JPH1035579A - Towing control method of case body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable safe and careful control of a towing ship by inputting data from a attitude measurement means, a total station of a position detection means, a take-off detection means, and an installation detection means into a controller of the towing ship and controlling the direction of towing of a case body, an installation position, etc., from the towing ship based on these data. SOLUTION: A posture measurement means is constituted in such a manner that leveling level gages 2a to 2d are arranged in four directions in a case body 1 and that water level sensors 4a to 4d are attached to each leveling level gage 2a to 2d. Moreover, a position measurement means consists of a prism and a total station, and the prism is attached to a tip of a winch tower erected in the case body 1 and the toal station which follows the prism automatically is installed on the ground. A take-off detection means is installed in a lower part of the case body 1, and an installation detection means is constituted by using a jack. A controller is installed on a towing ship, calculates a degree of inclination of the case body 1 based on deviation of water level, and corrects inclination of the case body 1 to control its attitude when the degree of inclination is out of a control value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a towing control method for a large underwater structure such as a submerged tunnel or an intake of a hydroelectric power plant.

[0002]

2. Description of the Related Art When installing a large-sized underwater structure box, the box is moved to the installation location by a towing ship. At this time, the posture is measured to see if the box is abnormally inclined. To measure the position of the current position to determine the direction of movement of the case, and to detect whether the surface has risen when the case is lifted at the start of towing, and to join the existing structure At the time of installation, installation detection is performed in order to confirm that the device has been installed correctly at a predetermined position.

[0003] Conventionally, as a method of posture measurement, for example, FIG.
The protruded on water the top of the box body 1 as shown, mounting a plurality of sensors 15 in the projecting portion, the distance L _1, L ₂ from the sensor 15 to the water surface is measured, the distance L _1, L ₂ The inclination of the box is calculated by calculating the relative attitude to the water surface from the difference in the values. Then, when the inclination is abnormal, this is corrected.

In the position measurement method, a prism is installed on the box 1, a level and a transit are installed on the ground, 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] As for the method of detecting the land separation and the installation, it is visually confirmed whether the diver dives into the water and the case floats from the bottom of the ground, and whether the diver is at the joint position with the existing structure.

[0006]

Since the method of measuring the distance from the portion of the box projecting above the water to the surface of the water is employed as a method of measuring the attitude, at least the top of the box must project above the surface of the water. However, compared to the case where the entire case is moved underwater, the movement is not good due to the influence of the water surface.

[0007] In addition, a wave is generated as the case moves, and the water surface fluctuates due to the wave, so that the distance from the sensor to the water surface constantly fluctuates due to the wave, resulting in poor measurement accuracy.

[0008] Since the position measurement is based on human power measurement using a level, transit, etc., it is difficult to perform real-time measurement on a moving body. And the construction speed is reduced.

[0009] The detection of the terrain and the detection of the installation result in that a person directly approaches the case that is being levitated or is being joined to a predetermined position, which involves dangers and sometimes lacks certainty due to visual observation.

[0010] An object of the present invention is to solve the above-mentioned disadvantages of the prior art, and to move the box smoothly by moving it underwater.
By providing measuring means inside the box, the measurement accuracy of posture measurement can be improved, and the position of the moving box can be measured immediately and accurately automatically in real time. It is an object of the present invention to provide a towing box towing control method that can be performed safely and reliably without depending on the towing method.

[0011]

According to the present invention, in order to achieve the above object, an attitude measuring means is provided inside a box, and a prism is provided as a position measuring means on a member projecting from the box to the water. Together with installing a total station for automatically tracking the prism on the ground, arranging the ground-break detection means at the bottom of the box, and installing the installation detection means at the joint surface of the box with the existing structure, and at the bottom, A control device is installed on the towing ship, and the attitude measuring means, the total station of the position detecting means,
The gist of the invention is to input data signals from the groundbreak detection means and the installation detection means to the control device, and to control the attitude, the towing direction, and the position of the box based on these data.

