JP6797613B2 - Altitude calculation system - Google Patents

Description

The present invention relates to a technique for specifying the altitude of an underwater working point.

In underwater work such as excavation of underwater ground and formation of rubble mound, there is a need to know the altitude of the work point (hereinafter referred to as "underwater work point") in order to perform the work according to the design.

For example, Patent Document 1 discloses a technique for measuring the altitude of an underwater working point. In Patent Document 1, a liquid having a clear specific gravity is contained in a flexible hose, the lower end of the flexible hose is submerged in water, and the internal pressure of the hose at the lower end and the internal pressure of the hose near the water surface are detected by the upper and lower detection elements, respectively. The height difference between the lower end of the hose and the reference point is obtained from the height difference between the upper detection element and the reference point, the internal pressure difference between the upper and lower sides of the hose, and the specific gravity of the liquid in the hose. Techniques for identifying altitude have been proposed.

Japanese Unexamined Patent Publication No. 56-141511

Excavating the ground underwater and the surface of the rubble mound using attachments such as excavators, tampers (levelers), and cutters attached near the tips of long members such as booms and ladders that extend from the work boat to the water. There is a method of performing underwater work such as leveling.

In addition, there is a method of earth and sand sprinkling work (an example of underwater work) in which earth and sand are discharged into water from a discharge port provided near the tip of a transfer pipe (an example of a long member) extending from a work boat to water.

When the worker on the work boat performs underwater work according to the design while performing operations such as changing the angle of the long member extending from the work boat into the water as described above, the worker is positioned at the horizontal plane of the underwater work point. In addition, it is necessary to know the altitude of the underwater work point in real time.

In Patent Document 1, as one embodiment, a lower internal pressure measured by a lower internal pressure detecting element arranged on a rubble surface and an upper internal pressure measured by an upper internal pressure detecting element fixed to the bow or the like of a surveying ship are used. The height of the rubble surface based on the value obtained by subtracting the length from the fixed position of the upper internal pressure detection element to the water surface from the vertical length between these specified detection elements and the tide level measured by the tide level measuring device. How to find is described.

In the method described in Patent Document 1 described above, the length from the fixed position of the upper internal pressure detecting element to the water surface is constant. Therefore, when the work vessel moves up and down with respect to the water surface, the height of the rubble surface measured by the method described in Patent Document 1 includes an error depending on the magnitude of the up and down movement. Therefore, when a worker on a work boat performs underwater work according to the design while performing operations such as changing the angle of a long member extending from the work boat into the water, even if the method described in Patent Document 1 is used, There is a problem that the altitude of the underwater work point with the accuracy required for underwater work cannot be known in real time.

In view of the above circumstances, an object of the present invention is to provide a means for specifying the altitude of an underwater work point in real time in underwater work performed by using a long member extending from a work boat into water.

In order to achieve the above object, the present invention comprises an altitude measuring device for measuring the altitude of a reference point on a work boat, and a movable long length having a first end fixed on the work boat and extending from the work boat. A tube body containing a liquid of a known density with a second end fixed near the tip of the member and a pressure inside the tube body at a predetermined position near the second end of the tube body. The pressure measuring device to be measured, the altitude data indicating the altitude measured by the altitude measuring device, and the pressure data indicating the pressure measured by the pressure measuring device are acquired, and the long length is based on the acquired altitude data and pressure data. It is equipped with an altitude calculation device that calculates the altitude of a work point of underwater work performed using members, and the altitude calculation device is provided with altitude data acquired from the altitude measurement device and a predetermined time from the timing of acquisition of the altitude data. As the first aspect, we propose an altitude calculation system that associates pressure data acquired from the pressure measuring device at a deviated timing and calculates the altitude based on the associated altitude data and pressure data .

Further, the present invention has an altitude measuring device for measuring the altitude of a reference point on a work boat, and a first end portion fixed on the work boat and near the tip of a movable long member extending from the work boat. A tube body containing a liquid having a known density and a fixed end portion, and a pressure measuring device for measuring the pressure inside the tube body at a predetermined position near the second end portion of the tube body. , The altitude data indicating the altitude measured by the altitude measuring device and the pressure data indicating the pressure measured by the pressure measuring device are acquired, and the long member is used based on the acquired altitude data and the pressure data. It is equipped with an altitude calculation device for calculating the altitude of a work point for underwater work and a liquid level measuring device for measuring the liquid level of the liquid contained in the tube, and the altitude calculation device is measured by the liquid level measuring device. As the first aspect, we propose an altitude calculation system that acquires liquid level data indicating the liquid level and calculates the altitude based on the acquired liquid level data.

In the altitude calculation system according to the second aspect, the altitude data acquired from the altitude measuring device corresponds to the pressure data acquired from the pressure measuring device at a timing deviated from the acquisition timing of the altitude data by a predetermined time. A configuration in which the altitude is calculated based on the associated altitude data and pressure data may be adopted as the third aspect.

