JPH1060904A - Control system for immersing and setting caisson - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control system for immersing and setting to immerse and set a caisson accurately at a prescribed place by considerably reducing the time of surveying. SOLUTION: A data processing computer 16 operates an existing location and position of a caisson 2 on a basis of a position angle of the caisson 2 around an axis 3 that is detected by a gyrocompass 6, and three dimensional coordinates of the caisson 2 that is detected by an automatic tracking total station 8. Therefore, the caisson is immersed and set accurately if the caisson floating on the water moves to a horizontal or vertical direction, because a display 18 that is connected to the data processing computer 16 shows real time data of the existing location and position of the caisson 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a caisson sinking management system for surveying and controlling the position and attitude of a caisson floating on water when sinking the caisson on the water floor.

[0002]

2. Description of the Related Art There is a caisson method as one of methods for constructing a foundation structure, an earth retaining structure, a water blocking wall, and the like. Conventionally, various construction methods have been developed and implemented as caisson construction methods.
One of them is the floating caisson method. The floating caisson method is used when installing a caisson underwater. The outer shell of the structure that forms the body of the floating caisson ("caisson" is a French box) is built on land, and launched. In addition, in a floating state, the ship is towed to the sinking position, injected into the interior to increase the weight, and sunk to the bottom to install. Since the caisson constitutes a substructure or the like as described above, it is required that the caisson be accurately settled at a predetermined position.

[0003]

However, in the floating caisson method in particular, the caisson moves in the horizontal and vertical directions due to water currents, ebb and flow of the tide in the sea, waves, winds, etc., so that it is extremely difficult to perform the subsidence accurately. It was difficult.

That is, when caisson positioning is to be performed by conventional optical surveying, a plurality of transits are collimated at the position where the outfitting winch wire of the caisson is stretched, and positioning surveying is performed. This is a major safety issue because the surveyor must be available at all times.

Further, in the conventional method, when transmitting an optical survey value to a caisson, the measured value is read out by, for example, a wireless device, so that a time lag occurs, and it takes several minutes to transmit the measurement, grasp the deviation amount, and issue an operation command. The time interval at the level was large, which contributed to an increase in the time required for the positioning operation. Further, conventionally, the calculation of the amount of deviation from the sinking design image value from the caisson measurement value obtained by optical surveying is performed by the skill of the conductor, and the required time and accuracy are greatly affected.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and greatly shortens the surveying time, enables accurate placement of a caisson at a predetermined position, and improves safety and labor saving during surveying. It is an object of the present invention to provide a caisson squatting management system that can be planned.

[0007]

In order to solve the above-mentioned problems, an invention according to claim 1 is a system for measuring and managing the position and attitude of a caisson floating on water when the caisson is laid on the bottom of the water. A caisson attitude angle detecting means for detecting in real time an attitude angle of the caisson around three axes; a caisson position detecting means for detecting three-dimensional coordinates of the caisson in real time; A calculation display unit that displays the position and orientation of the caisson based on the attitude angles about three axes and the detected values of the three-dimensional coordinates. According to a second aspect of the present invention, in the caisson subsidence management system according to the first aspect, the arithmetic display means stores information on the shape and dimensions of the caisson and a planned position to be submerged on the water floor, Calculating means for calculating the amount of deviation of the position and attitude of the caisson with respect to the planned position to be laid based on the information in the storage means and the detection values of the caisson attitude angle detecting means and the caisson position detecting means; Display means for displaying the amount of deviation of the caisson. According to a third aspect of the present invention, in the caisson sunk management system according to the first or second aspect, the caisson position detecting means includes a target prism installed on the caisson, and a ground remote from the caisson. And an automatic tracking surveying device installed at a position and automatically collimating and tracking the target prism to detect coordinates. According to a fourth aspect of the present invention, in the caisson subsidence management system according to any one of the first to third aspects, the three-axes detected by the automatic tracking and surveying device at a ground position remote from the caisson. A wireless transmitter that wirelessly transmits the detected value of the surrounding attitude angle is installed, and a wireless receiver that receives the detected value wirelessly transmitted by the wireless transmitter and outputs it to the calculation display means is installed on the caisson. System. Further, according to a fifth aspect of the present invention, in the caisson sunk management system according to any one of the first to fourth aspects, the caisson attitude angle detecting means includes:
The gyrocompass was configured by a gyrocompass with a built-in accelerometer, and was driven by a DC power supply. A floating-chargeable charger and a battery were connected in parallel to the gyrocompass generator.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, the caisson squatting control system according to the present embodiment is installed on a central management room 4 installed on a caisson 2 floating in seawater, and on a caisson 2 at a position different from the central management room 4. A gyro compass (caisson attitude angle detecting means) 6 for detecting the attitude angles of the caisson 2 around three axes and an automatic tracking type total station (caisson position detecting means) 8 for detecting the three-dimensional coordinates of the caisson 2 are provided. I have.

