JP3022643B2 - Underwater reference point surveying method and underwater reference point surveying device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater reference point for measuring an underwater reference point of a transponder which is installed underwater and responds to an ultrasonic wave in order to determine an underwater position of an underwater working robot or the like.
The present invention relates to a surveying method and an underwater reference point surveying device.

[0002]

2. Description of the Related Art When constructing a structure underwater or on the water surface such as a seashore or a seabed, it is natural that a survey based on a construction plan is required as in the case of land. However, there are no landmarks at all, marking the sea surface,
It is often impossible to attach tapes for surveying, unlike on land. Therefore, there is a method of determining the position of the underwater working robot or the like using the known underwater position near the quay as a reference point. However, in this method, for an underwater working robot or the like offshore, good accuracy cannot be expected because the robot is too far from the reference point. Also, it is difficult to set a reference point in a place without a quay or the like.

Therefore, there is a type in which a transponder responding to ultrasonic waves is installed near a working position, and this transponder is used as an underwater reference point. This method will be described with reference to FIG. FIG. 5 shows a method for determining the position of the underwater working robot 9 by the LBL (Long Base Line System) method. In this LBL system, three transponders 1, 2, 3 are installed on the sea floor, and these transponders 1, 2, 3 are set in advance.
The positions serving as the reference points for the underwater working robot 9 are measured beforehand, and transponders 1, 2, 2, and
By receiving the response from the underwater robot 3, the relative position of the underwater robot 9 with respect to the transponders 1, 2, and 3 whose reference points are known is measured. That is, the reference point is (x ₁ , y ₁
, z ₁ ), (x ₂ , y ₂ , z ₂ ), (x ₃ , y ₃ ,
z ₃ ), which is the distance L1, from the transponders 1, 2, 3
L2 and L3 are obtained, and the relative position (X, Y, Z) of the underwater working robot 9 is calculated from the following equations. L1 ² = (X − x ₁ ) ² + (Y − y ₁ ) ² + (Z − z ₁ ) ² L2 ² = (X − x ₂ ) ² + (Y − y ₂ ) ² + (Z − z ₂ ) ² L3 ² = (X − x ₃ ) ² + (Y − y ₃ ) ² + (Z − z ₃ ) ²

The measurement of the reference points of the transponders 1, 2, 3 is performed as follows. Crane 5A of work boat 5
A mirror 6 is provided at a tip-hanging position, and a position of the mirror 6 is measured (a distance L and a direction γ are measured) by a lightwave surveying device 7 installed at a known point on the shore. And
At the same time as measuring the hanging position of the crane 5A, the transponder lowered by the crane 5A is submerged on the sea floor. In this way, the transponders 1, whose reference points are known,
2 and 3 are installed underwater.

[0005]

The crane 5A described above.
In the method of measuring the hanging position of the tip and sinking the transponder, the hanging position and the underwater position differ due to the influence of the tide and the like before the transponder sinks to the seabed. In addition, the work boat 5 swings due to waves and the like, and the position of the mirror 6 at the tip of the crane 5A also changes. As described above, the conventional method has a problem that the accuracy error of the reference point increases.

The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to provide an underwater reference point surveying method with excellent reference point accuracy . It is another object of the present invention to provide a compact underwater reference point surveying device.

[0007]

To achieve the above object, according to the Invention The underwater reference point surveying method of the present invention is formed by placing a Tonrasuponda to respond to ultrasound in water
In the method of measuring an underwater reference point, a floating body capable of measuring the absolute position of latitude and longitude and measuring the distance to the transponder is floated on the sea near the transponder, and the floating body has at least two points on the sea. simultaneously measuring the absolute position of, by該浮body for measuring a distance to the Tonrasuponda, it is characterized in that surveying of the water reference point of the Tonrasuponda.

[0008] As an underwater reference point surveying device, water
To install a transponder that responds to ultrasonic waves inside
In the device for measuring the underwater reference point formed by
The body, a receiver for global positioning system absolute position of latitude and longitude can be measured, and a transceiver for measuring a distance to the Tonrasuponda, there in the distance data and the absolute position data of the receiving portion of said transmission reception unit Ri Na and a memory unit for recording those measured simultaneously Te, the memory unit
From the absolute position data and the distance data
Can calculate the underwater reference point of the torus sponger.
It is characterized by having made it so that.

[0009]

The absolute position of a floating body on the sea is measured and becomes a reference point on the sea. If the distance to the transponder is measured simultaneously with the measurement of at least two sea reference points, a known floating point is obtained.
Depending on the distance from the sea reference point of the point to the transponder,
The position of the transponder is determined. The floating body is small, has stability against waves, and has excellent accuracy as a reference point at sea.

