JPH11256619A - Side-face shape monitor for underwater backhoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a side-face shape monitor for an underwater backhoe capable of surely monitoring the side face shape of the underwater backhoe at real time at low cost. SOLUTION: The side face shape of the underwater backhoe 10 is monitored in turbid water in the side-face shape monitor for the underwater backhoe in turbid water. The side-face shape monitor has stroke/angle converters 21, 22, 23 beforehand converting the stroke values of cylinders 16, 17, 18 driving a boom and a bucket for the backhoe 10 into values representing the relative angles of the broom, etc., a sectional-shape input means 26 beforehand drawing the basic side-face shape of the underwater backhoe 10 on the basis of 2 computer graphic together with a measured sea-bottom cross section, and a side-face shape display means 25 displaying the side-face shape changes of the boom, etc., on a display 24 on the basis of data from the stroke/angle converters 21, 22, 23 and the sectional-shape input means 26.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an underwater backhoe side profile monitoring apparatus in muddy water in an unmanned operation system for remotely controlling an underwater backhoe from a support ship.

[0002]

2. Description of the Related Art In recent years, water leveling work, such as excavating water bottoms such as the sea floor and river bottoms, and performing rubble and land reclamation, has been carried out.
Research and development of a technology for remotely controlling an underwater backhoe is underway.

[0003] The present applicant has previously filed Japanese Patent Application No. 9-309472.
No. (Title of Invention; Remote control device for underwater work machine)
Multi-narrow beam radiated from near the water surface
LVS (Lase) using an underwater laser television mounted on an underwater backhoe while creating a 3D wire mesh image
r Viewing System), and proposed to remotely control the underwater backhoe while watching the wire mesh image and the monitor screen.

[0004] In the unmanned operation of the underwater backhoe, it is essential that the side shape can be monitored even in turbid water.

[0005] The attitude (side shape) of the underwater backhoe is monitored by detecting the relative angle of the bucket or boom. However, since the backhoe is in muddy water, it cannot be viewed directly by the underwater camera.

Therefore, for example, a master / slave type manipulator attached to an ROV or the like slaves the movement according to the master by an electric signal.

[0007]

However, this mechanism is extremely precise and expensive, and it is practically difficult to use it for an underwater backhoe in turbid water.

It is an object of the present invention to provide an underwater backhoe side profile monitoring device which solves the above-mentioned problems and can monitor the side shape of the underwater backhoe cheaply and reliably in real time.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, an object of the present invention is to provide an underwater backhoe side profile monitoring apparatus for monitoring an underwater backhoe side profile in muddy water. A stroke / angle converter that converts the stroke value of the cylinder that drives the head and the bucket into a value that represents the relative angle of the boom and the like, and the basic side profile of the underwater backhoe is drawn based on the computer graphic together with the measured seafloor cross section. A cross-sectional shape input means, and a side shape display means for displaying a change in the side shape of a boom or the like on a display based on data from the stroke / angle converter and the cross-sectional shape input means.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 denotes an underwater backhoe, an endless track zone 11 for traveling on the seabed B, a main body 12 rotatably provided on the endless track zone 11, and a body 12 capable of raising and lowering. A first boom 13, a second boom 14 that is provided at the tip of the first boom 13 so as to be freely bent,
The first boom 13 is made up of a first cylinder 16 with a stroke sensor.
The boom 14 is the second cylinder 1 with the stroke sensor
7, the bucket 15 can be turned up and down by a third cylinder 18 with a stroke sensor.

An underwater camera 19 for imaging the sea bottom in front of the main body 12 is provided.

The cylinders 16, 17, 18 and the endless track zone 11, and the main body 12 are driven and controlled by a control device 20 provided in the main body 12, and the control device 20 is not shown in the drawing, but is a support ship on the sea. The drive of the cylinder and the like is controlled by a remote control signal.

The control device 20 is connected to a control device in the support ship by a cable (not shown) or the like, and based on a remote control signal, the endless track zone 11 and the cylinders 16, 17, 18, and 18.
And the like, and a stroke value is input from a stroke sensor built in each of the cylinders 16, 17, and 18, and the stroke value is sent to the support ship. Cylinders 16, 17,
The side angle of the underwater backhoe 10 can be displayed by calculating the relative angle of each of the booms 13 and 14 and the bucket 15 from the strokes such as 18.

This will be described with reference to FIG.