That is, the gyro compass 6 has a built-in accelerometer and detects the attitude angles θx, θy, θz of the caisson 2 around the X, Y, and Z axes. The gyro compass 6 is a device driven by DC 12 V. The gyro compass 6 is connected to a generator via a battery and a charger capable of floating charge, and charges the battery while the generator is operating. When the gyro compass 6 is driven and the generator is stopped, the current from the battery is used as the driving power source.

Also, an automatic tracking type total station 8
Is the target prism 8a installed on the caisson 2.
An automatic tracking surveying device 8b installed on a steel sheet pile cell (ground position) 10 located at a remote location from the caisson 2, and a steel sheet pile cell 1 separated by a predetermined distance from the automatic tracking surveying device 8b
And a reference marker 8c provided on the reference numeral 0. And
The automatic tracking surveying device 8b automatically tracks the target prism 8a and the reference mark 8c, and detects a horizontal angle θh from the reference mark 10a, an oblique distance L, and a vertical angle θv from the zenith.

As shown in FIG. 2, an automatic tracking type total station 8 has a wireless transmitter 12 for wirelessly transmitting data of the horizontal angle θh, the oblique distance L and the vertical angle θv calculated by the automatic tracking surveying device 8b. Are connected, and the data transmitted by the wireless transmitter 12 is received by the wireless receiver 14 installed on the caisson 2.

On the other hand, an arithmetic processing computer 16 is installed in the central control room 4, and the arithmetic processing computer 16 is provided with the gyro compass 6 and the radio receiver 1 described above.
4, data is input via a transmission cable. The arithmetic processing computer 16 outputs a calculation result based on data input from the gyro compass 6 and the wireless receiver 14 as needed to a display (display means) 18 and an XY plotter (display means) 20, and outputs the calculation result to a hard disk. In addition to the data stored in the storage device 22, data necessary for managing the subsidence of the caisson 2 is input from the keyboard 21.

That is, the arithmetic processing computer 16
As shown in FIG. 3, A for reading detection signals from the gyro compass 6 and the wireless receiver 14 as respective detection values.
Input interface circuit 16a having / D conversion function
, An arithmetic processing unit 16b, and an RO for storing a program
M, a storage device 16c such as a RAM for temporarily storing the calculation result
And an output interface circuit 16 having a D / A conversion function for outputting a result calculated by the arithmetic processing device 16b.
d. And the output interface circuit 1
6d, a display control unit 24 that converts the operation result output from the output interface circuit 16d into a video signal and supplies the video signal to the display 18, and an output interface circuit 1
6d is converted to a plotter signal
A plotter display controller 26 that supplies the Y plotter 20;
It is connected to a hard disk 22 for storing calculation results.

The caisson 2 in the central control room 4
Before managing the subsidence of the caisson, first,
Information such as the set design image coordinates of the caisson 2, the coordinates of the reference marker 8 c, and the coordinates of the target prism 8 a is input to the keyboard 2.
One input is stored in the storage device 16c. Then, while activating and stabilizing the gyro compass 6,
Reference sign 8c by automatic tracking total station 8
After the horizontal angle measurement value is reset by collimating, collimation and tracking of the target prism 8a are started.

Next, the arithmetic processing performed by the arithmetic processing computer 16 will be described with reference to the flowchart of FIG. This calculation process is executed as a timer interrupt process for each predetermined sampling time ΔT. In this flowchart, maps, programs,
Alternatively, a predetermined arithmetic expression or the like is read from the ROM of the storage device 16c as needed, and the calculated value obtained by the operation is stored in the RAM of the storage device 16c as needed. In this calculation process, first, in step S1, the posture angles θx, θy, and θy of the caisson 2 input from the gyro compass 6 are set.
Read θz.

Next, the process proceeds to step S2, where the oblique distance L of the target prism 8a input from the automatic tracking total station 8 via the wireless transmitter 12 and the wireless receiver 14, and the horizontal angle θh from the reference point 10c. And the vertical angle θv from the zenith.

Then, the process proceeds to step S3, where the attitude angles θx, θy, θz of the caisson 2 and the target prism 8
The center coordinates (Xc, Yc, Zc) of the upper surface of the caisson 2 are calculated based on the oblique distance L of a, the horizontal angle θh from the reference point 10c, and the vertical angle θv from the zenith.