In the altitude calculation system according to any one of the first to third aspects, the altitude calculation device acquires angle data indicating an angle measured by the angle measurement device, and the altitude is based on the acquired angle data. The configuration of performing the calculation may be adopted as the fourth aspect.

In the altitude calculation system according to any one of the first to fourth aspects, the first pressure measuring device is a pressure measuring device that measures the pressure inside the tube at a predetermined position near the second end of the tube. When the pressure data indicating the pressure measured by the first pressure measuring device is used as the first pressure data, the tube body at a predetermined position near the first end portion of the tube body. A second pressure measuring device for measuring the internal pressure of the device is provided, and the altitude calculation device acquires a second pressure data indicating the pressure measured by the second pressure measuring device, and the acquired second pressure. A configuration in which the altitude is calculated based on the data may be adopted as the fifth aspect.

The present invention also proposes, as a sixth aspect, an underwater work system including the altitude calculation system according to any one of the first to fifth aspects, the work boat, and the long member.

According to the present invention, in the underwater work performed by using the long member extending from the work boat into the water, the altitude of the underwater work point is specified in real time.

The figure which showed the appearance of the underwater work system which concerns on one Embodiment. The figure which showed the structure of the altitude calculation apparatus which concerns on one Embodiment. The figure for demonstrating the method in which the altitude calculation apparatus concerning one Embodiment calculates the altitude of an underwater work point. The figure for demonstrating the method in which the altitude calculation apparatus concerning one Embodiment calculates the altitude of an underwater work point. The figure for demonstrating the method in which the altitude calculation apparatus concerning one Embodiment calculates the altitude of an underwater work point. The figure for demonstrating the method which the altitude calculation apparatus which concerns on one Embodiment synchronize between the data acquired from each of a GNSS unit and a pressure measuring apparatus. The figure which showed the screen which the altitude calculation apparatus which concerns on one Embodiment displays. The figure for demonstrating the calibration process performed by the altitude calculation apparatus concerning one modification. The figure which showed the screen displayed by the altitude calculation apparatus concerning one modification. The figure which showed the vicinity of the upper end part of the altitude difference measuring apparatus concerning one modification. The figure which showed the vicinity of the upper end part of the altitude difference measuring apparatus concerning one modification. The figure which showed the vicinity of the upper end part of the altitude difference measuring apparatus concerning one modification.

[Embodiment]
The underwater work system 1 according to the embodiment of the present invention will be described below. FIG. 1 is a diagram schematically showing the appearance of the underwater work system 1. In FIG. 1, a part of the hull 11 is not shown. The underwater work system 1 was first connected to a hull 11 floating on the water surface W, an upper swivel body 12 arranged on the hull 11, a boom 13 connected to the upper swivel body 12, and a boom 13. It includes an arm 14 and a tamper 15 connected to the arm 14.

The hull 11 constitutes a work ship, and the connecting body of the boom 13 and the arm 14 constitutes a movable long member extending from the work ship. Further, the tamper 15 is an example of an attachment for underwater work performed by using a long member, and has a leveling plate 151 for leveling the leveling surface in water by vibration.

The boom 13 is rotatably connected to the upper swivel body 12 by a connecting portion 16 around a horizontal axis. The arm 14 is rotatably connected to the boom 13 by a connecting portion 17 around a horizontal axis. The tamper 15 is rotatably connected to the arm 14 by a connecting portion 18 around a horizontal axis.

A drive unit 19 is connected to the upper swivel body 12 and the boom 13 near the connecting unit 16. The drive unit 19 is, for example, a cylinder actuator that expands and contracts by flood control, and by transmitting a force to the connecting unit 16 by expansion and contraction, the angle around the horizontal axis of the boom 13 with respect to the upper swing body 12 is changed.

A drive unit 20 is connected to the boom 13 and the arm 14 near the connecting unit 17. The drive unit 20 is, for example, a cylinder actuator that expands and contracts by flood control, and by transmitting a force to the connecting unit 17 by expansion and contraction, the angle of the arm 14 with respect to the boom 13 around the horizontal axis is changed.

A drive unit 21 is connected to the arm 14 and the connecting unit 18. The drive unit 21 is, for example, a cylinder actuator that expands and contracts by flood control, and by transmitting a force to the connecting unit 18 by expansion and contraction, the angle of the tamper 15 with respect to the arm 14 around the horizontal axis is changed.

The hull 11 is provided with a GNSS (Global Navigation Satellite System) unit 22 that measures the position of the hull 11 on the earth and generates position data indicating the measurement result in, for example, longitude and latitude, and an orientation sensor 23 that measures the orientation of the hull 11. Has been done. The position of the hull 11 and the orientation of the hull 11 in the bow direction are specified by the measurement result of the GNSS unit 22 and the measurement result of the orientation sensor 23.

A GNSS unit 24, a GNSS unit 25, and an inclination sensor 26 are arranged on the upper swivel body 12. From the measurement results of the GNSS unit 24 and the GNSS unit 25, the position of the upper swing body 12 and the direction in which the connecting body of the boom 13 and the arm 14 extends from the upper swing body 12 are specified. Further, in the present embodiment, the GNSS unit 24 serves as an altitude measuring device for measuring the altitude of the reference point A on the work boat.

