JPS63236819A - Display of attitude of driven pile by pile-driving ship - Google Patents

Abstract

PURPOSE:To easily control the position and attitude of a pile by a method in which the position and inclination of a pile-driving ship and a leader are obtained, the level and displacement of the pile are measured, and data of a supersonic wave receiver with a horizontally oscillating mechanism are taken in for steering of the ship. CONSTITUTION:The position of a pile-driving ship 1 is obtained by a light-wave- type ship position meter 12, and the position of a leader 2 is detected by a hull inclinometer 13. The inclination of the leader 2 is also detected by a leader inclinometer 14. The level of the pile 3, displacement of the pile 3 in relation to the leader 2, and data of supersonic waves receivers 24, 25, and 26 with a horizontally oscillating mechanism are taken every moment. The position of the hull is calculated and displayed, and a ship-steering which in operated to correct the present position of the hull. Necessary information for pile driving operation can thus be obtained stably.

Description

[Detailed Description of the Invention] (Field of Industrial Application) The present invention relates to a method for displaying the attitude of a pile being driven in a pile driving vessel that is accompanied by a leader of the pile driving vessel and displays the attitude of the pile being driven. be.

(Prior art) Conventionally, when a pile is driven by a pile driving vessel, the position and attitude of the pile are controlled by the operator of the pile driving vessel operating a ship steering winch and a leader tilting device. but,
Information on the position and attitude of the piles required for operational purposes was provided by a surveyor outside the pile driving vessel. In other words, a plurality of surveying platforms are installed in advance at appropriate locations on the sea so that the piles being driven can be surveyed from the two coordinate directions of X and Y, and the piles being driven can be surveyed from the X and Y directions. On the two surveying platforms obtained, two surveyors measured the posture of the piles each time using transits, etc., and reported their survey results to the operators of the pile driving vessels via their respective radio communications.

(Problem to be Solved by the Invention) However, in this method of obtaining information on the position and posture of piles, it is difficult to obtain information on
Because xi reports are sent from 21 locations, there is a lack of synchronicity in surveying and reporting, and there is also a problem in that information is unstable due to radio interference (7i, outage, etc.), making it difficult to control easily. In addition, in the conventional method, a surveying platform had to be set up at a sight point on the sea.

On the other hand, in order to solve the above problem, it is possible to adopt an automatic surveying system, but for that purpose, the displacement between the pile and the leader can be measured by a
One problem has been developing equipment that detects rm well.

In other words, during driving, the pile is held by the keeper, but the keeper's pile holding part is provided with a buffer material to soften the contact with the pile, and an appropriate amount of cushioning material is provided between the buffer material and the pile. Due to the gap between the leader and the pile, there will be considerable displacement between the leader and the pile due to the inclination of the pile or the excitation of the pile driving boat. It is necessary to constantly understand the displacement of

An object of the present invention is to stably obtain information on the position and attitude of piles without the need for surveyors to perform measurements or to install an offshore survey platform, by employing an automatic surveying system that uses a pile displacement sensor with respect to a leader. An object of the present invention is to provide a method for displaying the posture of a pile being driven in a pile driving vessel, which allows the position and posture of the pile to be easily controlled.

(Means for Solving the Problems) A method for displaying the attitude of a driven pile in a pile driving ship according to the present invention to achieve the above object is to transmit and receive light from a fixed point outside the ship. Detecting with a light wave ship position meter that measures the position and direction of the pile driving vessel by surveying the sides, a hull inclinometer that measures the inclination of the pile driving vessel, and a leader inclinometer that measures the inclination of the leader, A rotating laser level meter of a type that receives a rotating laser beam that is horizontally rotated and emitted from a fixed point outside the ship to determine the level of a pile that is driven along the leader of the pile driving vessel, and the pile. detecting the displacement of the pile with respect to the leader with a pile depth meter that measures the depth of the pile, and swinging an ultrasonic transducer with a horizontal swinging mechanism installed at at least two points in the vertical direction of the leader; The ultrasonic beam is emitted to the pile to detect the shortest distance for each swing and the swing angle at that time, and the detected position value, the detected pile level, and the pile are obtained by these detections. The displacement value of the pile relative to the leader is inputted into a computer to calculate the position and inclination of the pile on the reference coordinates, and the driving posture of the pile is displayed on a monitor screen in real time.

(Function) By collecting data in this way, it becomes possible to stably obtain information necessary for pile driving operations. That is, since the attitude of the pile is displayed on the monitor screen in real time, driving operations can be performed while viewing the attitude, which makes driving easier.

