JP3406882B2 - Demolition of underwater structures - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an underwater structure dismantling method for dismantling an underwater structure such as footing.

[0002]

2. Description of the Related Art For example, when a bridge laid in a river or the like is demolished and a new bridge is laid, it is necessary to remove underwater structures such as footings. In this case, in order to properly remove the footing, it is desirable to perform the operation while grasping the positional relationship between the crushing device and the footing and the shape change of the footing. However, it is difficult to directly see the work situation underwater, so
When the crushing device is moved, the device may come into contact with the footing and may not be able to move smoothly, or the crushing device may move to a crushed location again, resulting in deterioration of work efficiency.

[Problems to be Solved by the Invention]

In order to solve such a problem, for example,
It is conceivable to work while indirectly monitoring the surface of the footing using an underwater camera, or to detect the footing shape immediately after crushing using an ultrasonic detector. However, crushed powder (waste) at the time of crushing or immediately after crushing
It is difficult to monitor with an underwater camera because the water is turbid due to the scattering of water, and when an ultrasonic detector is used, the ultrasonic waves from the detector are reflected by the crushed debris. It is also difficult to detect. As a result, when crushing,
Alternatively, the shape change of the footing cannot be accurately grasped immediately after crushing, and the work in water cannot be performed efficiently.

As another method, it is conceivable to automatically move the crushing device according to a crushing pattern registered in advance to crush the footing. However, in this method, even if it is preferable to change the movement pattern of the crushing device from the viewpoint of work efficiency, the crushing device cannot be freely moved by the intention of the operator, and the degree of freedom of work is restricted. It Further, the control of the crushing device becomes complicated, and the cost increases.

An object of the present invention is to provide a method of dismantling an underwater structure for easily crushing an underwater structure such as footing.

[0006]

An embodiment will be described with reference to FIGS. (1) In the invention of claim 1, the underwater structure in which the underwater structure 13 is disassembled by driving the arms 4 to 6 attached to the working machine body YS and the work attachment 7 attached to the tip of the arm by an operation on the ground. It is a method of dismantling a structure, and the dismantling method schematically displays the step of detecting the position of the work attachment 7 with respect to the underwater structure 13, and at least the underwater structure 13 and the work attachment 7 on the display device 42. Steps, steps for moving the work attachment 7 so that the work attachment 7 contacts the underwater structure 13 on the display device, and the work attachment 7
Driving the vehicle to crush a predetermined location of the underwater structure, detecting the crushing of the predetermined location of the underwater structure 13 by the work attachment 7, and responding to the detection of the crushing to the underwater structure on the display device. A process of changing the display form of 13 to a form after crushing, and a device 70 for discharging the crushed pieces of the underwater structure 13.
The above-mentioned object is achieved by including the step of discharging at. (2) In the invention of claim 2, the dismantling method is the work machine body Y.
The step of moving S is performed, and the position of the work attachment 7 is detected based on the moving amount of the working machine body YS. (3) In the invention of claim 3, the demolition method includes a step of measuring the shape of the underwater structure 13 after crushing with the ultrasonic measuring device 71, and based on the measurement result, The display form is changed. (4) In the invention of claim 4, the dismantling method further crushes information corresponding to the display form after crushing, and the crushing performance management device 35
It includes the process of outputting to A and managing the output of crushing work. (5) In the invention of claim 5, the demolition method is the underwater structure 1
3, the step of detecting the position of the discharging device 70 with respect to 3, the step of displaying the discharging device 70 on the display device 42, and the step of moving the discharging device 70 so that the discharging device 70 is located in the crushed area on the display device. And a step of detecting the discharge operation of the crushed pieces by the discharge device 70, and a step of changing the display form changed after the crushing to the display form after discharge based on the detection of the discharge operation of the discharge device 70. (6) In the invention of claim 6, the dismantling method further discharges information corresponding to the display form after discharging, and the discharge amount management device 35.
It includes the process of outputting to B and managing the amount of discharge work.