The tilt sensor 26 is, for example, a biaxial tilt sensor, and specifies the tilt direction and tilt angle of the upper swivel body 12 with respect to the horizontal plane. In the following description, the "tilt angle" means an angle with respect to the horizontal plane. The tilt sensor 26 measures the tilt angles in each of the x-axis direction and the y-axis direction, which intersect each other at right angles in the direction along the horizontal plane when the upper swivel body 12 is not tilted. The tilt angles in the x-axis direction and the y-axis direction measured by the tilt sensor 26 specify the tilt direction and the tilt angle in the z-axis direction that intersect perpendicularly to the x-axis direction and the y-axis direction. The z-axis direction is the vertical direction when the upper swivel body 12 is not tilted. Hereinafter, the z-axis direction is referred to as "the upper limit direction of the upper swivel body 12" for convenience.

An inclination sensor 27 is arranged on the boom 13. An inclination sensor 28 is arranged on the arm 14. An inclination sensor 29 is arranged at the connecting portion 18. The tilt sensor 27, the tilt sensor 28, and the tilt sensor 29 are, for example, uniaxial tilt sensors. The tilt sensor 27 identifies the tilt angle of the boom 13 in the longitudinal direction. The tilt sensor 28 (an example of an angle measuring device that measures the angle of a long member with respect to a horizontal plane) specifies the tilt angle of the arm 14 in the longitudinal direction with respect to the horizontal plane. The tilt sensor 29 identifies the tilt angle of the tamper 15 in the longitudinal direction with respect to the horizontal plane.

The tilt angles of the upper swing body 12, the arm 14, and the tamper 15 specified as described above are used in the calculation of the altitude of the underwater work point D, which will be described later.

The control room of the upper swivel body 12 has an operating device 31 provided with an operating lever or the like used by an operator for turning the upper swivel body 12 and adjusting the angles of the boom 13, the arm 14 and the tamper 15, and the operating device 31. The control device 32 that controls the operation of the boom 13, the arm 14, the connecting body of the tamper 15, and the tamper 15 according to the operation of the operator, and the current position (position and altitude on the horizontal plane) of the underwater work point D are calculated. , An altitude calculation device 33 that displays the current position of the calculated underwater work point D is arranged. In the present embodiment, the underwater work point D is the center point of the lower surface of the leveling plate 151.

When the operator adjusts the angle of the boom 13, the arm 14, or the tamper 15 with respect to the operation device 31, the control device 32 refers to the drive unit 19, the drive unit 20, or the drive unit 21 according to the operation. Instruct expansion and contraction. When the drive unit 19, the drive unit 20, or the drive unit 21 extends according to the instruction, the shape of the connecting body of the boom 13, the arm 14, and the tamper 15 changes. As a result, the position of the underwater work point D changes.

However, the position of the underwater work point D changes not only due to the change in the shape of the connecting body of the boom 13, the arm 14 and the tamper 15 according to the operation of the operator, but also due to the shaking of the hull 11. An altitude difference measuring device 40 is installed on the upper swing body 12, the boom 13, and the arm 14 in order to calculate the altitude of the underwater work point D that changes under the influence of the sway of the hull 11.

The altitude difference measuring device 40 measures the pressure inside the tube 42 at a measurement point B at a predetermined position near one end of the tube 42 and the tube 42 containing a liquid 41 having a known density. A measuring device 43 is provided. The liquid 41 is, for example, fresh water. Both ends of the tube body 42 are closed, and the inside thereof is filled with the liquid 41.

Of the two ends of the tubular body 42, the end on the side where the pressure measuring device 43 is not arranged (hereinafter, referred to as "upper end"; an example of the first end) is a predetermined position of the upper swivel body 12. The end on the side where the pressure measuring device 43 is arranged (hereinafter referred to as "lower end"; an example of the second end) is fixed at a predetermined position near the tip of the arm 14. .. Further, the middle abdomen of the tubular body 42 is fixed to the boom 13 or the arm 14 at a plurality of locations in a state substantially along the longitudinal direction of the boom 13 and the arm 14.

The tube body 42 has flexibility and freely deforms following the deformation of the connecting body of the boom 13 and the arm 14. Since the deformation of the pipe body 42 that follows the deformation of the connection between the boom 13 and the arm 14 is a deformation that gently curves, the deformation of the pipe body 42 has a substantial effect on the pressure inside the pipe body 42. Do not give.

