KR20150138195A - Method for submerging and guiding structures - Google Patents

Abstract

The present invention can accurately measure the position of a structure or work tool in the water from a distance from a work line in a wireless manner without using a cable in a simple and short time and to estimate the positional relationship between the existing structure and the newly constructed structure And to provide a method of inducing an infestation of a structure capable of grasping in real time and inducing a new structure to a predetermined position so as to be infested. The distance between the transponders T1, T2, T3 and T4 and the depth between the pair of transponders T1 and T2 provided on the existing structure or the pair of transponders T3 and T4 provided on the new structure The computer acquires the distance information and the depth information obtained by measuring the distance information and the depth information from the computer and obtains the position of the new structure in the computer from the PC in real time and derives a new structure for the existing structure, It is invited to do a lot of invasions.

Description

METHOD FOR SUBMERGING AND GUIDING STRUCTURES [0002]

In particular, the present invention relates to a method for inducing an infiltration of a structure, and more particularly, to a method for inducing an infiltration of a structure, in particular, by measuring a relative positional relationship between an existing structure immersed in water and a new structure to be newly flooded, To a method of induction.

This type of technology is used, for example, in construction sites where underwater tunnels are built, and construction sites where flood-forming blocks are submerged in the sea.

For example, in a construction project for a submarine tunnel, a number of sinking boxes are built in advance at the ground factories and transported to the site. Each sedimentation basin is a huge structure itself. In the construction site, submerged sediment is submerged one by one into the seabed in order and joined together to form a continuous tunnel.

A control tower and a pontoon are formed on existing sedimentation basin (hereinafter referred to as "existing sedimentation basin"), and a new sedimentation basin (hereinafter referred to as "new sedimentation basin" ), The new sedimentation tank was settled by the winch operation on the pontoon, and the diver measured the distance between the existing sedimentation tank and the new sedimentation tank, and at the same time, A method is known in which a new sedimentation tank is horizontally moved by a winch operation and joined to an existing sedimentation tank (for example, refer to Patent Document 1).

In this method, when the depth of the water becomes deeper, the control tower becomes longer, and the diver is difficult to measure the distance of the immense depression, so that the burden is increased.

Therefore, as another invasion method, the position of the work line is measured in real time using GPS (global positioning system), the new penetration vessel is moved from the work line to a predetermined position, A method of immersing the water in a seawater underwater (in the sea), moving horizontally while observing the position of the existing sedimentation tank with a CCD camera attached to a new seepage vessel, and bonding them to each other is known (see, for example, 2). The CCD camera and the work line are connected by a cable.

Japanese Patent Laid-Open No. 2002-13150 Japanese Patent Application Laid-Open No. 2004-44372

However, in the method of measuring the position of a work line in real time using GPS and using a winch from the work line to immerse a new penetration tank, that is, a new structure to the seabed, a new structure or work tool suspended from the work line And the like are shifted leftward and rightward, backward and forward from the position of the work line under the influence of algae. Further, when the depth of the water becomes deeper, the width of the position deviates due to the influence of algae becomes larger, and it is difficult to accurately grasp the position of the work line and the relative position of the new structural member or work tool. In addition, since the cable is connected between the CCD camera and the work line, if the depth of the water becomes deeper, the cable becomes longer and the work becomes difficult and the brightness of the water also lowers, which makes it difficult to capture the target with a camera .

Therefore, it is possible to measure the position of a structure or a working jig in the water from a remote work line by simply and in a short time, by using a wireless system that does not use a cable, and the positional relationship between the existing structure and the newly- And a method for inducing an infestation of a structure in which a new structure can be introduced to a predetermined position so that the infested structure can be invaded. SUMMARY OF THE INVENTION The present invention has been made to solve the above problems.