In the section of the means for solving the above-mentioned problems for explaining the structure of the present invention, the drawings of the embodiments of the invention are used for the purpose of making the present invention easy to understand. It is not limited to this form.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, a method for removing footing will be described as an example of a method for dismantling an underwater structure. FIG. 1 is a side view of a shovel work vehicle YS that performs a footing removal operation. As shown in FIG. 1A, a work vehicle YS includes a traveling body 1, a revolving structure 2 rotatably mounted on the traveling structure 1, and a work device 3 attached to a vehicle front portion of the revolving structure 2. Have. The crushing work device 3 includes a long boom 4 rotatably supported by the revolving structure 2.
And an arm 5 pivotally supported on the tip of the boom 4.
And a slide arm 6 slidably mounted along the arm 5, and a breaker 7 rotatably supported at the tip of the slide arm 6. The chisel 7a at the tip of the breaker vibrates at a high frequency due to the switch operation from the driver's seat, and the footing is broken by this.
The boom 4 is rotated by expansion and contraction of the boom cylinder 8, and the arm 5 is rotated by expansion and contraction of the arm cylinder 9. The slide arm 6 slides as the slide cylinder 10 expands and contracts, and the breaker 7 rotates as the bucket cylinder 11 expands and contracts. These cylinders 8 to 11 are driven by lever operation from the driver's seat. Cylinder 8-11
The working range of the working device 3 due to expansion and contraction is as illustrated. In the operation of discharging the crushed material, a clamshell bucket 70 (hereinafter referred to as a bucket) as shown in FIG. 1B is attached to the tip of the slide arm 6. The bucket 70 is opened and closed by the expansion and contraction of the bucket cylinder 11.

FIG. 2 is a side view showing a state during footing removal work, and FIG. 3 is a plan view thereof. As shown in FIGS. 2 and 3, a footing 13 having a substantially trapezoidal cross section is provided above the foundation pile 12 cast at the bottom of the river. The old bridge pier 15 was erected on the upper part of the footing 13, but it will be demolished by some method before the footing removal work. When the footing removal work is performed, the pedestal 14 is temporarily installed around the footing 13, and the steel plate 16 is laid on the pedestal 14. The work vehicle YS is movably mounted on the steel plate 16, and the work device 3 is driven in this state to mainly remove the footing 13 on the front side of the steel plate 16. In addition, the work vehicle YS is lightweight, and the pedestal 1
4 may also have a relatively simple configuration.

In the present embodiment, the work is performed while displaying the footing 13 and the breaker 7 on the display device 42 such as a monitor. A block diagram of the display device is shown in FIG.
Although not shown in FIGS. 1 to 3, the revolving structure 2 is provided with an inclination sensor 21 for detecting the inclination angle of the vehicle body, and the boom 4
A boom angle sensor 22 that detects the angle of the boom 4 with respect to the revolving structure 2 is provided at the base end of the. The arm cylinder 9, the slide cylinder 10, and the bucket cylinder 11 are provided with an arm stroke sensor 23, a slide stroke sensor 24, and a bucket stroke sensor 25 that detect the stroke amounts of the cylinders 9, 10, and 11, respectively, and the breaker 7 has a chisel. A pressure sensor 26 for detecting the load acting on 7a is provided. Further, the revolving structure 2 is equipped with a computing device 40, a relay box 41, a display device 42, a power supply 43, and the like.

The position of the base end of the boom 4 which moves with the work vehicle YS is measured by an automatic tracking type total station. Hereinafter, the automatic tracking type total station will be described with reference to FIG. As shown in FIG.
Projectors 29A and 29B for emitting infrared rays having different frequencies are mounted on the right rear portion and the left central portion of the revolving unit 2. The infrared rays emitted from the light projecting devices 29A and 29B are measured by the surveying instruments 30A and 3A arranged at predetermined positions X1 and X2.
The light is received at 0B, and the distance, horizontal angle, and vertical angle to the light projecting devices 29A, 29B are measured by the surveying instruments 30A, 30B. These distance data are transmitted by the transmitter 31
It is transmitted from A and 31B to the receiver 32 provided on the revolving structure 2, and the position of the boom base end portion from the reference point (for example, the position X1) is calculated by the arithmetic unit 40 connected to the receiver 32. The position (shape) of the footing 13 from the reference point X1 is known in advance as design data (footing data described below), and the position of the boom base end portion with respect to the footing 13 is thus known.