When the altitude of the liquid level position U of the liquid 41 is higher than the altitude of the measurement point B, the pressure (hydrostatic pressure, kN / m ² ) measured by the pressure measuring device 43 is relative to the density (kg / m ³ ) of the liquid 41. It is a value obtained by multiplying the gravitational acceleration (no unit) by the altitude difference (m) between the liquid level position U of the liquid 41 and the measurement point B. Since the density and gravitational acceleration of the liquid 41 are known, the altitude difference between the liquid level position U and the measurement point B is calculated by dividing the pressure measured by the pressure measuring device 43 by the density and the gravitational acceleration of the liquid 41. To. In the present embodiment, since the liquid 41 fills the inside of the pipe body 42, the liquid level position U coincides with the position of the upper end portion of the pipe body 42.

The altitude difference between the liquid level position U and the measurement point B calculated based on the pressure measured by the pressure measuring device 43 of the altitude difference measuring device 40 is the altitude of the underwater work point D by the altitude calculating device 33 described below. Used for calculation.

The altitude calculation device 33 is realized, for example, by a general-purpose computer executing processing according to a program according to the present embodiment. However, the altitude calculation device 33 may be configured as a so-called dedicated device.

The GNSS unit 24, which plays the role of an altitude measuring device for measuring the altitude of the reference point A, the altitude difference measuring device 40, and the altitude calculating device 33 described below are used to calculate the altitude of the underwater work point D. Configure the system.

FIG. 2 is a block diagram showing the configuration of the altitude calculation device 33. The altitude calculation device 33 includes acquisition means 331, calculation means 332, and display means 333.

The acquisition means 331 acquires position data indicating the position measured by the GNSS unit from each of the GNSS unit 22, the GNSS unit 24, and the GNSS unit 25. Further, the acquisition means 331 acquires the directional data indicating the directional direction of the hull 11 in the bow direction measured by the directional sensor 23 from the directional sensor 23. Further, the acquisition means 331 acquires tilt data indicating the tilt angle measured by the tilt sensors from each of the tilt sensor 26, the tilt sensor 27, the tilt sensor 28, and the tilt sensor 29. Further, the acquisition means 331 acquires pressure data indicating the pressure at the measurement point B measured by the pressure measuring device 43 from the pressure measuring device 43.

The calculation means 332 calculates the position of the underwater work point D on the horizontal plane according to a known method based on various data acquired by the acquisition means 331. Further, the calculation means 332 calculates the altitude of the underwater work point D based on various data acquired by the acquisition means 331.

FIG. 3 is a diagram for explaining a method in which the calculation means 332 calculates the altitude of the underwater work point D. The point A shown in FIG. 3 is a reference point A on the work vessel whose position is measured by the GNSS unit 24. The point U shown in FIG. 3 is the liquid level position U of the liquid 41 in the tubular body 42. The point B shown in FIG. 3 is the measurement point B of the pressure measuring device 43. The point C shown in FIG. 3 is the center point of rotation of the tamper 15 with respect to the arm 14 (hereinafter referred to as the rotation center point C). The point D shown in FIG. 3 is an underwater work point D.

Calculating means 332, the altitude H _A reference point A of the working ship measured by GNSS unit 24, the altitude difference h ₁ of the reference point A and the liquid level position U, altitude difference of level position U and the measurement point B and h _2, the measuring point B and the altitude difference h ₃ of the rotation center point C, by subtracting the altitude difference h ₄ of the rotation center point C and the water working point D, altitude H _D in the water work point D Is calculated.

The calculation means 332 calculates the altitude difference h ₁ based on the inclination angle of the upper swivel body 12. FIG. 4 is a diagram for explaining a method in which the calculation means 332 calculates the altitude difference h ₁ . In FIG. 4, in order to show the relationship between the distance L ₁ and the altitude difference h _{1 in} an easy-to-understand manner, the tilt angle of the upper swivel body 12 is made larger than the tilt angle that the upper swivel body 12 can actually take. In FIG. 4, the angle θ ₁ is the vertical inclination angle of the upper swivel body 12. The distance L ₁ is a known distance between the reference point A and the liquid level position U in the vertical direction of the upper swirl body 12. The calculation means 332 calculates the altitude difference h ₁ according to the following formula.
h ₁ = L ₁ × sin θ ₁

The calculation means 332 calculates the altitude difference h ₂ by dividing the pressure measured by the pressure measuring device 43 by the density and the gravitational acceleration of the liquid 41 as described above.

The calculation means 332 calculates the altitude difference h ₃ based on the inclination angle of the arm 14. Further, the calculation means 332 calculates the altitude difference h ₄ based on the inclination angle of the tamper 15.

FIG. 5 is a diagram for explaining a method in which the calculation means 332 calculates the altitude differences h ₃ and h ₄ . In FIG. 5, the angle θ ₃ is an inclination angle in the longitudinal direction of the arm 14, and is specified by the inclination sensor 28. Further, the angle θ ₄ is an inclination angle in the longitudinal direction of the tamper 15, and is specified by the inclination sensor 29.

Further, in FIG. 5, the distance L ₃ is the distance between the measurement point B near the upper end portion of the tubular body 42 and the rotation center point C, and is known. Further, the distance L ₄ is a distance between the rotation center point C and the underwater work point D, and is known.

