JPH1163985A - Underwater structure investigating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the settling states of wave dissipation blocks confirmable by recording investigate signals while an underwater investigator attached to a flexible penetrating arm is moved forward and backward on a boom which can be tilted in the vertical direction and turned in the horizontal direction on a pedestal. SOLUTION: A boom 6 which can be tilted in the vertical direction and turned in the horizontal direction around a supporting pole 5 erected on a pedestal 1 is attached to the pole 5. A flexible penetrating arm 15 is moved forward and backward along the boom 6 through many moving rollers while an underwater investigator 16 is attached to its front end and a controller 17 provided with a recorder is connected to its base section. The hanging point of the arm 15 is positioned above wave dissipation blocks 36 by turning and tilting the boom 6 by operating a winch. Then the investigator 16 is put in the space between the blocks 36 by lowering the investigator 16 until the investigator 16 approaches a foundation mound 37 by drawing out the arm 15 by operating the controller 17. The states of the blocks 36 can be investigated and confirmed from the videos and positional information from the investigator 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater structure suitable for investigating in detail the condition of a breakwater block disposed close to a breakwater or a breakwater, and the state of installation of other underwater structures. Related to the investigation device.

[0002]

2. Description of the Related Art Generally, a base mound is provided at the entrance of a port in order to secure the calmness in a port, and a caisson-type breakwater is constructed on the base mound. On the open sea side of the breakwater, various complicated shaped blocks of various shapes are installed in a multi-tiered construction to protect the levee body, and a breakwater block-covered levee is formed.

[0003] When such a wave-dissipating block is arranged in a multi-tiered form on a foundation mound to form an underwater structure, the wave-dissipating block sinks into the foundation mound due to external force such as a wave or breaks. There is a problem that the block itself is damaged. This tendency is particularly problematic in recent years because harbor structures have been deployed offshore and the weight of wave-dissipating blocks increases in sea areas under severe weather and sea conditions.

[0004] Under such circumstances, during or after installation of this type of wave-dissipating block, the sinking state of this wave-dissipating block and the internal state of the wave-dissipating block covering portion (for example,
Various types of internal conditions such as space, settlement, breakage, and deposits) and the condition of the upper part of the foundation mound just below the covering of the wave-dissipating block (such as the state of the wave-dissipating block being entrapped) are appropriately examined to ensure excellent durability. It is necessary to construct a block covering part, grasp the weak points of the wave-dissipating block covering part, and obtain data such as improvement.

[0005]

However, at present, there is no special device for investigating the subsidence condition of the wave-dissipating block, and the diver must rely on visual inspection by diving. For this reason, the work is not only dangerous, but also the distance between the respective wave-dissipating blocks is so narrow that it is impossible to confirm the state of settlement inside the wave-dissipating blocks.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art.
The boom 6 is supported on the boom 6 so as to be able to lower and rotate in the horizontal direction, and the underwater survey device 16 attached to the tip of a flexible approach arm 15 is supported on the boom 6 so as to be able to move forward and backward. An object of the present invention is to provide an apparatus for investigating an underwater structure, which is provided with a signal recording device of the underwater investigator 16 and a control device 17 for controlling the boom 6 and the approach arm 15.

In addition, the underwater structure survey device includes a first shell 20 and a second shell 22 to which a tip cover 19 is attached.
Are connected via a bending member 21 to form a bendable pressure-resistant container 23. An approach arm 15 is provided at the rear end of the second shell 22, and an illumination lamp 28, a CCD camera 27, a direction sensor 29, and a depth sensor 30 are arranged in the pressure-resistant container 23.

Further, the rotary body 35 is mounted on the outer surface of the tip cover 19 constituting the pressure-resistant container 23 so as to protrude partially. This underwater structure has the most covering part of the wave-dissipating block in which the wave-dissipating blocks are stacked, but the sinking state is accurately determined, and the submerged part is not dived on the high-risk wave-dissipating block. It provides a device that can be investigated.

Further, the boom is configured to connect a plurality of unit booms in the longitudinal direction to facilitate movement and conveyance. The entry arm is configured by arranging a connection cable for signal transmission in a flexible pipe (or hose).

[0010]

[Operation] According to the underwater structure survey device, particularly the wave-breaking block settlement survey device, when investigating the settlement state of the wave-breaking block at a predetermined position, first, the vicinity of the place where the base 1 is surveyed is examined. On the embankment 2
The boom 6 that supports the boom 5 is controlled and used so that its distal end, specifically, the hanging portion of the approach arm 15 is located almost directly above a target position.