As shown in FIG. 4, in the arithmetic unit 40, a body inclination sensor 21, a boom angle sensor 22, an arm stroke sensor 23, a slide stroke sensor 24, and a bucket stroke sensor 25 are passed through a relay box 41. The pressure sensor 26 and the power source 43 are connected to each other, and the display device 42 and the keyboard 47 are provided in addition to the receiver 32 described above without the relay box 41.
And the transmitter 33 are connected to each other. Receiver 32
Is also connected to the power supply terminal of the relay box 41. The transmitter 33 transmits information regarding work to the receiver 34 of the base station.
Send to. A performance management device 35 for processing work data is connected to the receiver 34, and information regarding work, for example, data concerning work performance, is stored in the memory of the performance management device 35 as a performance file. The volume management device 35 is a crushing volume management device 35A for crushing work.
And a discharge volume management device 35B for discharge work.

The arithmetic unit 40 includes an arithmetic unit 44 such as a CPU.
A RAM 45 for temporarily storing data, and an interface 46A for reading data from a disk-type flash memory 46. Flash memory 4
Reference numeral 6 stores footing data, which is shape data of the footing 13, as it is even when the power of the arithmetic unit 40 is turned off.
Two types of flash memory 46 are prepared: a flash memory 46B for crushing work and a flash memory 46C for discharging work. The calculation unit 44 executes predetermined processing based on the input signals from the sensors 21 to 25 and the keyboard 47, outputs an image signal to the display device 42, and
Information regarding work is transmitted from the transmitter 33 to the receiver 34.

The footing data stored in the flash memory 46 will be described. As shown in FIG. 5, the footing shape is represented by a stack (dotted line) of a three-dimensional block (for example, a cube having a length of 20 cm) having a predetermined volume. The footing data is stored in CSV format, and a spreadsheet S (data format of spreadsheet application software) corresponding to a projection view of the footing 13 on the XY plane is created by the footing data. Footing 1 for spreadsheet S
A cell is provided corresponding to each block on the XY plane of 3,
The cell layout matches the block layout. The flash memory 46 stores the position (x coordinate, y coordinate) of the cell a11 corresponding to a predetermined block (for example, B11) from the reference point X1. The interval between cells is the length of one side of the block (2
0 cm), and thus cell a11 as described above.
By giving the coordinates of, the planar shape of the footing 13 from the reference point X1 is grasped by the spreadsheet. The number in each cell is the height of the stacked blocks (z
Coordinates), and when a part of the upper surface of the footing is crushed by the footing removing work, the numerical value on the sheet is updated, and the updated data is stored in the flash memory 46. The size of one block is determined by previously verifying the volume that is crushed by one pressing operation of the breaker 7.

The calculation unit 44 executes the following processing, for example. (1) The position of the chisel 7a or the bucket 70 based on the boom base end is calculated based on the detection values from the position calculation sensors 21 to 25 of the work device 3. Then, the position of the base end portion of the boom 4 with respect to the footing 13 obtained by the automatic tracking type total station described above is read through the receiver 32, and the position of the chisel 7a or the bucket 70 with respect to the footing 13 is calculated by this.

(2) Determination of crushing of the footing 13 The footing data is read from the flash memory 46B and the height given to the upper surface of the block of the footing 13 is calculated. Then, the height is compared with the height data of the chisel 7a calculated as described above. Chisel 7
When the height of a is lower than the height of the footing block by one block (20 cm in the present embodiment), it is determined that one block of the footing has been crushed, and the footing data, that is, the numerical value on the spreadsheet is one block lower. To the flash memory 46B.

(3) Judgment of discharge of crushed material Footing data before crushing start is written in the flash memory 46C in advance, the footing data is read from the flash memory 46C, and footing data after crushing is completed from the flash memory 46B. Read. Based on these two types of footing data, the height of the upper surface of the block of the footing 13 before the start of crushing and the height of the upper surface of the block of the footing 13 after the end of crushing are calculated. The difference between the two is footing 13
Represents the area of the block (see FIG. 12). Then, based on the position data of the bucket 70, it is determined whether or not the bucket 70 has moved to the area of the block of the footing 13 that has already been excavated, and the bucket 70 has performed the opening / closing operation. As a result, it is determined that the crushed scraps around the bucket 70, strictly speaking, the crushed scraps inside the movement trajectory of the bucket tip portion when the bucket is opened and closed are taken into the bucket, the footing data is updated, and the flash memory 46C is updated. Write in.