The present invention has been proposed in order to achieve the above object. The invention according to claim 1 is a method for inducing the relative position and induction of a new structure to be submerged in water to an existing structure immersed in water, A pair of rods R1 and R2 and a computer for signal processing PC are provided on the working line and transducers S1 and S2 capable of wirelessly transmitting and receiving signals to the lower ends of the pair of rods R1 and R2, (T1) and a pair of transponders (T1, T2) are disposed at a real distance (L1) from one end of the above-mentioned existing structure, and the GPS antenna (G1, G2) (L2) from the transponder (T3, T4) to one end side of the new structure, and the computer (PC) receives the signal from the GPS via the GPS antennas (G1, G2) The transmitter / S1, S2), distance information between the transponders (T1, T2, T3, T4) acquired by the signal from the transceiver (S1) and the transceiver (S1) T3 and T4 and distance information between the transponders T1, T2, T3 and T4 obtained by the signal from the transceiver S2 and the transceiver S2, T1, T2, T3, T4) of the new structure, and acquiring the position of the new structure in the water and deriving the new structure to the existing structure.

According to this method, the position information of the transceivers S1 and S2 acquired from the GPS by the wireless scheme, the distance information between the transponders T1, T2, T3 and T4 and the transceiver S1, T2, T3 and T4 and the distance information between the transponders T1, T2, T3 and T4 and the transceiver S2 and the distance information between the transponders T1, T2, T3 and T4, (PC), and from the information, the computer (PC) can grasp the position of the new structure in water in real time and induce a new structure to the existing structure and arrange them adjacent to each other.

After the new structure is approached to the existing structure, the computer (PC) transmits a pair of transponders (T3, T4) provided on the new structure or a pair of transponders (T1, T2) provided on the existing structure, The distance and the depth between the transponders T1, T2, T3 and T4 are measured by the transceivers S1 and S2 and the position of the new structure underwater from the depth information and the depth information transmitted to at least one of the transceivers S1 and S2 And the new structure is disposed adjacent to the existing structure, the accuracy can be further improved (claim 2).

The computer PC compares the measured distances between the actual distance L1 between the pair of transponders T1 and T2 and the transponders T1 and T2 and transmits them to the transceivers S1 and S2 By correcting various kinds of information, for example, the error due to the influence of the temperature and the specific gravity of seawater can be removed, and the accuracy can be further improved (claim 3).

It is also possible that the computer PC calculates the distance measured between the actual distance L2 between the pair of transponders T3 and T4 and the transponders T3 and T4 obtained through the transponders T3 and T4 Compared with this, by correcting various information to be transmitted to the transceiver (S1, S2), for example, the error due to the influence of the temperature and the specific gravity of the seawater can be removed, and the accuracy can be further improved.

If a pressure gauge is provided to each of the transponders T1, T2, T3 and T4 so that the depth information can be obtained simultaneously with the distance information of each transponder T1, T2, T3 and T4, (Claim 5).

A transponder T5 is provided on the same plane as the pair of transponders T3 and T4 at one end of the new structure and a sound wave is transmitted from the transceivers S1 and S2 to the transponder T5 The distance information and the depth information of the transceivers S1 and S2 and the transponder T5 are acquired and the inclination of the new structure is grasped so that even if the installation surface is tilted, (Refer to claim 6).

In addition, in the method of inducing a structure for inducing relative positioning and induction of a new structure with respect to an existing structure submerged in water, a pair of rods and a computer for signal processing (PC) are installed on a work line, (S1 and S2) capable of wirelessly transmitting and receiving a signal to the lower ends of the rods R1 and R2 of the pair of transponders T1 and T2, And a pair of transponders (T3, T4) are provided on one end side of the new structure opposite to the existing structure with a distance (L2) from each other, and the computer (PC) is installed on the existing structure The distances and depths between the transponders T1 and T2 are measured by a pair of transponders T1 and T2 or a pair of transponders T3 and T4 provided on the new structure to measure the distance and depth between the transponders T1 and T2, S1, S2) By identifying the position of the new structures in the water from the distance information and the depth information that is sent to, there is provided a method of inducing chimseol structure adjacent to the new structure with respect to the Existing Structure.