The calculation means 332 calculates the altitude differences h ₃ and h ₄ according to the following equations.
h ₃ = L ₃ × sin θ ₃
h ₄ = L ₄ × sin θ ₄

Calculating means 332, the altitude difference h ₁ to h ₄ which is specified as described above, is subtracted from the altitude H _A reference point A as measured by GNSS unit 24, calculates the altitude H _D in the water work point D To do.

The timing at which the altitude of the reference point A used by the calculation means 332 to calculate the altitude of the underwater work point D is measured by the GNSS unit 24, and the measurement point used by the calculation means 332 to calculate the altitude of the underwater work point D. The timing at which the pressure in B is measured by the pressure measuring device 43 needs to be substantially the same. However, the time required for the GNSS unit 24 to measure the altitude of the reference point A and output the data indicating the measurement result to the altitude calculation device 33 and the pressure measuring device 43 to measure the pressure at the measurement point B, and the measurement result. There may be a non-negligible difference between the time required to output the data indicating the above to the altitude calculation device 33.

Therefore, the calculation means 332 includes the position data acquired by the acquisition unit 331 from the GNSS unit 24 and the pressure data acquired by the acquisition unit 331 from the pressure measuring device 43 at a timing deviated by a predetermined time T from the acquisition timing of the position data. By associating with each other, the position data continuously acquired by the acquisition means 331 from the GNSS unit 24 and the pressure data continuously acquired by the acquisition means 331 from the pressure measuring device 43 are synchronized.

The predetermined time T is measured by the calculation means 332 by the method described below according to, for example, an operation by an operator or the like. When an operator or the like performs an operation instructing the measurement of the predetermined time T, the acquisition means 331 receives each of the position data acquired from the GNSS unit 24 during the predetermined time length (for example, about 1 minute) after receiving the instruction. The acquisition timing data indicating the acquisition timing of the position data is associated with the data, and the data is delivered to the calculation means 332. Further, the acquisition means 331 associates the acquisition timing data indicating the acquisition timing of the pressure data with each of the pressure data acquired from the pressure measuring device 43 in the same period, and delivers the acquisition timing data to the calculation means 332.

FIG. 6 shows the time course of the altitude of the reference point A (upper row) indicated by the position data (including the altitude data indicating the altitude of the reference point A) delivered by the calculation means 332 from the acquisition means 331, and the calculation means 332 is the acquisition means. It is a graph which showed the time-dependent change (lower part) of the pressure of the measurement point B shown by the pressure data handed over from 331. The increase / decrease in altitude and pressure shown in FIG. 6 is an increase / decrease accompanying the sway of the hull 11.

Calculating means 332, a peak point indicated by the data of each of these two series (P ₁ to P ₅ and the point Q ₁ to Q ₅ that is illustrated in FIG. 6) to identify by known methods. Subsequently, the calculation means 332 associates the peak points specified for each of the two series of data with each other having a short distance on the time axis. In the example of FIG. 6, the calculation means 332 is point P ₁ and point Q ₁ , point P ₂ and point Q ₂ , point P ₃ and point Q ₃ , point P ₄ and point Q ₄ , and point P ₅ and point Q. Associate ₅ with each other.

Subsequently, the calculation means 332 calculates the average value of the difference in acquisition timing between the peak points associated with each other as the predetermined time T. In the example of FIG. 6, the calculation means 332 calculates the average value of the time differences t _{1 to} t ₅ as the predetermined time T.

When the calculation means 332 calculates the predetermined time T as described above, the calculation means 332 then associates the position data and the pressure data acquired at the timing deviated by the predetermined time T, and works underwater based on the associated position data and pressure data. Calculate the altitude of point D.

The method by which the calculation means 332 specifies the predetermined time T is not limited to the method using the above peak point. For example, the calculation means 332 calculates the correlation coefficient of the two series of data while shifting the data in the time axis direction, and specifies the amount of shift in the time axis direction when the calculated correlation coefficient becomes maximum as the predetermined time T. You may.

The position and altitude of the underwater work point D calculated by the calculation means 332 on the horizontal plane are displayed by the display means 333. FIG. 7 is a diagram illustrating a screen displayed by the display means 333 (hereinafter, referred to as “underwater work point display screen”). On the underwater work point display screen, the shape of the designed rubble mound is indicated by a dashed line. In the left column of the underwater work point display screen, the altitude of the underwater work point D is displayed as an image. Further, in the right column of the underwater work point display screen, the position of the underwater work point D on the horizontal plane is displayed by an image. By operating the operation device 31 while looking at the underwater work point display screen, the operator can perform the underwater leveling surface leveling work while confirming the position of the underwater work point of the tamper 15.

According to the underwater work system 1 described above, the worker on the ship performs the work while confirming the position of the underwater work point D in real time in the underwater work performed by using the long member extending from the work ship to the water. You can proceed. At that time, the altitude of the underwater work point D displayed to the operator reflects the vertical movement of the underwater work point D due to the shaking of the hull 11. Therefore, according to the underwater work system 1, the operator can know the altitude of the underwater work point D with the required accuracy even in the underwater work in which the construction accuracy equal to or less than the amplitude of the vertical movement of the hull 11 is required.