Next, the process proceeds to step S4, in which the shape and dimensions of the caisson 2 and the coordinates of the set design image previously stored in the storage device 16c and the center coordinates (Xc, Yc, The difference (displacement amount, inclination) from the sinking design image coordinate of the caisson 2 is calculated by comparison operation with Zc).

Then, the process proceeds to step S5, in which the displacement data and the posture data of the inclination calculated in step S4 are output to the output interface circuit 16d, and then the program returns to the main program.

Thus, the output interface circuit 1
The displacement data and the attitude data of the inclination of the caisson 2 input to the display control unit 24 from 6d are converted into video signals and displayed on the screen of the display 18. The displacement data and the inclination data of the caisson 2 input to the plotter display controller 26 are converted into plotter signals and then displayed on the XY plotter 20 as graphics. Further, the data is stored in the hard disk 22 as accumulated data.

As a result, the sinking conductor can determine the current deviation amount and inclination posture data of the caisson 2 displayed on the screen of the display 18 and graphically displayed on the XY plotter 20. And the sinking conductor,
Based on the obtained deviation amount and inclination attitude data, the hoist ship operator, the outfitting winch operator, and the water injection pump operator are given accurate operation instructions to perform the caisson 2 subsidence management. Here, the arithmetic processing computer 16, the display 18, and the XY plotter 20 correspond to the arithmetic display means of the present invention.

Since the caisson squat management system of the above embodiment is configured as described above, the following effects can be obtained. First, the attitude angles θx, θy, θz around the three axes of the caisson 2 detected by the gyro compass 6, the oblique distance L of the target prism 8a detected by the automatic tracking type total station 8, the horizontal angle θh from the reference point 10c, and the zenith. Since the attitude data of the caisson 2 can be known in real time based on the vertical angle θv, the caisson 2 can be accurately laid down at a predetermined position (horizontal and vertical) on the sea floor.

Further, since the components are extremely simple as described above, they can be installed on the caisson 2 and the steel sheet pile cell 10, and a system that does not require much installation space can be provided.

If positioning is performed by conventional optical surveying, positioning surveying is performed by collimating a plurality of transits at positions where the outfitting winch wires of the caisson 2 are stretched. This is a major safety issue because the person must be present at all times. However, the system according to the present embodiment is capable of collimating at a point (on the steel sheet pile cell 10) away from the wire by the automatic tracking surveying device 8b of the automatic tracking total station 8,
Also, once collimated, there is no need to always have a surveyor in charge for automatic tracking, and safety can be improved and manpower can be saved.

In the conventional method, when transmitting an optical survey value to a caisson, a time lag occurs because the measured value is read out by a wireless device, and the time required for transmission of the measurement, grasp of the deviation amount, and an operation command is several minutes. In the system according to the present embodiment, the gyro compass 6 is connected to the arithmetic processing computer 16 via a transmission cable, and the automatic tracking total station 8 is connected to the wireless station. It is connected to the processing concrete 16 via the transmitter 12 and the radio receiver 14, so that the measurement, data transmission, calculation, and display of the caisson 2 position can be performed in real time, and the positioning time can be greatly reduced.

Conventionally, the calculation of the amount of deviation from the sunk design image value from the measurement values (angle values, etc.) obtained by optical surveying is performed by the skill of the conductor, and the required time and accuracy are greatly affected. However, in this system, since all are performed by the arithmetic processing of the arithmetic processing computer 16, anyone can maintain high accuracy in real time without being influenced by the skill of the individual.

The gyro compass 6 is a device that is driven by DC 12 V. The gyro compass 6 is connected to a generator capable of floating charging via a battery, and the gyro is charged while the gyro is operating while the generator is operating. Drive compass 6,
When the generator is stopped, the current from the battery is used as the drive power source, so it is difficult to secure 100V AC power at all times. The drive current is continuously supplied to the gyro compass 2 driven once on the caisson 2. can do.

The gyro compass 6 may cause an error due to a large change in the attitude of the caisson 2 in a short time. For example, two or more target prisms 8a are installed on the caisson 2 to automatically track the caisson 2. By collimating with the total station 8, the data detected by the gyro compass 6 can be corrected.

In this embodiment, the caisson 2
Although the present invention was used when sunk on the seabed, the present invention is not limited thereto, and can be used when sunk on a lake bottom, a riverbed or the like. Also, the present invention can be applied to a case where the caisson 2 is laid on the ground. Furthermore, not only a steel caisson but also a concrete caisson or the like suitable for carrying out the present invention can be used. Further, the number, position, shape, and the like of the constituent members are not limited to the above-described embodiment, and can be set to numbers, positions, shapes, and the like suitable for implementing the present invention.