According to this method, a pair of transponders (T1, T2) provided on an existing structure or a pair of transponders (T3, T4) provided on a new structure by transponders (T1, T2 , T3, and T4, and acquires distance information and depth information obtained by measuring the depth and depth information of the new structure on the computer (PC) from the information, A new structure can be induced to the existing structure, so that the intrusion can be precisely performed.

According to the present invention, a computer (PC) easily and precisely grasps the position of a new structure with respect to an existing structure by a wireless system without using a cable, and a new structure is guided to the existing structure, Therefore, it is possible to improve the joining accuracy, reduce the cost required for embedding, and improve the economical efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view schematically showing a work line, an existing structure, a new structure, and the like for explaining a first embodiment of a method of inducing an infusion of a structure according to the present invention. Fig.
Fig. 2 is a perspective view schematically showing a work line, an existing structure, a new structure, and the like for explaining a second embodiment of a method for inducing an infusion of a structure according to the present invention.

According to the present invention, the position of a structure or work tool in the water can be measured simply and in a short time in a short time by a wireless system that does not use a cable, and the positional relationship between the existing structure and the newly- The present invention provides a method of inducing an infestation of a structure in which a new structure can be introduced into a predetermined position in real time, A method of inducing an infusion of a structure for positioning and induction, comprising the steps of providing a pair of rods (R1, R2) and a signal processing computer (PC) on a working line, (S1, S2) capable of wirelessly transmitting and receiving a signal to and from the lower side, GPS antennas (G1, G2) are attached to the upper end, The transponders T3 and T4 are disposed at a real distance L2 from one end side of the new structure opposite to the existing structure while the transponders T1 and T2 are disposed at a distance of the actual distance L1, The position information of the transceiver (S1, S2) obtained by the computer (PC) receiving a signal from the GPS via the GPS antenna (G1, G2) and the signal from the transceiver (S1) The distance information between the transponders T1, T2, T3 and T4 and the transceiver S1 and the distance information between the transponders T1 and T2 and the signal from the transceiver S2 The distance information between the transponders T1, T2, T3 and T4 and the transceiver S2 and the distance information between the transponders T1, T2, T3 and T4, And to guide the new structure to the existing structure By realized.

Hereinafter, a method of inducing an infestation of a structure according to an embodiment of the present invention will be described in detail as an example of constructing a subsea tunnel.

(Example)

Fig. 1 is a perspective view schematically showing a work line, an existing structure, a new structure, and the like for explaining the embodiment of Fig. 1 according to the embodiment of the present invention.

A pair of work lines 12A and 12B floated on the sea surface 11 in Fig. 1 are connected to a fresh sedimentation tank 14 as an existing structure already buried in the seabed 13, as a new structure (15) are hung with wires (17) derived respectively from the settling winches (16, 16) and transported to the construction site. When the new penetration tank 15 is moved to a predetermined position, the wire 17 is extended and immersed in the seabed 13 while measuring the distance between the existing penetration tank 14 and the new penetration tank 15 At the same time, the new sedimentation tank 15 is introduced to the existing sedimentation tank 14 to be submerged at the adjacent site, and then the existing sedimentation tank 14 and the new sedimentation tank 15 are fixed and bonded. This operation is carried out in order for each immersion, thereby forming a continuous tunnel. In addition, the working lines 12A and 12B to which the new sedimentation box 15 is suspended are not limited to one pair, but may be one or three or more.

The present invention relates to an incontinence induction method for inducing a new precipitator 15 to the existing precipitator 14, and FIG. 1 discloses a system configuration for performing the incontinence induction method. In this example, as shown in Fig. 1, the case in which each impregnation box 14, 15 is formed as a flat plate-like block shape elongated in the front-rear direction is described, but the present invention is not limited thereto.

First, in the system configuration shown in Fig. 1, when the standing turntable 14 is in the sea, a pair of transponders T1 and T2 fall in left and right directions at the rear end of the upper surface 14a, 14b and the distance L1 between the transponder T1 and the transponder T2 is actually measured and stored in a computer PC to be described later. The arrangement of the pair of transponders T1 and T2 may not necessarily be parallel to the rear end 14b.