Based on the position data of the working device 3 and the footing data calculated in this way, the arithmetic section 44 generates an image signal and outputs it to the display device 42. By this signal output, the position of the work device 3 and the shape of the footing 13 are schematically displayed on the display device 42, for example, as shown in FIGS. The operator executes the footing removal work while visually observing the display on the display device 42.

Next, the construction procedure of the footing removing work will be specifically described. (1) Setup Work In removing the footing, first, as shown in FIGS. 2 and 3, the breaker 7 is attached to the tip of the slide arm 6 as a work attachment, and the work vehicle YS is moved onto the steel plate 16 above the footing. To do. Then, the flash memory 46B for crushing work is inserted into the arithmetic unit 40, and the power is turned on. When the power is turned on, the display device 42
Displays the initial screen. On the initial screen, the site name and footing number are input to identify the footing 13 that is the target of the removal work. The site name and footing number are digitized in advance, and the operator inputs the site name and footing number by operating the ten keys. As a result, the footing data is read from the flash memory 46B to the R
It is read into AM45.

Next, the initial values of the stroke sensors 23 to 25, which are digital sensors, are reset. As shown in the position A of FIG.
With the bucket cylinder 11 maximally extended and the bucket cylinder 11 maximally expanded, for example, by operating the “reset” key of the keyboard 47. As a result, the sensor output is reset to zero.

Then, for example, when the "crushing start" key of the keyboard 47 is operated, as shown in FIGS. 6 to 8, the footing 13 is block-displayed on the display device 42 based on the footing data and the sensors 21 to 25. Then, the breaker 7 and the work vehicle YS are displayed based on the signal from the receiver 32. Immediately after the operation of the "start" key, the display device 42 displays a reduced side view as shown in FIG. The side view displayed here is a vertical cross-sectional view (a cross-sectional view taken along line VI-VI in FIG. 7) in the vertical direction directly below the working device 3.
The working radius of the tip of the chisel 7a (tip working radius) and the depth (tip depth) are digitally displayed on the display device 42. When the tip working radius becomes equal to or larger than a predetermined value, an alarm device (not shown) is activated to prohibit the driving of the working device 3 such that the working radius becomes large, whereby contact with an obstacle other than the footing is prevented. To be prevented.

When the "plane" key of the keyboard 47 is operated from the state of FIG. 6, the image display is changed and a reduced plan view as shown in FIG. 7 is displayed. If you operate the "Enlarge" key from that state, the image display will be changed again,
An enlarged plan view as shown in FIG. 8 is displayed. In the plan view, the blocks are color-coded (bright and dark) according to the height of the blocks on the top surface of the footing so that the difference in height between the footing parts can be clearly seen on the screen. Note that the side view of FIG. 6 may also be displayed in different colors as in FIGS.

Next, the position of the chisel 7a and the position of the footing 13 on the display screen are adjusted. In this case, first, the working device 3 is driven by the lever operation so that the tip of the chisel 7a is located at the corner of the footing 13 on the display screen, and the tip of the chisel 7a is pressed against the surface of the footing 13. Here, the corner is a place where at least three ridges intersect as shown by a point A in FIG. 5, for example, so that a point (x, y, z) on the display screen is determined, and (x , y,
Adjustment in the z) direction is possible at once. When adjusting only the (x, z) direction on the display screen, the chisel 7
It suffices to move the tip of a on a straight line L parallel to the y-axis. Further, in the case of adjusting only the z direction on the display screen, the tip of the chisel may be moved to the plane F parallel to the xy plane.

The contact between the tip of the chisel 7a and the footing 13 due to the lever operation is detected by the pressure sensor 26. That is, when the fleas 7a come into contact with the footing 13, the fleas 7a receive a reaction force from them, and the detection value of the pressure sensor 26 increases. Therefore, the operator monitors the detection value by a not-shown instrument panel and the fleas 7a and the footing 13
Determine contact with. At this time, when the position of the tip of the chisel 7a displayed on the display device 42 is deviated from the actual position, that is, on the screen even though the chisel 7a is brought into contact with the surface of the footing 13. Then, if they are not in contact with each other, the position of the tip of the chisel 7a is adjusted on the screen. This is performed by shifting the image of the entire work vehicle with respect to the footing 13 by operating arrow keys such as “→”, “←”, “↑”, “↓”. Such image adjustment is repeated several times while moving the position of the tip of the chisel 7a by operating the lever.

