospheric.oceanographic phenomena and distances, and correctly automatically measure a position of the moving box body or the like in real time promptly. SOLUTION: Three GPS satellite receiver antennas 3a, 3b, 3c and three GPS receivers 4a, 4b, 4c are set at a moving body 1 such as a box body or the like. Measured position data of the moving body 1 such as the box body or the like by each GPS are collected at one computer 14 through radio transmission or via a communication cable on the basis of correction data obtained by a GPS satellite receiver antenna 3d and a GPS receiver 4d set at a known point on the ground. A position, an attitude (Yaw angle), an attitude (Roll) and an attitude (Pitch) of the moving body are calculated on the basis of coordinate data obtained by the three GPS receivers 4a, 4b, 4c. A state of the moving body is graphically displayed on a monitor 15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a large underwater structure such as a caisson, which serves as a pier foundation for a bridge in the construction industry, and a submerged tunnel or an intake of a hydroelectric power plant, which is used in construction of a submarine tunnel at a seaside. The present invention relates to an induction installation method for a box or the like.

[0002]

2. Description of the Related Art When installing and installing a caisson or a box, which is a large underwater structure, a tow boat is used to move the box or the like to the installation location. Measure the posture to see if it is abnormally tilted, measure the current position to determine the direction of movement of the box,
In addition, when lifting the box at the start of towing, it performs groundbreak detection to confirm whether it has floated, and when joining to the existing structure, it performs installation detection to confirm that it has been correctly installed at the predetermined position. Do.

Conventionally, as a method of measuring the attitude, conventionally, as shown in FIG. 5, for example, an upper part of a moving body 1 such as a box is projected above the water, and a plurality of distance sensors 2 are attached to this projected portion. distance L ₁ from 2 to the water surface, L ₂ was measured from the difference of the distances L _1, L ₂ values to calculate the relative orientation between the water surface, and calculates the slope of a box body. Then, when the inclination is abnormal, this is corrected.

On the other hand, the position is measured by a moving body 1 such as a box.
A prism and a level and a transit are installed on the ground and the like, and the prism is collimated from the transit and the like by human power measurement to measure the position. Then, the measurement result is transmitted to the towing ship by radio or the like, and the towing ship corrects the moving direction based on the measurement result and tow the box in an accurate direction.

[0005]

Since the method of measuring the posture employs a method of measuring the distance from a portion of a box or the like projecting above the water to the water surface, at least the top end of the box or the like is above the water surface. It must be protruded in the water, compared to the case where the entire case moves underwater,
Mobility is not good.

Further, a wave is generated as the case moves, and the water surface fluctuates due to the wave, so that the distance from the distance sensor to the water surface constantly fluctuates due to the wave, resulting in poor measurement accuracy.

Although it is conceivable to use a precision inclinometer and a gyro compass to measure the attitude, specialized knowledge is required for handling equipment and signal processing.

In addition, since the position coordinates are measured by human power measurement using a light wave position measuring device such as a level and transit, it is difficult to measure a moving body in real time, so that the position can be measured more accurately. In order to improve the installation accuracy, it takes time to reduce the construction speed. In the case of a light wave position measuring device, there is a light reaching limit distance, which is about 2 km. In addition, positioning is greatly affected by weather and sea conditions.

SUMMARY OF THE INVENTION An object of the present invention is to solve the disadvantages of the prior art, eliminate the limitations of weather, sea conditions and positioning distances, improve the measurement accuracy of posture measurement of a moving body such as a box, and improve the accuracy of a moving box. It is an object of the present invention to provide a method for inductively installing a box or the like that can automatically and accurately measure a position in real time in real time.

[0010]

According to the present invention, in order to achieve the above object, a GPS satellite receiving antenna and a GPS receiver are installed at one place on land and at three places of a moving body such as a box. Positioning data obtained by real-time positioning is collected in one computer by wireless transmission or a communication cable, and the position of the moving object is measured based on coordinate data obtained by three GPS receivers of the moving object such as a box. , Calculation of attitude of mobile object (Yaw angle), attitude of mobile object (Roll)
And calculating the posture (Pitch) of the moving body, and graphically displaying the state of the moving body on a monitor.

According to the present invention, since the GPS (Global Positioning System) is used, there is no restriction on weather and sea conditions and positioning distance. Also, by installing three GPS receivers and analyzing their X, Y, and Z coordinates using trigonometric functions, not only the position of the moving object but also the attitude of the moving object in three dimensions can be obtained.

Further, the state of the moving object can be grasped in real time by graphically displaying the state of the moving object on the monitor.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view showing a first embodiment of a method for installing and guiding a box or the like according to the present invention. In the drawing, reference numeral 1 denotes a moving body such as a caisson or a submerged box.

As shown in FIG. 3, three moving bodies 1 such as
GPS satellite receiving antennas 3a, 3b, 3c and three GPS receivers 4a, 4b, 4 respectively connected thereto.
Install c.

[0015] In the figure, A is a known point on land, and GPS is also used here.
A satellite receiving antenna 3d is installed, and a GPS receiver 4d is connected to the GPS satellite receiving antenna 3d.
The transmission controller 5 is connected to the receiver 4d.
A transmission dome 6 as a specific low-power radio station was connected to these, and these were also installed on the land known side A.