Thereafter, the approach arm 15 is extended along the boom 6 and the underwater survey device 16 attached to the tip of the approach arm 15 is lowered to pass through the gap between the respective wave-dissipating blocks and to be in the vicinity of the base mound. To reach. Then, the image captured by the CCD camera 27 incorporated in the underwater survey device 16 and the position signals from the direction sensor 29 and the depth sensor 30 are supplied to the recording device via a connection cable constituting the approach arm 15, Can be recorded.

Preferably, the recording device is provided with a television monitor, and the operator operates the control device 17 while watching the image to extend and retract the approach arm 15, and to rotate and move the boom 6 up and down. Is performed on the levee body 2 to examine and record the state of the underwater structure such as the wave-dissipating block with an image, and to prepare for improvement or the like of the underwater structure.

Although the operation of extending and retracting the approach arm 15 is configured to be performed by automatic control, manual operation can be performed in preparation for fine adjustment or failure of the automatic control device. ing.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an apparatus for investigating an underwater structure according to the present invention, particularly an apparatus suitable for investigating the settlement of a wave-dissipating block, will be described with reference to FIGS. FIG. 1 is a side view of an apparatus for investigating an underwater structure, and FIG. 2 is a plan view of the same. In these figures, the base 1 is disposed on the upper surface of the bank 2 and the tips of the outriggers 3a to 3d provided on the base 1 are fixed to the upper surface of the bank 2 with anchor bolts 4a to 4d.

A support pole 5 is erected on the base 1, and a boom 6 that can be lowered and horizontally turned around the support ball 5 is mounted. The boom 6 is configured by connecting a plurality of unit booms 6a to 6e in consideration of manufacturing and handling. By releasing the connection, the boom 6 can be disassembled. Of course, the boom 6 may be integrally formed.

One end of each of wires 7a and 7b is attached to both sides of an intermediate portion of the boom 6, and the wires 7a and 7b
b is a roller 8 provided at the tip of the outriggers 3c and 3d.
a and 8b are wound around the winches 9, 9; these winches 9, 9 are operated to wind one of the wires, and the other wire is fed out to move the boom 6 to the outrigger 3c, It can be turned horizontally in the range of the width 3d. The winches 9 and 9 can be operated for turning or the like by automatic control, but can be manually operated for fine position adjustment.

On the other hand, one end of a wire 10 is attached to the upper end of the boom 6, and the wire 10 is wound around a winch 12 via a roller 11 provided at the upper end of the support pole 5. Can be operated to lower the boom 6. Further, a counter beam 13 is extended behind the boom 6 and a counter weight 14 is provided at a rear end of the counter beam 13 to stabilize the boom 6 and improve operability.

Reference numeral 15 denotes an entry arm.
A cable is housed in a flexible pipe (or hose) as will be described later. An underwater survey device 16 is attached to the tip of the cable, and a control device 17 having a recording device is connected to a base end thereof. ing. The entry arm 15 is supported via a number of moving rollers 18 provided on the boom 6, moves back and forth along the boom 6, and changes the position of an underwater survey device 16 provided at the tip thereof. Has become.

As shown in FIGS. 3 to 5, the underwater survey device 16 has a bent member 21 connected to the back of a first shell 20 having a tip cover 19, and a second bent member 21 behind the bent member 21. The shell 22 is connected to form a bendable pressure-resistant container 23 as a whole, and a predetermined device is disposed therein.

More specifically, as shown in FIG.
Reference numeral 3 designates a front cover 19 which is fixed to the front side of a first shell 20 which is a cylindrical body with a screw 24a, and a second shell which is a cylindrical body at the rear end of the first shell 20 via a bending member 21. The first shell 20 and the second shell 22 are connected to the bending member 21 by connecting the first shell 20 and the second shell 22 to the rear end of the second shell 22. The pressure-resistant container 23 can be bent as a whole by being connected through the connection.

The bending member 21 has a watertight and flexible bellows hose 25 as an outer peripheral wall, and a plurality of springs 26 disposed therein. The rear wall block 20a of the first shell 20 and the second wall The portion of the shell 22 between the front wall blocks 22a can be bent. Also, the tip cover 1
The window glass 1 is inserted into four recesses 19 a formed at the tip of the window 9.
9b is fixed with a screw 24.