The attitude measuring means includes a water level meter installed at a plurality of locations inside the box, a communication pipe communicating the plurality of water level meters, and a water level sensor for detecting the water level of the water level meter. The configuration, the ground-break detection means is a jack that extends with the floating of the box, and has a stroke meter that measures the expansion and contraction length of the jack.The installation detection means is a jack that contracts when the box reaches a predetermined position. Yes,
The gist of the invention is to provide a stroke meter for measuring the length of expansion and contraction of a jack.

According to the first aspect of the present invention, since the attitude measuring means is installed inside the box, the box can be moved underwater, and the mobility and the measurement accuracy are improved. Then, the data from the attitude measuring means, the total station of the position detecting means, the groundbreaking detecting means, and the installation detecting means are automatically input as signals into a control device installed on the towing vessel in real time, and based on this data, Control attitude, towing direction, installation position, etc.

According to the second aspect of the present invention, in addition to the above-described operation, a water level meter in which attitude measuring means is installed at a plurality of locations inside the box, and a communication pipe for communicating the plurality of water level meters. With the water level sensor that detects the water level of the water level meter, when the box is tilted, water in the water level meter moves to another water level meter through the communication pipe, and The water level of the level gauge changes. This water level deviation is detected by a water level sensor to calculate the inclination of the box.

According to the third aspect of the present invention, in addition to the above-mentioned operation, the jack extends when the box floats at the start of towing. By measuring the extension length with a stroke meter, the floating of the box can be detected.

According to the fourth aspect of the present invention, in addition to the above operation, when the box is installed at a predetermined position, if the box is installed at a predetermined position on the joint surface with the existing structure, it is provided on the box. A jack shrinks. By measuring the contraction length with a stroke meter, installation of the box at a predetermined position can be detected.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a flowchart showing an embodiment of a method for controlling towing of a box according to the present invention. The method of the present invention is to tow a box which is a large underwater structure such as a submerged tunnel or an intake of a hydroelectric power plant to a predetermined installation position. In this control method, the box is provided with a posture measuring means, a position measuring means, a gang-cutting detecting means, and an installation detecting means.

As shown in FIG. 2, the attitude measuring means comprises a plurality (four in the illustrated example) of water level meters 2a, 2b, 2c,
2d are arranged on all four sides of the inside of the box 1, and each water level meter 2a to 2d is connected by the communication pipe 3, and each water level meter 2a
Water level sensors 4a, 4b, 4c, 4d
Was attached. The water level sensors 4a to 4d detect a change in water level by measuring the distance between the water surface in the water level meters 2a to 2d and the water level sensors 4a to 4d.

The position measuring means comprises a prism 5 and a total station 6, as shown in FIG. 3, and a solid support-like structure such as a winch tower 7 is erected from the box 1 so as to protrude above the water. The prism 5 is attached to the tip of the winch tower 7.

On the other hand, a total station 6 for automatically tracking the prism 5 is installed on the ground. Note that two sets of the prism 5 and the total station 6 are prepared.

As shown in FIG.
The jacks 8a and 8b extend with the rising of the jacks. The jacks 8a and 8b include a stroke meter 9 for measuring the length of expansion and contraction of the jacks 8a and 8b.

The installation detecting means are also jacks 8a, 8b, 8c which contract when the box 1 reaches a predetermined installation position where it is joined to the existing structure, as shown in FIG.
It has a stroke meter 9 for measuring the length of expansion and contraction of b, 8c, and the jacks 8a, 8b are used in common with the ground-break detection means.

As shown in FIG. 5, a control device 10 using a computer or the like is installed on the towing ship 11, and the water level signals from the water level sensors 4a to 4d and the expansion and contraction signal from the stroke meter 9 are transmitted via the interface box 12. Control device
10, and the position signal from the total station 6 is wirelessly introduced into the control device 10.