[0010] Then, a memory unit provided in the floating body stores simultaneously measured data of the distance data transmission and reception unit for measuring a distance to an absolute position data and the transponder receiver for measuring the absolute position of latitude and longitude, The calculation after the floating body is collected determines the underwater reference point of the transponder.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an underwater reference point surveying method of the present invention, FIG. 2 is a block diagram of equipment used in the underwater reference point surveying method, and FIGS. 3 and 4 are diagrams showing a floating type reference point surveying device.

FIG. 1 shows a case of the LBL system in which three transponders 1, 2, and 3 are used as underwater reference points, similarly to FIG. The transponders 1, 2, and 3 are submerged in advance in the sea near the location where the building is installed. And
The floating body 8 is located on the sea near the transponders 1, 2, and 3. The floating body 8 has the antenna 11 of the receiver for the global positioning system set up, and the ultrasonic transducer 12 of the transmitter / receiver for ultrasonic distance measurement is projected under the sea. In addition, this floating body 8
Is moved by a boat 13 or the like (towing or boat 13
And then float again after collection). The principle of the survey using the floating body 8 is as follows. First, floating body 8
In the first marine point P ₁ of the by receiving location signals from a plurality of Global Positioning System geostationary satellites by the antenna 11 of the receiving unit for a global positioning system, the floating body 8
Are measured (X ₁ , Y ₁ , Z ₁ ). The Global Positioning System uses, for example, a Nabster satellite of the United States Air Force, and is a system that can measure the absolute position on the ground surface with high accuracy. Simultaneously with the measurement of the absolute position, the transponder 1 for the interrogation signal from the ultrasonic transducer 12 of the floating body 8 is used.
The distances M11, M12, and M13 from the floating body 8 to the transponders 1, 2, and 3 are measured based on the response signals of the units 2 and 3. The measurement of the absolute position of the floating body 8 and the measurement of the distance to the transponders 1, 2, and 3 are performed simultaneously, and the measurement data is stored. Then, the floating body 8 is moved to the second marine point P _2. Then, in the second marine point P _2, the floating body 8
(X ₂ , Y ₂ , Z ₂ ) and the distances M21, M22, M23 from the floating body 8 to the transponders 1, 2, 3 are simultaneously measured and stored. After all, the first sea point P ₁ (X ₁ ,
Y ₁ , Z ₁ ) and the second marine point P ₂ (X ₂ , Y ₂ , Z ₂ ) are marine reference points, and the distance M 11 from these marine reference points P ₁ , P ₂ to the transponders ₁ , ₂ , 3 , M12, M13 and M21, M22, M23, the positions (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ),
(X ₃ , y ₃ , z ₃ ) is measured.

The above-described method is based on the premise that the floating body 8 measures the absolute position and the distance to the transponder at the same time. A specific device configuration for realizing the simultaneous measurement will be described with reference to FIG. In FIG. 2, 1, 2 and 3 are transponders, 14 and 15 are global positioning system geostationary satellites, 8
Indicates a floating body . The floating body 8 includes a receiving unit 16 for the global positioning system, a memory unit 17, and a transmitting / receiving unit 18 for ultrasonic measurement. The receiving unit 16 includes a receiving circuit 16
A and a measuring circuit 16B, the memory unit 17 includes a memory 17A and a timer 17B, and the transmitting and receiving unit 18 includes a response circuit 18A and a transducer 18B. Timer 17B
, The receiving unit 16 and the transmitting / receiving unit 18 start measurement at the same time. A receiving circuit 16A receives position signals from a plurality of global positioning system geostationary satellites,
B measures the absolute position of the floating body 8. This absolute position data is recorded in the memory 17A. The floating body 8 emits an interrogation ultrasonic signal from the transducer 18B,
Receiving the response ultrasonic signals from the communication circuits 2 and 3;
Calculates the distances to the transponders 1, 2 and 3, and the distance data is recorded in the memory 17A in pairs with the absolute position data. Then, after collecting the floating body 8, these data are taken out, and the underwater reference points of the transponders 1, 2, and 3 are calculated. Instead of using the timer 17B, a control signal may be sent to the floating body 8 as a measurement timing, and the receiving unit 16 and the transducer 18 of the floating body 8 may be simultaneously operated.

Next, the construction of the floating type reference point surveying device will be described with reference to FIGS. FIG. 3A is a top view, and FIG.
(B) shows a side view, and the floating reference point surveying device 20
A buoyancy float 22 is provided around a floating shaft 21. An ultrasonic vibrator 24 is attached to the tip of a telescopic shaft 23 provided on the lower surface of the floating shaft 21. An antenna 26 for a global positioning system is attached to the tip of a two-stage telescopic shaft 25 provided on the upper surface of the floating shaft 21. The receiving unit, the memory unit, and the transmitting / receiving unit of FIG. 2 are housed in the center of the floating shaft 21. The buoyancy float 22 of the floating type reference point surveying device 20 can evacuate air, and the shafts 23 and 25 can be stored in the floating shaft 21 so that it can be made compact and easy to carry.