Although not shown, a cylinder device may be further provided at a portion where the spring 26 is provided.
A push-pull member such as a control wire is provided, and these members are expanded and contracted so that the rear portion of the first shell 20 and the second
The distance and angle between the shell 22 and the front part of the
The bending degree and the direction of the first shell body 20 with respect to the shell body 22 can be adjusted by remote control.

Further, C is attached to the rear of the window glass 27a fixed to the center of the tip cover 19, which is the front structure of the pressure vessel 23.
A CD camera 27 is arranged, and illuminating lights 28 such as halogen lamps are arranged behind four window glasses 19b provided around the CD camera 27, thereby illuminating a portion of the underwater structure to be investigated. 27 can be monitored.

As shown in FIG. 5, a second shell 22, which is a rear half of the pressure vessel 23, has a cylindrical body and a rear wall block 22.
The azimuth sensor 29 and the depth sensor 30 are disposed therein, and a ring-shaped weight 31b for adjusting buoyancy is fixed to the rear of the rear wall block 22b with bolts so that the weight can be adjusted. Similarly, a ring-shaped weight 31a for weight adjustment is also fixed to the front part of the rear wall block 20a of the first shell 20 with bolts.

As shown in FIG. 5, a water-tight connector 3 is provided at the center of the cup-shaped rear wall block 22b.
A connection cable 33 is connected through the connection cable 2. The entry arm 15 is configured by accommodating a cable 33 inside a flexible pipe (tube) 34 constituting an arm member. Although not shown, when a cylinder device is provided at the bent member 21 (in place of the spring 26 or together with the spring 26), a fluid hose for driving the cylinder device is required, and a control wire is provided. In such a case, a mechanism for pushing and pulling this is necessary, but these can adopt a known structure.

As shown in FIG. 4, a rotating body 35, which is a ball-shaped guide member, is pressed by a spring 35a into a concave portion 19c provided in the distal end cover 19 so that a part thereof projects to the outer surface of the distal end cover 19. It is located in. FIG. 6 shows a front view of the underwater survey device 16. As shown in FIG. 6, four illumination lamps 28 and four rotating bodies 35 are arranged around a CCD camera 27 provided at the center of the tip cover 19.
Are arranged, and the whole is fixed with screws 24b.

Next, a description will be given of a case of investigating the subsidence state of the wave-dissipating block using the underwater-structure investigating apparatus configured as described above. Now, as shown in FIG.
When investigating the subsidence state at a predetermined position of the multi-layered wave-dissipating blocks 36, which are underwater structures on the open sea side of the (breakwater), first, the base 1 is moved near the predetermined position (the place to be investigated). It is fixed on the embankment 2.

Next, while the winch 9 and the winch 12 are operated to rotate and lower the boom 6, the tip of the boom 6, specifically, the suspension point of the approach arm 15 is moved to the wave-dissipating block 36. Set so that it is located above the predetermined position. Thereafter, the control unit 17 operates the control arm 17 to extend the entry arm 15 so that the underwater investigation device 16 is lowered into the gap of the wave-dissipating block 36 while descending, and further lowered to advance to the vicinity of the base mound 37. (Sink).

The extension part of the approach arm 15 is for easily setting the entry point of the underwater survey instrument 16 which is an underwater camera, and the position of the underwater survey instrument 16 can be automatically set and fixed by the control device 17. It has become.
However, the delicate adjustment of the position of the underwater survey instrument 16 can be manually adjusted together with visual observation by the CCD camera 27.

The boom 6 is swiveled to move the camera 27.
The horizontal movement of the loading position is automatically performed by the control device 17, but fine adjustment of the position can also be performed manually as described above.

Adjustment of the position of the front and rear and height of the underwater survey instrument 16 is performed by detecting the position by an encoder incorporated in the drive unit and using the signal. The turning of the boom 6 is performed while setting the turning angle of the truss beam and detecting the angle by an encoder incorporated in the drive unit. By setting the adjustment of each part in a finely divided manner, the underwater survey instrument 16 can be quickly moved to a target place.

The pressure vessel 23 constituting the underwater survey device 16 is bendable via a bending member 21 between the first shell 20 and the second shell 22. In addition, since the rotating body 35 is disposed so as to protrude from the surface of the distal end cover 19, even if there is some obstacle in front of the underwater survey device 16, the rotating body 35 moves forward while bending at the bending member 21 without any trouble. Descent).