(*Example) Hereinafter, an example of the present invention will be described in detail with reference to FIGS. 1 to 7. When the leader 2 of the pile driving vessel 1 holds the pile 3 with the keeper 4 and drives it with the hammer 5, the present invention uses the position information of the leader 2 of the pile driving vessel 1, the level information of the pile 3, and the pile information. 3 with respect to the leader 2, and from this, the driving posture of the pile 3 is determined and displayed in real time on a monitor screen to be described later.

The position of the pile driving ship 1 is 3 sets of reflectors 1i [7 and a set of light emitters 7A installed at 2 points on land 6, 4 points p on the pile driving ship 1]
H, PI3. PI 3 and 3 sets of automatic reference type optical distance meters 8 arranged at any two points of PI 3, an interface 9, a computer 10, and a monitor 1.
Light wave type ship positioner 12 that performs trilateration consisting of a set with 1
Find it by The position of the leader 2 is a hull inclinometer 13 that measures each vertical inclination of the X-Y axis of the pile driving vessel 1 from a two-way hull inclination detector 13A and a change 11113B provided at the bow.
The inclination of the leader 2 is detected by the leader inclinometer 14, which measures the inclination of the leader 2 from the cercin 14A and the converter 14B provided on the lateral tilting shaft, and is determined from each of these detected values and the light wave type ship position indicator 12. . The detected values of the hull inclination and the leader inclination are input to the computer 16 via the interface 15, and the data on the position of the pile driving ship 1 is transferred from the computer 10 of the light wave position indicator 12 to the computer 16.

The level of the pile 3 that is driven along with the leader 2 of the pile driving boat 1 is determined by a rotating laser beam emitter 18 installed at a fixed point at a reference height on land. The rotating laser beam 19 that is horizontally rotated and emitted from 118 is directed to two points P21 on the pile inner ship 1.
．． A rotating laser level meter 21 for detecting the horizontal level of a pile driving vessel, which is composed of a laser receiver I20 and a converter 2OA, which are placed at one point of P22 to receive the light, and a pile depth meter 21 that measures the depth of the pile 3. 22 and input into the computer 16 via the interface 15.

In this case, as the pile depth meter 22 that detects the depth of the pile 3,
Rotary encoder is spring type torque winch 22
Use A and install it on the top of the turret. That is, a spring-type torque winch 22A with a rotary encoder with a II weight provided at the tip of the measuring wire 228 is installed at the top of the cypress.
In addition, the cylinder into which the weight is inserted into the clamp portion 5A of the hammer 5 (
The length of the cylinder is such that the weight does not fly out due to the acceleration or impulse of the hammer 5) 22C is provided so that the measuring wire 228 can follow the vertical movement of the hammer 5, and the number of rotations of the winch loading rod is determined in the operation room 23. A counter 220 is provided,
The delivered amount of measured wye amount -22B is detected and corrected based on the leader inclination angle and the hull inclination to calculate the depth of the pile 3 with respect to the hull. The position 411 degrees is obtained by adding the data of the laser level meter 21 to this.

The displacement of the pile 3 with respect to the leader 2 is determined by three ultrasonic transducers 24, 25, and 26 with horizontal swing mechanisms and an anti-displacement transducer 27.
This is detected by a horizontal displacement meter 28 of the pile with respect to the leader, and the method of detection will be explained with reference to FIG.

Generally, the pile 3 being driven is held in place by the keeper 4, but since there is a slight gap between the pile 3 and the keeper 41m, the pile 3 may be tilted or the pile driving vessel 1 may be shaken, etc. The center position of the beam 2 varies considerably on the plane coordinates.

Therefore, the pile displacement measurement point P31 on the leader 2. Peg 3 for P32 and P33 (same point as the ultrasonic beam emission point)
In order to detect the center position 113A in real time, in the embodiment, the pile displacement measurement point P3! .

Shortest distance Q1 between P32 and P33 and pile 3 surface 381iJ
and the oscillation angle αl at that time are detected and determined based on this and the value of the known pile radius d.

That is, ultrasonic transducers 24, 25, and 26 with horizontal oscillation mechanisms.
are respectively installed on the side 27 behind the leader 2, and emit the ultrasonic beam 29 to the pile 3 in front while swinging, and at the same time the reflected wave from the pile surface 3B is received, the swing angle at that time is detected by a potentiometer. Then, each data is output to a pile displacement converter 27 provided in the operation room 23.

The oscillation range and oscillation speed of the ultrasonic transducer 24, 25, and 26 with horizontal oscillation mechanism are based on the ultrasonic beam emission points P3t, P
Considering the distance between P32 and P33 and the pile surface 3B, the fluctuation range of the pile, and the refresh time of the stock screen of pile 3, the swing range is set to αl with respect to the hull center 1i28, and the swing speed is Select and decide the time for one head shake.