[Modification example]
The above-described embodiment is a specific example of the present invention, and can be variously modified within the scope of the technical idea of the present invention. Examples of these modifications are shown below. In addition, the following two or more modified examples may be combined as appropriate.

(1) Between the reference point A on the work ship and the liquid level position U of the liquid 41 because the installation position of the antenna of the GNSS unit 24 and the fixed position of the upper end of the pipe body 42 are separated from each other. It may be difficult for an operator or the like to measure the vertical distance L ₁ using a measure. In such a case, the distance L ₁ may be specified by the calibration process described below.

Figure 8 is a diagram for explaining a calibration process for identifying the distance L _1. In FIG. 8, the details are not shown. The worker or the like anchors the hull 11 at a position close to the quay S, and places the lower surface of the leveling plate 151 of the tamper 15 on the top surface of the quay S. The altitude of the top surface of the quay S is known as measured by, for example, GNSS.

In the state shown in FIG. 8, when an operator or the like performs a predetermined operation for calibrating the altitude calculation device 33, the display means 333 displays the screen illustrated in FIG. 9 (hereinafter referred to as the screen) in response to the operation. , "Calibration screen") is displayed. On the calibration screen, the altitude of the underwater work point D calculated by the calculation means 332 assuming that the distance L ₁ is “0.00 m” is displayed in the “measurement altitude” column. The worker or the like inputs the correct altitude of the underwater work point D, that is, the altitude of the pavement surface of the quay S in the "actual altitude" field. The calculation means 332 calculates the distance L ₁ by dividing the difference between the numerical values in the "measured altitude" column and the "actual altitude" column by sin θ ₁ (where θ ₁ is the vertical inclination angle of the upper swivel body 12). To do. In the "distance" column, the distance L ₁ calculated by the calculation means 332 is displayed.

When an operator or the like clicks the "setting" button on the calibration screen, the calculation means 332 stores the distance L ₁ calculated as described above. Then, calculating unit 332 calculates the altitude of the water working point D by using the distance L ₁ stored.

The altitude difference measuring device 40 adopted in the above-described embodiment is a pressure measuring device for measuring the pressure inside the pipe body 42, and is a pressure measuring device for measuring the pressure in the vicinity of the lower end portion of the pipe body 42. Since only the device 43 is provided, the altitude of the lower end portion of the tubular body 42 is smaller than the altitude of the upper end portion of the tubular body 42 when the calibration process for identifying the above-mentioned distance L ₁ is performed. There is a need. Therefore, the altitude of the top end surface of the quay S is high, and when the lower surface of the leveling plate 151 of the tamper 15 is placed on the top end surface of the quay S, the altitude of the lower end portion of the pipe body 42 becomes the upper end of the pipe body 42. It may be higher than the altitude of the part. In addition to the pressure measuring device 43, the altitude difference measuring device 40 is provided with a pressure measuring device for measuring the pressure near the upper end of the pipe body 42 so that the calibration process can be performed even in such a case. May be done.

FIG. 10 is a diagram showing the vicinity of the upper end portion of the altitude difference measuring device 40 according to this modified example. In this modification, the pressure measuring device 44 is arranged inside the tubular body 42 at a position near the upper end portion. According to the altitude difference measuring device 40 according to this modification, when the altitude of the lower end portion of the pipe body 42 becomes higher than the altitude of the upper end portion, the measured value of the pressure measuring device 43 becomes “0” and the pressure becomes high. The measured value of the measuring device 44 becomes a positive value. In that case, the calculation means 332 calculates the value obtained by multiplying the measured value of the pressure measuring device 44 by the density of the liquid 41, the gravitational acceleration, and "-1" as the altitude difference h ₂ , and calculates the underwater work point D (leveling plate 151). Calculate the altitude of the center point of the lower surface).

(2) In the above-described embodiment, the inside of the tubular body 42 is filled with the liquid 41. Therefore, the liquid level position U with respect to the tube body 42 does not change. Instead of this, a configuration may be adopted in which a space not filled with the liquid 41 is provided inside the pipe body 42, and the liquid level position U changes with respect to the pipe body 42. When the inside of the tube 42 is filled with the liquid 41, if the flexibility of the tube 42 is low, the inside of the tube 42 is deformed due to the deformation of the connection between the boom 13 and the arm 14. Pressure may be affected. In such a case, if the change in the liquid level position U with respect to the pipe body 42 is allowed, the internal pressure does not change even if the pipe body 42 is deformed, and the high accuracy of the underwater work point D does not decrease.

When the liquid level position U with respect to the pipe body 42 changes, it is necessary to reflect the change in the liquid level position U in the calculation of the altitude of the underwater work point D. As one of the methods for reflecting the change in the liquid level position U in the calculation of the altitude of the underwater work point D, a method using a pressure measuring device for measuring the pressure near the upper end inside the pipe body 42 can be considered. ..