When the underwater survey device 16 reaches the vicinity of the basic mound 37 in this way, the illumination lamp 28 is turned on by a signal from the control device 17 and the image from the CCD camera 27 is arranged in the control device 17. It is projected on a television monitor and simultaneously recorded on the VTR of the recording device.

Further, since the depth sensor 30 and the azimuth sensor 29 are provided in the underwater survey device 16, the situation of the basic mound 37 is projected on the television monitor, and the position information from the sensor is simultaneously recorded on the VTR. I do.

Therefore, the operator can continue the investigation work by inputting a signal from the control device 17 while watching the television monitor, or watching the VTR, It is possible to check the internal state of the 36 covering portion, the state of the upper part of the foundation mound 37 immediately below the covering portion of the wave eliminating block 36, and the like. In addition, boom 6
Adjustment of the position of the underwater survey device 16 by turning the arm and extending and retracting the approach arm 15 can be automatically performed by operating the control device 17.

It is also possible to carry out a manual operation individually if necessary, and it is also possible to carry out an investigation efficiently by using both an automatic operation and a manual operation. Adjustment of the 16 positions is meant to include all of these operations.

[0037]

As is apparent from the above description, when investigating, for example, the sinking condition of a wave-dissipating block using the apparatus for investigating an underwater structure according to the present invention, the underwater investigator is remotely operated between the wave-dissipating blocks. Since it can be inserted into a narrow place of the underwater survey and the subsidence situation of the wave-dissipating block can be investigated or confirmed by the image and position information from this underwater survey instrument,
The effect is that the work can be performed very safely and quickly.

[Brief description of the drawings]

FIG. 1 is a side view showing one embodiment of an apparatus for investigating an underwater structure according to the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of the underwater survey device.

FIG. 4 is an enlarged sectional view of a front part of the underwater survey device shown in FIG. 3;

FIG. 5 is an enlarged sectional view of a rear portion of the underwater survey device shown in FIG.

FIG. 6 is a view taken in the direction of arrows AA in FIG. 4;

FIG. 7 is an explanatory diagram of a method of using the apparatus for investigating an underwater structure.

[Explanation of symbols]

Reference Signs List 1 base 2 breakwater or embankment body 3a-3d outrigger 4a-4d anchor bolt 5 support pole 6 boom 7a, 7b, 10 wire 8a, 8b, 11 roller 9,12 manual winch 13 counter beam 14 counterweight 15 approach arm 16 underwater Investigator 17 Control device 18 Moving roller 19 Tip cover 20 First shell 21 Bending member 22 Second shell 23 Pressure-resistant container 24 Bolt 25 Bellows hose 26 Spring 27 CCD camera 28 Illumination lamp 29 Direction sensor 30 Depth sensor 31a, 31b weight 32 connector 33 connection cable 34 flexible pipe 35 rotating body 36 wave-dissipating block 37 basic mound

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hirotoshi Igarashi 4-778 Irifune-cho, Niigata City, Niigata Prefecture Inside the Niigata Machinery Maintenance Office, First Port Construction Bureau, Ministry of Transport (72) Inventor Kenji Oguro 5-6, Tsukiji, Chuo-ku, Tokyo No. 4 Inside Mitsui Engineering & Shipbuilding Co., Ltd. (72) Kengo Fujii 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd. (72) Manabu Kimura 5-6-1 Tsukiji, Chuo-ku, Tokyo No. Mitsui Engineering & Shipbuilding Co., Ltd. (72) Inventor Masao Noguchi 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd.

Claims (3)

[Claims] 1. A boom 6 is supported on a base 1 so that it can be raised and turned horizontally, and an underwater survey device 16 attached to the tip of a flexible approach arm 15 is advanced on the boom 6. An underwater structure surveying device which is supported so as to be able to retreat and further includes a signal recording device of the underwater surveying device 16 and a control device 17 for controlling the boom 6 and the entry arm 15. 2. The first shell 2 to which a tip cover 19 is attached.
0 and the second shell 22 are connected via a bending member 21 to form a bendable pressure-resistant container 23.
Is provided at the rear end of the pressure vessel 23.
Lighting 28, CCD camera 27 and direction sensor 29
The underwater structure survey device according to claim 1, wherein the depth sensor and the depth sensor are arranged. 3. A tip cover 19 constituting a pressure-resistant container 23.
The underwater structure surveying device according to claim 2, wherein the rotating body (35) is attached to an outer surface of the vehicle so that a part of the rotating body (35) protrudes.