On the other hand, the transponders T3, T4 and T5 are attached to the front end of the upper surface 15a and the pair of transponders T1 and T2 are attached to the rear end of the new transponder 15, Attach it. In Fig. 1, the transponders T1 and T2 on the side of the new impregnation box 15 are not shown. The transponders T3 and T4 are spaced apart from each other by a distance L2 and attached in parallel with the front end 15c of the new impregnation box 15 and the transponder T5 is attached to the transponder T3 from the rear (The end face 15b side) by a distance L3. The arrangement of the pair of transponders T3 and T4 does not necessarily have to be parallel to the front end portion 15c as in the case of the existing penetration receptacle 14. [ The distance L2 between the transponder T3 and the transponder T4 and the distance L3 between the transponder T3 and the transponder T5 are actually measured and stored in the computer PC do.

The front end 12a of the working line 12A hanging on the front end side of the new impregnation box 15 out of the pair of work lines 12A and 12B hanging the new penetration receptacle 15 is vertically extended A pair of rods R1 and R2 are attached to the right and left sides, respectively. The upper ends of the rods (R1, R2) project upward from the working line (12A), and the lower ends are submerged in water (underwater). GPS antennas G1 and G2 are attached to the upper end (public portion) side of each of the rods R1 and R2 and the transceivers S1 and S2 are attached to the lower end side in a water immersion state.

On the working line 12A, the computer (PC) is attached together with the linear processing apparatus. The computer PC is provided with position information of the transceivers S1 and S2 acquired by receiving signals from GPS via GPS antennas G1 and G2 and transponder T1 acquired by signals from the transceiver S1 T1, T2, T3, T4 and the transceiver S1, the distance information between the transponders T1, T2, T3, T4 and the transponder T1 acquired by the signal from the transceiver S2, , Distance information between the transponders T1, T2, T3 and T4 and distance information between the transponders T1 and T2 and the distance information between the transponders T1 and T2 and T3 and T4, It is possible to grasp the position of the new impregnation box 15 in the existing impregnation box 14 and to give an instruction to derive the new impregnation box 15 to the pre- Further, in the shipboard processing apparatus, the movement of the work lines 12A, 12B and the settling winch 16 and the like are operated in accordance with the instruction to flood the new sedimentation receptacle 15 in the adjacent position with respect to the existing sedimentation receptacle 14 So that the existing sedimentation tank 14 and the new sedimentation tank 15 can be joined.

Each of the rods R1 and R2 and the GPS antennas G1 and G2 and the transducers S1 and S2 and the computer PC are connected to a pair of operation lines 12A, In some cases.

Next, the operation of the system configured as described above will be described.

The transponders T1, T2, T3, T4 and T5 have built-in pressure gauges (to obtain depth by pressure) for the purpose of measuring the depth of field and simultaneously transmit the depth data to the transceivers S1 and S2 do. It is also possible to measure the distances between the transponders T1 and T2 and the distances between the transponders T1 and T2, T3, T4 and T5 from the transceivers S1 and S2, Function. The depth is measured by a pressure gauge built into the transponder (T1, T2, T3, T4, T5). In this case, the pressure gauges of the five transponders T1, T2, T3, T4, and T5 are suspended from the work line 12A at the same time, and calibration is performed at each depth.

Then, at the time of measurement, the position coordinates (X, Y, Z) of the transceivers S1 and S2 attached on the working line 12A are first obtained using the GPS.

The measurement of the position of the new impregnation box 15 emits sound waves from the transceiver S1 toward the transponders T3 and T4 to cause the reciprocating propagation of the sound waves between the transceiver S1 and the transponders T3 and T4 And the depth of each transponder T3 and T4 is transmitted to the transceiver S1. At the same time, a sound wave is emitted from the transceiver S2 to the transponders T3 and T4 to obtain the distance from the linear processing device from the round trip time between the transceiver S2 and the transponders T3 and T4.