FIG. 11 is a diagram showing the vicinity of the upper end portion of the altitude difference measuring device 40 according to the modified example using the second pressure measuring device in addition to the pressure measuring device 43 (the first pressure measuring device). In this modification, the liquid 41 does not fill the entire inside of the tubular body 42, and a space R is formed between the liquid surface of the liquid 41 and the end surface of the upper end portion of the tubular body 42. Further, at least a part of the upper end portion of the pipe body 42 is open, and the liquid level of the liquid 41 can freely move up and down with respect to the pipe body 42 due to deformation of the pipe body 42 or the like.

Inside the pipe body 42, a pressure measuring device 45 (second pressure measuring device) is arranged at a position near the upper end portion. The measurement point E of the pressure measuring device 45 is located below the lowest position of the liquid level of the liquid 41 that moves up and down due to deformation of the pipe body 42 or the like.

The calculation means 332 acquires pressure data indicating the pressure at the measurement point E measured by the pressure measuring device from the pressure measuring device 45 via the acquiring means 331. The calculation means 332 divides the value obtained by subtracting the pressure measured by the pressure measuring device 45 from the pressure measured by the pressure measuring device 43 by the density of the liquid 41 and the gravitational acceleration of the measuring points E and B. Calculate the altitude difference.

The calculation means 332 has an altitude difference between the reference point A and the measurement point E, an altitude difference between the measurement point E and the measurement point B, and an altitude difference between the measurement point B and the rotation center point C from the altitude _HA of the reference point A. If, by subtracting the altitude difference of the rotation center point C and the water working point D, and calculates the height H _D of the underwater working point D.

As another method of reflecting the change in the liquid level position U in the calculation of the altitude of the underwater work point D, a method using a liquid level measuring device for measuring the liquid level of the liquid 41 can be considered. FIG. 12 is a diagram showing the vicinity of the upper end portion of the altitude difference measuring device 40 according to the modified example using the liquid level measuring device. In this modification, a liquid level measuring device 46 for measuring the distance from the end face to the liquid level of the liquid 41 is arranged on the end face of the upper end portion of the tubular body 42. The liquid level measuring device 46, for example, optically measures the distance from the upper end position F of the tubular body 42 to the liquid level position G.

The calculation means 332 acquires distance data indicating the distance measured by the liquid level measuring device 46 from the liquid level measuring device 46 via the acquiring means 331. The calculation means 332 measures the altitude difference between the reference point A and the upper end position F, the altitude difference between the upper end position F and the liquid level position G measured by the liquid level measuring device 46, and the pressure measurement from the altitude _HA of the reference point A. The altitude difference between the liquid level position G and the measurement point B calculated from the pressure measured by the device 43, the altitude difference between the measurement point B and the rotation center point C, and the altitude between the rotation center point C and the underwater work point D. The altitude HD of the underwater work point _D is calculated by subtracting the difference.

(3) In the description of the above-described embodiment, it is assumed that the altitude of the reference point A is larger than the altitude of the liquid level position U. The positional relationship between the reference point A and the liquid level position U in the vertical direction is not limited to this, and the altitudes of the reference point A and the liquid level position U may be the same, or the altitude of the reference point A is the liquid level position U. It may be smaller than the altitude.

(4) As the GNSS unit for measuring the altitude of the reference point A, the GNSS unit 22 arranged on the hull 11 may be used instead of the GNSS unit 24 arranged on the upper turning body 12. In this case, the upper end of the pipe body 42 may be fixed to the hull 11 so that the sway of the upper swivel body 12 with respect to the hull 11 does not affect the altitude of the underwater work point D calculated by the calculation means 332. desirable.

(5) The density of the liquid 41 generally changes with temperature. Therefore, the altitude difference measuring device 40 includes one or more temperature measuring devices for measuring the temperature of the liquid 41, and the display means 333 calculates the accurate density of the liquid 41 using the temperature measured by the temperature measuring device. , The altitude of the underwater work point D may be calculated using the calculated accurate density.

(6) In the above-described embodiment, the tamper 15 is adopted as an attachment attached to the tip of the arm 14. The type of attachment attached to the tip of the arm 14 is not limited to the tamper, and may be any of a bucket, a breaker, and the like.

(7) In the above-described embodiment, a connecting body of the boom 13 and the arm 14 rotatably connected as a long member extending from the work boat is adopted. The type of the long member extending from the work ship is not limited to this, and may be a ladder, a transfer pipe, or the like having no rotatable connecting portion (joint) in the middle.

For example, when the altitude calculation system according to the present invention is applied to a work vessel (pump dredger) equipped with a pump dredger, the lower end of the pipe body 42 is located near the tip of a ladder extending from the work vessel into water. The altitude of the underwater work point in the underwater work performed by the cutter or the like fixed and attached near the tip of the rudder is calculated by the altitude calculation device 33.