Next, a control method for towing the box 1 to a predetermined installation position will be described with reference to the flowchart of FIG. 1. First, the current position of the box is measured before towing is started. As for the measuring method, the total station 6 is set as described above [Step (A)], the position of the total station 6 is wirelessly transmitted to the control device 10 by coordinates [Step (B)], and the prism 5 is collimated [Step ( C)).

Next, in preparation for the attitude control, measuring instruments such as the water level sensors 4a to 4d are installed on the box as described above (step (d)), and the water level signals from the water level sensors 4a to 4d are shown in FIG. In this way, it is taken into the control device 10, and it calculates based on the deviation of the water level signal from each of the water level sensors 4a to 4d, measures the initial value [Step (e)], calculates the inclination of the box, and displays it. And save.

In preparation for the detection of the ground-cutting / installation, measuring instruments such as jacks 8a to 8c are installed in the box as described above (step (f)), and the measurement signal from the stroke meter 9 is taken into the control device 10. To measure the initial value [step (g)].

When the preparation for the measurement is completed as described above, the box 1 is floated in water to perform ground cutting. In the method for detecting the ground breaking, when the box 1 rises [step (h)], the jacks 8a and 8b arranged at the lower part of the box 1 are extended accordingly. The controller 9 determines whether or not the stroke has reached the value of the completion of the groundbreaking based on the measurement signal input from the stroke meter 9 to the controller 10 [step (i)].

Then, when the stroke reaches the value of the completion of the ground-cutting, the position of the box 1 is calculated from the coordinate data input to the control device 10 as the position of the prism 5 to be collimated by the total station 6, and If it is determined that the body 1 has risen to the predetermined position [step (nu)], then towing is started and [step (lu)] moves underwater.

The water level sensor 4 is also used in this land separation process.
The water level signals from a to 4d are taken into the control device 10, and the inclination of the box 1 is calculated based on the deviation of the water level signals from the water level sensors 4a to 4d. Is displayed on the display unit of the control device 10. Therefore, the operator on board the towing vessel sees this display and corrects it.

If the attitude of the case 1 changes during the towing and the body 1 is tilted, the plurality of water level meters 2a to 2d arranged in order to make the absolute water level coincide with each other, and make each water level The water in the total 2a to 2d moves through the communication pipe 3 to the other water level meters 2a to 2d. As a result, the water level sensors 4a provided in each of the water level meters 2a to 2d.
4d and the water level in each of the water level meters 2a to 2d change, and the changed water level is output to the control device 10 from the water level sensors 4a to 4d.

The control device 10 calculates the inclination of the casing 1 from the deviation of the water level. If the inclination is within the control value, it is determined to be normal and displayed on the control device 10. The operator sees this and tow it to a predetermined position while keeping it as it is [step (ヲ) (f)].

On the other hand, when the inclination is other than the control value, it is determined that the inclination is abnormal, and the inclination of the box 1 is corrected by the operation from the towing ship 11 to control the posture [step (W)]. Since such attitude control is performed while the housing 1 is underwater, the water level can be accurately detected without being affected by waves or the like on the water surface.

When the tow has been towed to a predetermined position, it is joined to the existing structure and installed [Step (Y)]. At the time of installation, the prism 5 is collimated from the total station 6, and the position of the prism 5 is wirelessly transmitted to the control device 10 as coordinate data to confirm the installation position [step (T)].

In this case, since two sets of the prism 5 and the total station 6 are installed, the direction of the box 1 can be determined from the respective x and y coordinates. In addition, x, y, z from any point of the box 1, for example, from the tip to the prism 5
If the offset and the attitude of the box 1 measured by a method described later are known, the coordinates of an arbitrary point can be calculated from the coordinates of the prism 5. Thereby, the accurate position and direction of the box 1 can be finely detected.

This detection is performed by the total station 6
The measurement is controlled in real time by automatically tracking the prism 5. Note that this attitude control can also be automatically controlled by the control device 10 that has taken in the attitude measurement data.