In FIG. 2, each of the cylinders 16, 17, 1
8 are stroke / angle converters 21 and
2 and 23 are converted into relative angles. That is, in the first cylinder 16, the change in the stroke causes the main body 1 to move.
The angle of the first boom 13 with respect to the second boom 13 is converted into the angle of the first boom 13 by the change in the stroke of the second cylinder 17.
In the third cylinder 18, the angle of the bucket 15 with respect to the second boom 14 is converted by the change in the stroke.

These stroke / angle converters 21 and 22
The angle information 2 and 23 are input to the side surface display means 25 having the display 24.

Information from the cross-sectional shape input means 26 is input to the side shape display means 25. The cross-sectional shape input means 26 stores the basic side shape of the underwater backhoe in advance, and obtains the underwater backhoe 10 from the three-dimensional wire mesh image of the water bottom measured by the multi-narrow beam radiated from near the water surface of the above-mentioned prior application. Line connecting the centers of
That is, a line connecting the center of rotation of the first boom 13 and the center of the backhoe 10 in the left-right direction is used to obtain a three-dimensional image of the sea bottom and to draw a sectional shape obtained by cutting a target sea bottom to be worked on based on computer graphics. Input to the display means 25.

The side shape display means 25 displays on the display 24 the cross-sectional shape obtained by cutting the target sea bottom from the cross-sectional shape input means 26, and also displays the position of the backhoe 10 on the sea bottom and the stroke / angle converters 21, 22, 22. The side shape of the backhoe 10 is displayed based on the angle information 23.

The side shape display means 25 will be described in more detail with reference to FIG.

First, as shown in FIG. 3 (a), a three-dimensional wire mesh image 30 of the water bottom is created by a multi-narrow beam and displayed on the display 24.
3B is displayed on the display 24 as shown in FIG. 3B, and a wire mesh image 30H on a plane is appropriately displayed as shown in FIG. 3C. And a plan view of the backhoe 10 are displayed, and further, based on these, as shown in FIG. 3D, the seabed cross-sectional shape 31 and the side shape of the underwater backhoe 10 are displayed, and further as shown in FIG. The cross-sectional shape 32 of the seabed and the cross-sectional shape of the underwater backhoe 10 are displayed.

As shown in FIG. 3, the side shape display means 25 switches these images in accordance with the working condition of the underwater backhoe 10, and displays on the display 24 the changing side shape of the underwater backhoe 10.

The distance between the wire meshes is set to several meters, and the topography and size of the water bottom can be seen from the image 30 on the display 24. For example, in order to level the water bottom, which part should be leveled with the backhoe 10. Since it is possible to determine whether the backhoe is good or not, the movement of each part of the backhoe 10 can be recognized at the same time, and the image from the underwater camera 19 can also be displayed at the same time.

By switching and displaying the image on the display 24 of the side surface display means 25 in this manner, the attitude of the underwater backhoe at the bottom can be recognized and monitored in real time, so that the operation and situation in the course direction at the bottom can be monitored. The unmanned operation of each of the booms 13 and 14 and the bucket 15 is enabled.

[0025]

In summary, according to the present invention, the side shape of the underwater backhoe is displayed by converting the stroke value of the cylinder into an angle between the booms and displaying the side shape of the underwater backhoe based on this. You can understand it in real time and control it easily.

[Brief description of the drawings]

FIG. 1 is a schematic view showing a side shape of an underwater backhoe according to the present invention.

FIG. 2 is a diagram showing an embodiment of the present invention.

FIG. 3 is a diagram illustrating an example of an image displayed on a display of a side surface display unit in the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Underwater backhoe 13 1st boom 14 2nd boom 15 Bucket 16, 17, 18 Cylinder 21, 22, 23 Stroke / angle converter 24 Display 25 Side shape display means 26 Sectional shape input means

Claims (1)

[Claims] An underwater backhoe side profile monitoring device for monitoring underwater backhoe side profile in muddy water, wherein a stroke value of a cylinder for driving a boom of a backhoe or a bucket is a value representing a relative angle of a boom or the like in advance. Data from stroke / angle converter, stroke / angle converter, and cross-sectional shape input means that draws basic side profile of underwater backhoe based on computer graphic together with measured seabed cross section in advance An underwater backhoe monitoring device in muddy water, comprising: a side shape display means for displaying a change in side shape of a boom or the like on a display based on the above.