(2) Crushing work After the above procedure, the working device 3 is driven by operating the lever while watching the display device 42, and the tip of the chisel 7a is set vertically to the center of the surface of the block of the footing 13 to be crushed. In addition, the detection value from the pressure sensor 26 is monitored. For example, as shown in FIG. 9, when the surface of the footing 13 has irregularities and the real surface of the footing 13 and the virtual surface (block surface) do not match (dotted line), the detection value of the pressure sensor 26 is 0 or very small. Becomes in this case,
Until the operator increases the value detected by the pressure sensor 26,
By driving the cylinder 10, the chisel 7a is further moved downward while keeping the vertical posture and brought into contact with the surface of the footing 13 (solid line). Then, the fleas 7a are driven by the switch operation to start the crushing work. As a result, the chisel 7a is not driven in the non-contact state, and so-called blank driving is prevented.

During the crushing work, the working device 3 is the footing 1
Although the work vehicle YS is tilted by receiving a reaction force from No. 3, since the position of the boom base end is corrected by the tilt sensor 21,
The exact position of the chisel 7a is always calculated and displayed on the display device 42. When the tip of the chisel 7a moves downward by a predetermined length (20 cm) from the height given to the upper surface of the block, the arithmetic unit 44 determines that one block of the footing 13 has been crushed, and the footing data on the spreadsheet is updated. And is written in the flash memory 46B.
As a result, the image displayed on the display device 42 is shown in FIG.
It is changed as shown in 0 and 11. At the same time, the work processing data is transmitted to the receiver 34, and the crushing work output is recorded in the output file of the crushing output management device 35A. The volume file is, for example, one block as one unit, and is a file in which the number of crushed blocks is integrated and recorded each time the breaker 7 crushes one block.

FIGS. 10 (a) and 11 (a) show the image display of the side view and the plan view before the data update, and FIGS.
1 (b) shows the image display of the side view and the plan view after updating the data, respectively. In FIG. 10, when the footing data is updated as described above while the crushing operation of a predetermined block (for example, B1) is being performed, FIG. 10 (a) → (b)
As shown in, the display corresponding to the predetermined block B1 is erased. Further, in FIG. 11, when the footing data of the predetermined block B1 is updated, FIG. 11 (a) → (b)
As shown in, the display corresponding to the predetermined block B1 is changed to one block low-brightness color (diagonal line). This allows
The operator can easily recognize the progress of the footing removal work. When the crushing of one block of the footing 13 is completed, the tip of the chisel 7a is moved to another block by the lever operation, and the same operation is repeated.

When the crushing work is to be suspended for a break or lunch, for example, the "interrupt" key of the keyboard 47 is operated. As a result, the processing in the calculation unit 44 relating to image display is temporarily ended. After that, when resuming the work, for example, the "restart" key of the keyboard 47 is operated. As a result, the processing relating to image display in the calculation unit 44 is restarted. When the work vehicle YS or the work device 3 is moved at the time of interruption, after the operation of the "restart" key, the initial value resetting work is started again.

When the crushing work is completed, the "crushing end" key of the keyboard 47 is operated, for example. This completes the processing in the arithmetic unit 44. After that, the power of the arithmetic unit 40 is turned off and the flash memory 46B is removed. The flash memory 46B stores CSV format data, which can be organized by a personal computer or the like. As a result, the footing shape after the work is analyzed in detail, and the progress of the crushing work can be evaluated. The progress status of the crushing work is also output to the output file of the crushing output management device 35A, and a daily work report is created by this output file.

(3) Discharging work When the above-mentioned crushing work is completed, a work for discharging crushed chips of footing is performed. When performing the discharging work, the bucket 70 is attached to the tip of the slide arm 6 as a work attachment, the work vehicle YS is moved onto the steel plate 16 above the footing, and the power of the arithmetic unit 40 is turned on. Next, the flash memory 46B in which the footing data at the end of crushing is stored is inserted into the arithmetic unit 40, and the footing number is input. As a result, the footing data after the crushing is read into the RAM 45. continue,
The flash memory 46B is taken out, the flash memory 46C in which the footing data before the start of crushing is stored is inserted into the arithmetic unit 40, the footing number is also input, and the footing data before the start of crushing is read into the RAM 45. After that, the stroke sensor 2 is used as described above.
Perform the initial value resetting work of 3 to 25.