Further, by processing the data in the computer (PC), the accurate position of the new sedimentation tank 15 in the water can be grasped. Since the positions of the new sedimentation tank 15 and the existing sedimentation tank 14 can be grasped, the relative positions of the new sedimentation tank 15 and the existing sedimentation tank 14 can be known. The posture of the new sedimentation box 15 can be grasped accurately by attaching the transponders T3, T4 and T5 to the new sedimentation box 15 and even if the installation surface in the seabed 13 is inclined, .

Fig. 2 is a perspective view schematically showing a work line, an existing structure, a new structure, and the like for explaining the second embodiment according to the embodiment of the present invention. The second embodiment uses an improved measurement method to further improve the accuracy in the method of measurement used in the system in the first embodiment shown in Fig. That is, in the first embodiment shown in FIG. 1, the public coordinates of the new penetration tank 15 and the existing penetration tank 14 are obtained using the GPS, but the inclination of the work lines 12A, 12B The plane X and Y coordinates of the transceivers S1 and S2 are changed by the inclination, and the entire positional accuracy is poor.

Therefore, the measurement method used in the system according to the second embodiment is configured to solve the drawbacks. The measurement method of the present embodiment, except for the GPS measurement of the transducers S1 and S2 used in the first embodiment, (T1, T2) on the transponder (14) as a starting point. Therefore, the same constituent parts as those of the system configuration shown in FIG. 1 are denoted by the same reference numerals, and a duplicate description will be omitted, and differences from the first embodiment will be described below.

In Fig. 2, the existing sedimentation tank 14 is provided in the seabed 13. The transponders T1 and T2 are fixed points and the distances L1 and L2 are known lengths and the transponders T3, T4 and T5 on the new immersion box 15 are regarded as floating points.

The distance L4 between the transponder T4 and the transponder T2 and the depth L5 and the distance between the transponder T4 and the transponder T1 are measured by the transponder T4 And transmits the information to the transceiver S1. Similarly, the distance and depth between the transponder T3 and the transponder T1 and the distance and depth between the transponder T3 and the transponder T2 are measured by the transponder T3, To the transceiver S1. In addition, depth information is obtained by measuring the distance L5 between the transponder T4 and the transponder T1 from time to time from the transceiver S1.

Then, the computer (PC) computes the measurement information, and grasps the relative positions of the existing penetration tank 14 and the new penetration tank 15.

In order to measure the distance between the existing penetration tank 14 and the new penetration tank 15, the depth of the water (hydraulic pressure) and the overall propagation distance along the sound waves of the transponders T1, T2, T3, T4 and T5 , The accuracy becomes a problem. The depth is measured by a pressure gauge built into the transponder (T1, T2, T3, T4, T5). It can be solved by preliminarily suspending the pressure gauges of the five transponders T1, T2, T3, T4 and T5 from the working line 12A and performing calibration at each depth.

However, since the distances measure the overall distance of the reciprocating waves of the sound waves, errors occur due to the influences of seawater temperature, specific gravity, etc., so that the transponders T1, T2, T3, T4 and T5 are calibrated to eliminate errors. That is, by comparing the actual distance L1 of the transponders T1 and T2 with the distances between T1 and T2 in the water, it is possible to correct the measurement distances of the transponders T1, T2, T3, T4 and T5 have. T3 and T4 are corrected similarly. Since the new sedimentation box 15 is finally approaching the distance of several meters from the existing sedimentation tank 15, it can be performed again when the measurement is approached to improve the accuracy.

Therefore, according to each embodiment of the present invention, the computer (PC) easily and precisely grasps the positions of the existing structural body 14 and the new structural body 15 by a wireless system without using a cable, The new structural body 15 can be guided to the adjacent structural body 14 and can be disposed simply and precisely at an adjacent position. Therefore, the bonding accuracy can be improved, the cost required for embedding can be reduced, Can be expected.

Further, the present invention has been described by taking the case of constructing a submarine tunnel as an example. However, the present invention is not limited to this, and it can be widely applied to a construction for embedding a structure in water, such as a block for forming a fishing reef in the sea.

Further, the present invention can be modified in various ways without departing from the spirit of the present invention, and it goes without saying that the present invention is modified as described above.