FIG. 4 (a) is a top view, and FIG. 4 (b) is a side view. The floating type reference point surveying device 30 has detachable tripod legs 32, 33 on the upper and lower surfaces of a triangular plate 31 of foam material. Is installed. An ultrasonic transducer 34 is attached to the tip of the lower tripod foot 32, and an antenna 35 of the global positioning system is attached to the tip of the upper tripod foot 33. The receiving unit, the memory unit, and the transmitting / receiving unit of FIG. 2 are housed in the center of the triangular plate 31. By detaching the tripod legs 32 and 33, the floating- type reference point surveying device 30 becomes compact and easy to carry. When using any of the floating reference point surveying devices 20 and 30, a work boat equipped with a crane or the like is not required during the measurement, so that even in the vicinity of the navigation route, it does not disturb the passing ship, and the best surveying is performed. Points can be selected. In addition, since it is a floating body , it has excellent stability against shaking and falling due to waves. Further, the antennas 26 and 35 and the ultrasonic vibrator 24,
Since the interval between the distances 34 can be reduced, the measurement error caused by the fluctuation of the floating body due to the waves can be reduced.

[0016]

Since the present invention has the above-described configuration,
The following effects are obtained. Underwater reference point surveying method of the present invention, installed Tonrasuponda to respond to ultrasound in water
To measure the underwater reference point formed by
Oite, floated floating capable of measuring the distance to the transponder with the absolute position of the sea in the latitude and longitude of transponders vicinity can be measured, at least該浮body sea 2
Simultaneously measuring the absolute position of the point, by該浮body for measuring a distance to the Tonrasuponda, it is characterized by surveying the water reference point of the Tonrasuponda
You . This configuration floating body serves as a reference point for sea by measuring the distance from the sea reference point of known two points to the transponder. Thus the position of the transponder is determined, where fast remote power flow from the coast Even underwater transponders can accurately measure their underwater position. In addition, since the floating body is small and has stability against waves and has high accuracy as a reference point at sea, the best surveying point can be selected simply by carrying on a small boat or the like and floating, and a surveying error can be reduced.

Then, the reference point surveying device uses ultrasonic waves in water.
Formed by installing a torus sponger that responds to
An apparatus for surveying underwater reference point, floating body, and a global positioning system receiver unit which absolute position can be measured in latitude and longitude, and a transceiver for measuring a distance to the Tonrasuponda, distance data of said transmission receiver and Ri Na and a memory unit for recording the one measured at the same time be an absolute position data of the receiving portion, the said memory unit has
By calculating from the absolute position data and the distance data,
So that the underwater reference point of the torus ponder can be calculated.
It is characterized by having. With this configuration, the floating body
The data is taken out of the memory after surveying
Since the underwater reference point can be calculated by using the apparatus , the number of devices to be equipped with the apparatus itself is reduced, and a small and easy-to-handle reference point surveying apparatus can be provided.

[Brief description of the drawings]

FIG. 1 is a diagram showing an underwater reference point surveying method of the present invention.

FIG. 2 is a block diagram of an apparatus used for an underwater reference point surveying method.

FIG. 3 is a view showing a floating type reference point surveying device.

FIG. 4 is a diagram showing another floating type reference point surveying device.

FIG. 5 is a diagram showing a conventional underwater reference point surveying method.

[Explanation of symbols]

1,2,3 transponder, 8,20,30 floating body 16 receiving unit 17 memory unit 18 transmitting / receiving unit

Continuation of front page (56) References JP-A-63-36179 (JP, A) JP-A-63-36174 (JP, A) JP-A-4-120489 (JP, A) JP-A-63-222279 (JP) , A) JP-A-59-159078 (JP, A) JP-A-54-115266 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S 5/18-5/30 G01S 7/00-7/42 G01S 15/00-15/96 G01C 3/20

Claims (2)

(57) [Claims] 1. A surveying underwater reference points formed by placing a Tonrasuponda to respond to ultrasound in water
In the method, measuring the distance to the transponder with the absolute position of the sea on the latitude and longitude of the transponder near measurable
The floating body measures the absolute position of at least two points on the sea, and the floating body measures the distance to the torus sponger, whereby the underwater reference point of the torus sponger is measured.
Underwater reference point surveying method characterized by surveying the. 2. A transponder responsive to ultrasonic waves in water.
Surveying the underwater reference point formed by installing
In the apparatus, the floating body, a receiving unit for Global Positioning System absolute position of latitude and longitude can be measured, and a transceiver for measuring a distance to the Tonrasuponda, absolute position of the distance data and the reception section of said transmission reception unit a data Ri name and a memory unit for recording those measured simultaneously, the distance data and the absolute position data the memory unit has
Data from the underwater base of the torn sponger
An underwater reference point surveying device characterized in that reference points can be calculated .