To start the discharging operation, for example, the "discharge start" key of the keyboard 47 is operated. By this key operation, the arithmetic unit 44 outputs an image signal to the display device 42 based on the footing data stored in the RAM 45, and as shown in FIG.
Blocked in 2. That is, the height of the uppermost surface of the block of the footing 13 is defined by the footing data before the start of crushing, and the height of the lowermost surface is defined by the footing data after the completion of crushing and displayed on the display device 42. The footing data before the start of crushing is updated whenever the crushed chips are removed by the discharging work, but the footing data after the crushing is not updated.
Then, as in the case of the crushing work, the tip of the bucket 70 is pressed against the corner of the footing 13 on the display screen while monitoring the detection value of the pressure sensor 26, and the positions of the footing 13 and the bucket 70 on the screen are adjusted. adjust.

Then, as shown in FIG. 12A, the bucket 70 is opened, and the position of the bucket 70 on the screen is moved to a position just above the block upper surface by the lever operation, and the cylinder 11 is driven at that position. The bucket 70 is closed and the debris is taken into the bucket. At this time, the calculation unit 44
Then, the closing operation of the bucket is detected to determine the removal of the crushed debris, the footing data on the spreadsheet corresponding to the crushed debris removal unit is updated, and the flash memory 46C is updated.
Written in. As a result, the image displayed on the display device 42 is changed as shown in FIG.
The display of the block corresponding to the closing operation of 0 is erased. At the same time, the work processing data is transmitted to the receiver 34, and the output amount of the discharging work is recorded in the output amount file of the discharge amount management device 35B. The crushed debris taken into the bucket is raised to the ground by driving the boom 4, the arms 5 and 6, and discharged to a predetermined place. After that, the same operation is repeated until all the blocks are erased.

When the discharging work is completed, for example, the "discharging end" key of the keyboard 47 is operated. This completes the processing in the arithmetic unit 44. After that, the power of the arithmetic unit 40 is turned off, the flash memory 46C is pulled out, the data recorded in the flash memory 46C is sorted by a personal computer or the like, and the progress of the discharging work is evaluated. In addition, the progress status of the discharge work is also output to the output volume file of the discharge volume management device 35B, and the daily work report and the like are created by this output volume file.

The footing shape after the work is finally confirmed by two-dimensionally scanning the footing surface with an ultrasonic measuring device. The ultrasonic measurement device is composed of a sonar for ultrasonic irradiation, a data processing device for processing measurement data, a monitor for displaying an image of the measurement result, and the like. Figure 1
3 is a diagram showing a method of measurement by the ultrasonic measuring device.
As shown in FIG. 13, the gantry 14 supports a rail 72 that passes above the center of the footing, and the sonar 71a of the ultrasonic measurement device 71 moves along the rail 72 at a predetermined pitch. The sonar 71a can scan in a direction perpendicular to the traveling direction (direction perpendicular to the paper surface), and scans the footing surface every time the sonar 71a moves by a predetermined pitch. by this,
The entire shape of the footing 13 is measured by one rail 72. Alternatively, as shown in FIG. 13A, the sonar 71a may be fixed at a predetermined position and rotated in all directions at that position to scan the footing surface and measure the footing shape.

As a result of the measurement by the sonar 71a, for example, as shown in FIG.
Measured shape of footing and block shape of footing 13 (height)
If the values are different, rebuild the footing data and
As shown in FIG. 4B, the height of the block is made to match the actually measured shape of the footing 13. In addition, when unevenness occurs on the surface of the footing 13 as shown in FIG. 15A and the central portion of the block is concave, as shown in FIG. Thirteen
The blocks of are shifted by half a block. If the size of the unit block and the size of the unit block are greatly different from each other in one operation, the footing data may be reconstructed and the size of the unit block may be changed so as to match the size of the unit area. When the footing 13 immediately below the steel plate 16 is to be removed after the above work, the work vehicle YS is moved backward to remove the steel plate 13 above the footing, and a series of work is repeated.