On the other hand, a receiving antenna 7 for receiving correction data of a known point from the transmitting dome 6 is installed on the side of the moving body 1 such as a box. The receiving device 8 is connected to each G
Connected to PS receivers 4a, 4b, 4c.

Each of the GPS receivers 4a, 4b and 4c is connected to a transmission control device 9, and an SS radio 10 having a transmission antenna 11 is connected to the transmission control device 9.

In B, on the side of the towboat or submerged workboat, an SS radio 13 having a reception antenna 12 corresponding to the transmission antenna 11 was installed, and a computer 14 was connected to the SS radio 13.

In this manner, the three GPS satellite receiving antennas 3a, 3b, 3c installed on the mobile body 1 such as a box receive positional information such as longitude, latitude, altitude and the like received from the GPS satellites, The receivers 4a, 4b, and 4c send the respective position coordinate inputs to the transmission control device 9 based on the received data. The receiving antenna 7 receives the correction data of the known point from the land known point A and receives the correction data as the correction data of the known point. Each GPS receiver 4
Inputs are made to a, 4b, and 4c for correction.

The transmission control device 9 receiving the position coordinates from each of the GPS receivers 4a, 4b, 4c,
The transmitting antenna 11 sends the position coordinate data to the receiving antenna 12 and the SS radio 13 on the side of the towing vessel or the submerged work vessel B, and the computer 14 receiving the data from the SS radio 13 moves the mobile station as shown in FIG. The three-dimensional posture of the moving body 1 is obtained by calculating the posture (Yaw angle) of the body 1, calculating the posture (Roll) of the moving body 1, and calculating the posture (Pitch) of the moving body 1.

Further, the computer 14 calculates the position coordinates of the moving body 1 and measures the position of the moving body 1.
GPS satellite receiving antennas 3a, 3b, 3c and GPS
The position coordinates of one of the GPS devices in combination with the receivers 4a, 4b, and 4c may be obtained.

The three-dimensional attitude and position of the moving body 1 are displayed on the monitor 15 in real time.

FIG. 2 shows a second embodiment of the present invention. A computer 14 is installed on a moving body 1 such as a box, and each of the GPS receivers 4a, 4b, and 4c is connected to the computer 14. The computer 14 is provided with an image transmission device 16 having a transmission antenna 17.

Also, on the towing vessel or submerged work vessel side B,
An image receiving device 18 having a receiving antenna 19 for receiving image data was installed corresponding to the transmitting antenna 17, and a monitor 15 was connected to the image receiving device 18.

In the case of the second embodiment, a computer
14 is the moving body 1 such as a box,
Based on the coordinate data obtained by the three GPS receivers 4a, 4b, and 4c above, position measurement of the moving body 1 such as a box, calculation of the attitude (Yaw angle) of the moving body 1 such as a box, The calculation of the posture (Roll) of the moving body 1 such as a box and the calculation of the posture (Pitch) of the moving body 1 such as a box are performed. B, where it is graphically displayed on the monitor 15.

Further, in both the first embodiment and the second embodiment, the case has been described where the positioning data is transmitted by radio transmission from the moving body 1 such as a box to the towing ship or the submerged work ship side B, but as another embodiment. Although illustration is omitted, it is also conceivable that this is transmission by wire using a communication cable.

[0027]

As described above, the guide installation method for a box or the like according to the present invention uses the GPS (Global Positioning System), so there is no restriction on weather and sea conditions or positioning distance, and the mobile body such as a box. It is possible to improve the measurement accuracy of the posture measurement, and to automatically and accurately measure the position of a moving body or the like in real time in real time.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing a first embodiment of a method for guiding a box or the like according to the present invention.

FIG. 2 is an explanatory view showing a second embodiment of the guide installation method for a box or the like of the present invention.

FIG. 3 is a perspective view of a moving body such as a box in the method of guiding and installing the box or the like of the present invention.

FIG. 4 is an explanatory diagram of measurement of a three-dimensional posture of a moving body such as a box in the method of guiding and installing a box or the like according to the present invention.

FIG. 5 is a side view of a conventional attitude measuring means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Moving body, such as a box 2. Distance sensor 3a-3d ... GPS satellite receiving antenna 4a-4d ... GPS receiver 5 ... Transmission controller 6 ... Transmission dome 7 ... Receiving antenna 8 ... Receiving device 9 ... Transmission control device 10 ... SS radio 11 ... Transmission antenna 12 ... Reception antenna 13 ... SS radio 14 ... Computer 15 ... Monitor 16 ... Image transmission device 17 ... Transmission antenna 18 ... Image reception device 19 ... Reception antenna

Claims (1)

[Claims] 1. A land-known point and a moving body such as a box
A GPS satellite receiving antenna and a GPS receiver are installed at each location, and positioning data obtained by real-time positioning by each GPS is collected in one computer by wireless transmission or a communication cable, and the three GPSs of a mobile body such as a box are collected. Based on the coordinate data obtained by the receiver, position measurement of the moving body, calculation of the posture (Yaw angle) of the moving body, posture of the moving body (Rol
(1) A method of guiding and mounting a box or the like, which calculates the posture (Pitch) of the moving body and graphically displays the state of the moving body on a monitor.