The pile displacement meter converter 27 is an ultrasonic transceiver 24 with a horizontal swing mechanism.
．． The data of 3 cars of 25.26 is taken in moment by moment, and each neck! Pile displacement measurement points P31, P32 and P every 11m
The shortest distance Qt between P33 and the pile surface 3B and the swing angle α2 at that time are calculated, and the pile displacement measurement point P31. P32 and P
Interface 15 as displacement data for 3 points of 33
Output to.

In this case, the inclination of the pile 3 with respect to the leader 2 is determined at the pile displacement measurement point P31. Each horizontal displacement of the two points of the stakes 3 with respect to the leader 2 is detected by the shortest distance measurement value Q, ■ at any two points of P32 and P33 and the angle α2 at that time, and thereby the distance between the two points of the stakes 3 is detected. Find the slope of

The method for selecting a displacement measurement point is to determine the set depth in advance, as some measurement points may become unmeasurable depending on the depth of the pile 3, and if the depth in the pile driving film is shallower than the set depth, refer to P31. P3
2 points, and when it is deep, I choose two points P32° and P33.

The light wave ship position meter 12 calculates the current ship position 1111A,
The design (target) hull position 1B is displayed in real time on jilllA of the ship position display monitor 11 such as a CRT, as shown in FIG.

The operator operates the ship maneuvering winch while viewing this display to correct the current hull position 1A so that it becomes the designed hull position 11B.

The computer 16 calculates the position and inclination of the pile 2 on the reference coordinates based on the leader position detection value based on the ship position, hull inclination, and leader inclination data, the detected pile level value, and the displacement value of the pile 3 with respect to the leader 2. The calculated pile driving attitude is displayed as the current pile inclination 3A together with the pile design inclination 3B on the screen 17A of the pile driving membrane attitude display monitor 17 such as a CRT in real time as shown in FIG.

The operator operates the leader tilting device while viewing this display to correct the angle of the pile 3 so that it becomes the designed angle.

(Effects of the Invention) As explained above, in the present invention, various data are automatically collected, so that information necessary for driving the pile driving membrane can be stably collected.

That is, since the posture of the pile is displayed on a monitor in real time in the operation room of the pile driving boat, the operation of the pile driving membrane work can be easily performed.

Furthermore, it is possible to omit surveying using surveying tools outside the ship and installing a marine surveying platform.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the electrical configuration of an embodiment of a device for implementing the method for displaying the attitude of driven piles in a pile driving vessel according to the present invention, and FIGS. Figure 4 is a side view and plan view showing an example of the configuration of a pile driving vessel, Figure 4 is a perspective view showing the relationship between the pile driving vessel and equipment installed on land, Figure 5 is a plan view of the displacement detection device of the pile with respect to the beam The explanatory drawings, FIG. 6, are a front view of a ship position display monitor, and FIG. 7 is a front view of a pile driving attitude display monitor. 1...Pile driver, 2...Leader, 3...Pile, 12.
...Light wave ship position indicator, 13-...Hull inclination meter, 14...
Leader inclinometer, 10.16... Computer, 21.
...Swivel laser level meter, 22...Pile depth meter, 24
~36... Ultrasonic transducer with horizontal oscillation mechanism, 11...
・Ship position display monitor, 17... Pile driving membrane attitude display monitor, 28... Pile horizontal displacement meter with respect to the leader. Patent applicant: Pentayo Construction Co., Ltd.
Amendment (voluntary) August 13, 1986

Claims (1)

[Claims] A light wave ship position meter that measures the position and orientation of the pile driving vessel by transmitting and receiving light to and from a fixed point outside the ship to trilaterate, and a hull inclinometer that measures the inclination of the pile driving vessel. A leader inclination meter that measures the inclination of the leader detects the level of the pile to be driven along the leader of the pile driving ship by turning horizontally from a fixed point outside the ship and firing. The displacement of the pile relative to the leader is detected by a rotating laser level meter that receives laser light and a pile depth meter that measures the depth of the pile installed at at least two points in the vertical direction of the leader. The ultrasonic transducer with a horizontal swing mechanism is oscillated to emit an ultrasonic beam to the pile, and the shortest distance measured for each oscillation and the angle of the oscillation at that time are detected. The detected leader position value, detected pile level value, and displacement value of the pile relative to the leader are input into a computer to calculate the position and inclination of the pile on the reference coordinates, and the driving posture of the pile is displayed on a monitor screen in real time. A method for displaying the posture of a driven pile in a pile driving vessel, characterized by displaying the position of a driven pile.