As described above, according to the present embodiment, the shape of the footing 13 is displayed on the display device 42, and the positions of the breaker 7 and the bucket 70 are detected and displayed on the display device 42 in real time. The operator can recognize the work situation in water. Further, when the surface of the footing 13 is crushed by the breaker 7, the display corresponding to the crushed portion is changed. Therefore, the shape of the footing 13 during work that is difficult to see with an underwater camera or an ultrasonic detector. Changes can be easily grasped and workability is improved. Further, since the breaker 7 can be freely moved by operating the lever, the degree of freedom of work can be increased.

Further, when the crushed chips are discharged by the bucket 70, the display of the display device 42 corresponding to the position of the crushed chips is changed, so that the status of the discharging work can be easily grasped and the footing can be performed. The dismantling work can be done easily. Further, since the progress status of the work is output to the output file of the output management device 35, the daily work report is created by this output file, and the output management becomes easy. Furthermore, since the footing shape after the work is measured by the ultrasonic measuring device 71,
Optimal work is performed by accurately grasping the footing surface shape (for example, surface irregularities) and rebuilding the footing block according to the surface shape.

Although the above embodiment is applied to the footing removing work, it may be applied to the work of disassembling another underwater structure. Further, in the above embodiment, the shovel-type work vehicle YS is used as the work vehicle, and the footing 13 is disassembled by using the breaker 7 and the bucket 70 as the work device, but other work vehicles or work devices are used. Good. Further, in the above-described embodiment, the crushing work and the dismantling work are performed by the same work vehicle YS, but the crushing work and the dismantling work are performed by different work vehicles, that is, the crushing dedicated machine and the dismantling dedicated machine. May be. Furthermore, the image displays of FIGS. 6 to 8 in the above embodiment are examples, and any display form may be used as long as the footing shape and the position of the work device 3 can be grasped.

In the correspondence between the above embodiment and the claims, the footing 13 constitutes an underwater structure, the breaker 7 constitutes a work attachment, and the bucket 70 constitutes a discharge device.

[0040]

As described above in detail, according to the present invention, the position of the work attachment with respect to the underwater structure is detected and schematically displayed on the display device, and the underwater structure by the work attachment is also displayed. Since the crushing is detected and the display form of the underwater structure is changed according to the detection of the crushing, not only the position of the work attachment but also the shape change of the underwater structure can be grasped. You can easily dismantle objects. In particular, according to the second aspect of the invention, the position of the work attachment is detected based on the movement amount of the work machine main body, so that the work vehicle can be moved to perform a wide range of work. Further, according to the invention of claim 3, the display form of the underwater structure after crushing is changed based on the measurement result by the ultrasonic measurement device, so that the accurate display according to the surface shape of the underwater structure is performed. Is possible. Further, according to the inventions of claims 4 and 6, since the information corresponding to the display form after the work is outputted to the crushing or discharging work amount management device to manage the work amount of the work, the daily work report or the like is immediately issued. It will be created in a simple way, and it will be easy to manage the output. Further, according to the invention of claim 5, the discharging operation of the crushed pieces by the discharging device is detected, and the display form changed after the crushing is changed to the display form after discharging based on the detection of the discharging operation. Therefore, the work of discharging the underwater structure after crushing can be easily performed.

[Brief description of drawings]

FIG. 1 is a side view of a shovel work vehicle to which the present invention is applied.

FIG. 2 is a diagram showing a footing removing work state.

FIG. 3 is a diagram showing a configuration of a position detection device for a revolving structure.

FIG. 4 is a block diagram of a progress status display device for footing removal work according to the present embodiment.

FIG. 5 is a diagram schematically showing a correspondence relationship between footing shapes and footing data.

FIG. 6 is a reduced side view of the footing and the working device showing an example displayed on the display device that constitutes the progress status display device for the footing removing work according to the present embodiment.

FIG. 7 is a reduced plan view of a footing and a work device showing an example displayed on a display device that constitutes a progress status display device for the footing removal work according to the present embodiment.

FIG. 8 is an enlarged plan view of the footing and the working device showing an example displayed on the display device that constitutes the progress status display device for the footing removal work according to the present embodiment.

FIG. 9 is a diagram showing an example of comparison between a real surface and a virtual surface of footing.