The present invention enables precise measurement and can be widely used as a distance measuring means in water.

11: Sponges
12A, 12B: work line
12a:
13: Sea floor
14: Built-in sink (existing structure)
14a: upper surface
14b: rear section
15: New tampers (new structure)
15a: upper surface
15b: rear section
15c:
16: Winch for sedimentation
17: Wire
PC: Computer
T1 to T5: Transponder
L1: Distance between T1 and T2
L2: Distance between T3 and T4
L3: Distance between T3 and T5
L4: Distance between T1 and T3
R1, R2: Load
G1, G2: GPS antenna
S1, S2: Transmitter

Claims (7)

There is provided a method of inducing an infiltration of a structure for relative positioning and induction of a newly infiltrated new structure with respect to an existing structure submerged in water is provided with a pair of rods and a signal processing computer (PC)
(S1, S2) capable of wirelessly transmitting and receiving signals to and from the lower ends of the pair of rods (R1, R2), GPS antennas (G1, G2) A pair of transponders T1 and T2 are installed at a real distance L1 and the transponders T3 and T4 are spaced apart from each other at a real distance L2 to one end side of the new structure facing the existing structure and,
The position information of the transceiver (S1, S2) obtained by the computer (PC) receiving a signal from the GPS via the GPS antenna (G1, G2) and the signal from the transceiver (S1) The distance information between the transponders T1, T2, T3 and T4 and the transceiver S1 and the distance information between the transponders T1 and T2 and the signal from the transceiver S2 The distance information between the transponders T1, T2, T3 and T4 and the transceiver S2 and the distance information between the transponders T1, T2, T3 and T4, , And deriving the new structure to the existing structure. The method according to claim 1, characterized in that after the new structure is approached to the existing structure by the method of inducing the structure according to claim 1, the computer (PC) is connected to a pair of transponders (T1, T2) The distances and depths between the transponders T1, T2, T3 and T4 are measured by the pair of transponders T3 and T4 provided and the distance information and depth information transmitted to at least one of the transceivers S1 and S2 Identifying the position of the new structure underwater from the information, and adjoining the new structure with respect to the existing structure. 3. The method of claim 2,
The computer PC compares the measured distances between the actual distance L1 between the pair of transponders T1 and T2 and the transponders T1 and T2, ≪ / RTI > wherein the information is corrected. The method of claim 3,
The computer PC compares the measured distance between the actual distance L2 between the pair of transponders T3 and T4 and the transponders T3 and T4 obtained through the transponders T3 and T4 , And corrects various kinds of information to be transmitted to the transceiver (S1, S2). 5. The method according to any one of claims 1 to 4,
A pressure gauge is provided to each of the transponders T1, T2, T3 and T4 so that the depth information can be acquired simultaneously with the distance information of each transponder T1, T2, T3 and T4, . 6. The method according to any one of claims 1 to 5,
A transponder T5 is provided on one side of the new structure on the same plane as the pair of transponders T3 and T4 and a sound wave is emitted from the transceivers S1 and S2 toward the transponder T5 , The distance information and the depth information of the transceiver (S1, S2) and the transponder (T5) are acquired, and the inclination state of the new structure is grasped. There is provided a method of inducing an infiltration of a structure for relative positioning and induction of a newly infiltrated new structure with respect to an existing structure submerged in water is provided with a pair of rods and a signal processing computer (PC) (S1 and S2) capable of wirelessly transmitting and receiving a signal to and from the lower ends of the pair of rods (R1 and R2), and a pair of transponders (T1 and T2) And a pair of transponders (T3, T4) are provided on one end side of the new structure opposite to the existing structure with a distance (L2) from each other, and the computer (PC) The distance and the depth between the transponders T1 and T2 are measured by a pair of transponders T1 and T2 installed on the new structure or a pair of transponders T3 and T4 provided on the new structure, Of the transceivers (S1, S2) And grasping the position of the new structure underwater from the distance information and the depth information transmitted to at least one of the plurality of existing structures, and causing the new structure to be adjacent to the existing structure.

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