Further, when the altitude calculation system according to the present invention is applied to a work boat (earth and sand sprinkler) equipped with a sediment sprinkling device, the lower end of the pipe body 42 is the tip of a transfer pipe extending from the work boat into water. The altitude of the discharge port (underwater work point) fixed in the vicinity and provided near the tip of the transfer pipe is calculated by the altitude calculation device 33.

(8) In the above-described embodiment, the GNSS unit 24 is adopted as an altitude measuring device for measuring the altitude of the reference point A on the work boat. The type of ward altitude measuring device that measures the altitude of the reference point on the work ship is not limited to the GNSS unit. For example, instead of the GNSS unit, a laser level that measures the altitude of a reference point on the workboat based on the position where light emitted horizontally from a known altitude position is received on the workboat may be used.

(9) In the above-described embodiment, the lower end portion of the tubular body 42 is fixed near the tip end of the arm 14. Instead of this, the lower end portion of the tubular body 42 may be attached to an attachment attached to the tip end of the arm 14 (such as the tamper 15 exemplified in the above-described embodiment).

1 ... Underwater work system, 11 ... Ship body, 12 ... Upper swivel body, 13 ... Boom, 14 ... Arm, 15 ... Tamper, 16 ... Connecting part, 17 ... Connecting part, 18 ... Connecting part, 19 ... Drive part, 20 ... Drive unit, 21 ... Drive unit, 22 ... GNSS unit, 23 ... Orientation sensor, 24 ... GNSS unit, 25 ... GNSS unit, 26 ... Tilt sensor, 27 ... Tilt sensor, 28 ... Tilt sensor, 29 ... Tilt sensor, 31 ... Operating device, 32 ... Control device, 33 ... Altitude calculation device, 40 ... Altitude difference measuring device, 41 ... Liquid, 42 ... Tube, 43 ... Pressure measuring device, 44 ... Pressure measuring device, 45 ... Pressure measuring device, 46 ... Liquid level measuring device, 151 ... Leveling plate, 331 ... Acquisition means, 332 ... Calculation means, 333 ... Display means

Claims (6)

An altitude measuring device that measures the altitude of the reference point on the work ship,
A tube body containing a liquid of a known density, having a first end fixed on the workboat and a second end fixed near the tip of a movable elongated member extending from the workboat.
A pressure measuring device for measuring the pressure inside the pipe body at a predetermined position near the second end portion of the pipe body, and a pressure measuring device.
The altitude data indicating the altitude measured by the altitude measuring device and the pressure data indicating the pressure measured by the pressure measuring device are acquired, and based on the acquired altitude data and pressure data, underwater is performed using the long member. With an altitude calculation device that calculates the altitude of the work point
With
The altitude calculation device associates and associates the altitude data acquired from the altitude measurement device with the pressure data acquired from the pressure measurement device at a timing deviated from the acquisition timing of the altitude data by a predetermined time. It intends row the calculated altitude based on pressure data and
High degree calculation system. An altitude measuring device that measures the altitude of the reference point on the work ship,
A tube body containing a liquid of a known density, having a first end fixed on the workboat and a second end fixed near the tip of a movable elongated member extending from the workboat.
A pressure measuring device for measuring the pressure inside the pipe body at a predetermined position near the second end portion of the pipe body, and a pressure measuring device.
The altitude data indicating the altitude measured by the altitude measuring device and the pressure data indicating the pressure measured by the pressure measuring device are acquired, and based on the acquired altitude data and pressure data, underwater is performed using the long member. An altitude calculation device that calculates the altitude of the work point and
And a liquid level measuring device for measuring the liquid level of the liquid contained in the tube,
The advanced calculation device obtains the liquid level data indicating the liquid level measured by the liquid level measuring device, intends row the altitude calculation based on the obtained liquid level data
High degree calculation system. The altitude calculation device associates and associates the altitude data acquired from the altitude measurement device with the pressure data acquired from the pressure measurement device at a timing deviated from the acquisition timing of the altitude data by a predetermined time. The altitude calculation system according to claim 2 , wherein the altitude is calculated based on the pressure data. An angle measuring device for measuring the angle of the long member with respect to the horizontal plane is provided.
The altitude calculation system according to any one of claims 1 to 3, wherein the altitude calculation device acquires angle data indicating an angle measured by the angle measurement device, and calculates the altitude based on the acquired angle data. .. A pressure measuring device for measuring the pressure inside the tube at a predetermined position near the second end of the tube is used as the first pressure measuring device, and the pressure measured by the first pressure measuring device is used as the pressure measuring device. When the indicated pressure data is used as the first pressure data,
A second pressure measuring device for measuring the pressure inside the pipe body at a predetermined position near the first end portion of the pipe body is provided.
Any of claims 1 to 4 , wherein the altitude calculation device acquires a second pressure data indicating the pressure measured by the second pressure measuring device, and calculates the altitude based on the acquired second pressure data. The altitude calculation system described in item 1. The altitude calculation system according to any one of claims 1 to 5.
With the work boat
An underwater work system including the long member.

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