FIG. 10 is a side view showing an example of changes in footing images displayed on the display device during crushing work.

FIG. 11 is a plan view showing another example of changes in the footing image displayed on the display device in the crushing work.

FIG. 12 is a plan view showing an example of changes in footing images displayed on a display device during a discharging operation.

FIG. 13 is a diagram showing a method for measuring a footing shape by an ultrasonic measuring device.

FIG. 14 is a diagram showing an example of reconstructing a footing block.

FIG. 15 is a diagram showing another example of reconstructing a footing block.

[Explanation of symbols]

2 Revolving structure 3 Working device 4 Long boom 5 Arm 6 Sliding arm 7 Breaker 7a chisel 13 Footing 21 Inclination sensor 22 Boom angle sensor 23 Arm stroke sensor 24 Sliding stroke sensor 25 Bucket stroke sensor 29A, 29B Light projecting device 30A, 30B Surveying Machine 31A, 31B Transmitter 32 Receiver 35 Performance management device 40 Computing device 42 Display device 46 Flash memory 70 Clamshell bucket

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yoshinori Okazawa Inventor Yoshinori Okazawa 1-10-3 Oshiage, Sumida-ku, Tokyo Inside Keisei Electric Railway Co., Ltd. (72) Sumio Okawa 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka Okumura Corporation (72) Inventor Taku Uchiyama 2-2, Matsuzaki-cho, Abeno-ku, Osaka City Okumura Corporation (72) Inventor Tsutomu Fujisawa 2--6, Otemachi, Chiyoda-ku, Tokyo Hitachi Construction Machinery Co., Ltd. In-house (56) Reference JP-A-9-273869 (JP, A) JP-A-2-279873 (JP, A) JP-A-7-150775 (JP, A) JP-A-11-302711 (JP, A) ) JP-A-6-317090 (JP, A) JP-A-10-311022 (JP, A) JP-A-2000-8363 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E02D 27/32 E02F 3/36 E02D 3/00 E04G 23/08 E02F 9/26

Claims (6)

(57) [Claims] 1. A method for dismantling an underwater structure, in which an arm attached to a work machine main body and a work attachment attached to an arm tip are driven by an operation on the ground to dismantle an underwater structure. A step of detecting the position of the work attachment with respect to a structure, a step of schematically displaying at least the underwater structure and the work attachment on a display device, and the work attachment on the display device being the underwater structure A step of moving the work attachment so as to contact an object; a step of driving the work attachment to crush a predetermined portion of the underwater structure; and a predetermined location of the underwater structure by the work attachment. Detecting the crushing of the underwater structure, and crushing the display form of the underwater structure on the display device according to the detection of the crushing. A method for disassembling an underwater structure, comprising: a step of changing to a crushed form; and a step of discharging the crushed pieces of the underwater structure with a discharge device. 2. The method for disassembling an underwater structure according to claim 1, further comprising the step of moving the working machine body, wherein the position of the working attachment is detected based on a moving amount of the working machine body. The method for dismantling underwater structures characterized by. 3. The method for disassembling an underwater structure according to claim 1 or 2, comprising a step of measuring the shape of the underwater structure after crushing with an ultrasonic measuring device, and based on the measurement result, the underwater structure. A method for dismantling an underwater structure, characterized by changing the display form after the structure is crushed. 4. The method for disassembling an underwater structure according to any one of claims 1 to 3, further comprising outputting information corresponding to the display form after the crushing to a crushing performance management device for crushing work. A method for dismantling an underwater structure, which includes a process of managing the volume. 5. The method for disassembling an underwater structure according to any one of claims 1 to 4, wherein a step of detecting a position of the discharge device with respect to the underwater structure, the discharge device being used as the display device. A step of displaying, a step of moving the discharging device so that the discharging device is located in a crushed area on the display device, a step of detecting a discharging operation of crushed pieces by the discharging device, and a change after crushing And a step of changing the displayed display form to a display form after discharge based on the detection of the discharge operation of the discharge device. 6. The method for disassembling an underwater structure according to claim 5, further comprising the step of outputting information corresponding to the display form after the discharge to a discharge volume management device and managing the volume of the discharge work. A method for dismantling underwater structures, which is characterized by the following.