The operator of the towing vessel looks at the position of the box 1 displayed on the control device 10, finely adjusts the installation position, and, when installed at a predetermined joint position, joins the existing structure. If the joining is performed correctly, the jacks 8a and 8b are contracted by lowering the box 1, the length thereof is measured by the stroke meter 9, and a measurement signal is transmitted to the control device 10. The jack 8c contracts by joining the joint surface with the existing structure 1 with the existing structure. The length of the jack 8c is measured by the stroke meter 9 and a measurement signal is transmitted to the control device 10. Is determined based on the measurement signal.

If the stroke length reaches the value of the completion of installation, it is determined that the installation is completed [step (d)]. In this installation process, the inclination of the box is checked and the attitude is controlled.

[0038]

As described above, the method for controlling towing of a box according to the present invention provides a method for installing data on signals from attitude measuring means, position detecting means, groundbreaking detecting means, and setting detecting means on a towing ship. Automatically input to the control device in real time, and based on this data, the posture, towing direction, installation position, etc. of the box can be comprehensively controlled from the towing vessel,
It can be controlled safely and finely.

Further, since the attitude measuring means is installed inside the box, it is possible to move the box underwater, which not only improves the mobility of the box, but also is free from the influence of waves on the water surface. Since measurement can be performed, measurement accuracy is improved.

Further, since the position measuring means can measure in real time, it is possible to increase the measuring accuracy without lowering the construction speed, especially when the apparatus is installed at a predetermined position, and to install the apparatus at an accurate position without time.

Since the detection of the landslide and the detection of the installation can be performed without human power, it can be safely performed without the diver approaching the box.

[Brief description of the drawings]

FIG. 1 is an operation flowchart showing an embodiment of a box towing control method of the present invention.

FIG. 2 is a perspective view of a posture measuring unit in which the method of the present invention is performed.

FIG. 3 is a side view of a position measuring unit in which the method of the present invention is performed.

FIG. 4 is a side view of a section detection and installation detection unit in which the method of the present invention is performed.

FIG. 5 is a control system diagram of the method of the present invention.

FIG. 6 is a flowchart of the control of the method of the present invention.

FIG. 7 is a side view of a conventional attitude measuring means.

[Explanation of symbols]

1 ... Box 2a, 2b, 2c, 2
d: Water level meter 3: Communication pipe 4a, 4b, 4c, 4
d: Water level sensor 5 ... Prism 6 ... Total station 7 ... Winch tower 8a, 8b, 8c ... Jack 9 ... Stroke meter 10 ... Control device 11 ... Towing ship 12 ... Interface box 15 ... Sensor

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Kotobuki Mizota 1-3-15 Awaza, Nishi-ku, Osaka-shi, Osaka Inside the Kansai Branch of Kashima Construction Co., Ltd. (72) Keiji Kawahara 1-3-3 Awaza, Nishi-ku, Osaka-shi, Osaka No.15 Kashima Construction Co., Ltd.Kansai Branch

Claims (4)

[Claims] 1. A posture measuring means is provided inside a box, a prism is provided as a position measuring means on a member projecting from the box to the water, and a total station for automatically tracking the prism is provided on the ground. The ground detection means is arranged at the lower part of the box, the installation detection means is arranged at the joint surface of the box with the existing structure and the lower part, the control device is installed on the towing ship, and the attitude measuring means, Data signals from the total station of the position detecting means, the groundbreaking detecting means, and the installation detecting means are input to the control device, and the attitude, towing direction, and position of the box are controlled based on these data. Control method. 2. The attitude measuring means comprises a water level meter installed at a plurality of locations inside a box, a communication pipe communicating the plurality of water level meters, and a water level sensor for detecting a water level of the water level meter. The method for controlling towing of a box according to claim 1, wherein the method comprises: 3. The control method for a towing box according to claim 1, wherein the ground-break detection means is a jack that extends as the box floats, and includes a stroke meter that measures the length of expansion and contraction of the jack. 4. The box according to claim 1, wherein the installation detecting means is a jack that contracts when the box reaches a predetermined position, and includes a stroke meter that measures the length of expansion and contraction of the jack. Towing control method.