[0030]

As described above, according to the caisson squatting management system of the first aspect, the caisson attitude angle detected by the caisson attitude angle detecting means and the attitude angle around the three axes of the caisson are detected by the caisson position detecting means. Based on the three-dimensional coordinates of the caisson, the arithmetic display means displays the position and orientation of the caisson in real time, so that even if the caisson floating on the water moves horizontally and vertically, the caisson can be accurately settled. It can be carried out.

According to the second aspect of the present invention, the deviation of the position and orientation of the caisson with respect to the planned position where the caisson is to be laid is calculated by the calculating means, and the calculation result is displayed on the display means. The caisson can be accurately sunk at a predetermined position on the bottom of the water with high accuracy without being influenced by the skill of the individual.

When positioning is to be performed by conventional optical surveying, surveying work is performed at a position where a caisson-equipped winch wire is stretched, and a surveyor must always be in the vicinity of the wire. Although this is a major problem, according to the invention described in claim 3, collimation can be performed by an automatic tracking surveying device at a ground position at a remote place away from the wire. There is no need to have a person in charge at all times, and safety can be improved and manpower can be saved.

In the conventional method, when transmitting an optical survey value to a caisson, the measured value is read out by a radio device, so that a time lag occurs and this contributes to an increase in the time for positioning work. According to the invention described in Item 4, the detected value detected by the automatic surveying device can be transmitted to the calculation display means via the wireless transmitter and the wireless receiver in real time, and the survey time can be greatly reduced. it can.

According to the fifth aspect of the present invention, the gyro compass is driven by a DC power supply, and is connected to the generator via a battery capable of floating charging and a battery.
When the generator is running, it drives the gyro compass while charging the battery, and when the generator is stopped, the current from the battery is used as the drive power, so it is always difficult to secure AC power. The drive current can be continuously supplied to the gyro compass driven once.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing components of a caisson squat management system of the present invention.

FIG. 2 is a schematic diagram showing a specific data transmission means of a caisson position detecting means according to the present invention and a specific configuration device of a calculation display means installed in a central control room.

FIG. 3 is a block diagram showing a specific configuration device of the operation display means.

FIG. 4 is a flowchart illustrating an example of a calculation process performed by a calculation unit.

[Explanation of symbols]

2 Caisson 4 Central control room 6 Gyro compass (Caisson attitude angle detection means) 8 Automatic tracking type total station (Caisson position detection means) 8a Target prism 8b Automatic tracking surveying device 10 Steel sheet pile cell (ground position) 12 Radio transmitter 14 Radio reception Machine 16 arithmetic processing computer 18 display (display device) 20 XY plotter (display device)

Claims (5)

[Claims] 1. A system for surveying and managing the position and posture of a caisson floating on water when sinking the caisson on the water floor, wherein the caisson posture for detecting a posture angle of the caisson around three axes in real time. An angle detecting means, a caisson position detecting means for detecting the three-dimensional coordinates of the caisson in real time, and a position of the caisson installed on the caisson and based on the attitude angle around the three axes and the detected value of the three-dimensional coordinates. A caisson squatting management system, comprising: a calculation display means for displaying the position and attitude. 2. The arithmetic and display means comprises: storage means for storing information on the shape and dimensions of the caisson and a planned position to be buried on the water floor, information on the storage means, the caisson attitude angle detecting means and the caisson position detecting means. Calculating means for calculating the amount of deviation of the position and orientation of the caisson with respect to the planned position to be laid based on the detected value of the caisson, and display means for displaying the amount of deviation of the caisson calculated by the calculating means. The caisson sunk management system according to claim 1, wherein: 3. The caisson position detecting means comprises a target prism installed on the caisson, and a ground position remote from the caisson, and automatically collimates and tracks the target prism for coordinates. 3. An automatic tracking and surveying device for detecting
The caisson subsidence management system described. 4. A radio transmitter for wirelessly transmitting a detection value of an attitude angle around three axes detected by the automatic tracking surveying device at a ground position remote from the caisson, and provided on the caisson. 4. The caisson siding management system according to claim 1, further comprising a wireless receiver for receiving the detected value wirelessly transmitted by the wireless transmitter and outputting the detected value to the calculation display means. 5. The caisson attitude angle detecting means is constituted by a gyrocompass having a built-in accelerometer, and is driven by a DC power supply. The generator for the gyrocompass includes a charger capable of floating charging. The caisson squat management system according to any one of claims 1 to 4, wherein the battery and the battery are connected in parallel.