JPS6133450B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improved machine tip position measuring device for a work boat for soft ground improvement work.

Regarding the spatial position of the tip of the improvement machine in soft ground improvement work, for the construction management of soft ground improvement work,
High precision of several centimeters is often required, so
Currently, as precision surveying instruments, it is necessary to use surveying instruments that require distance measurement operations such as light wave rangefinders and transits that measure distance by collimating visible measurement points from a reference point, but during improvement work, Since the tip of the improved ship is submerged in water, it is impossible to directly measure the tip position of the improved ship using these methods.

Therefore, a relay measurement point is set up at any visible position on the hull or the improved aircraft to serve as a ship position measurement point, and the relative position between this measurement point and the tip of the improved aircraft is determined using an appropriate measuring device, and this and the above-mentioned surveying device are used to measure the distance. It is conceivable to find the tip position of the improved machine based on the position of the visible part survey point.

However, the improved machine has a structure with a heavy reducer at the head of a long and thin cylindrical support tube, and is suspended from the turret by a winch wire, and is raised and lowered in the vertical direction using a leader as a guide. , and there is a gap of several centimeters between the improved machine's leader sliding part and the leader, so the improved machine itself would twist or tilt as the ship swayed or tilted, and the improved machine could penetrate into the soil. In this case, the support pipe will bend due to the penetration resistance of the soil.

For this reason, the spatial position of the tip of the improved aircraft always changes with respect to the ship position measurement point, so in order to precisely measure the position of the tip of the improved aircraft, it is necessary to continuously measure the amount of this variation. The present invention provides an improved machine tip measuring device that is effective in accordance with such actual conditions.

The device of the present invention has the following features: 1. Using a light wave rangefinder installed at a ship positioning point and a ship direction measuring point that are spaced apart from each other on a work boat, each reflecting mirror installed at three reference points at known positions is viewed. Accordingly, between ship positioning points and the same reference points, and ship direction measuring points,
By adding a stuttering/tidal level correction device to a known ship positioning device that measures the distance between each of the same reference points and calculates the results to determine the spatial position of the ship positioning point and the ship's direction, it is possible to Determine the spatial position of the ship's position measuring point and the ship's direction with the error removed, and 2. Place the ship's position measuring point between the tips of the improved aircraft for the turret measuring point, the improved machine measuring point, the center point of the upper end of the support pipe, and the center point of the lower end of the support pipe, respectively. The relative position between each adjacent station is determined by measuring and calculating the length and slope of the straight line between adjacent stations, and these results are collected to determine the space at the tip of the improved machine relative to the ship's position station. 3. From the results of 1 and 2 above, find the spatial position of the tip of the improved machine with respect to the reference point, and display this moment by moment on the spatial coordinates (X, Y, Z) based on the construction normal and elevation.・It is intended to record and understand the trajectory of the tip of the improved machine during soft ground improvement work and to improve the efficiency of work boat operation.

An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIGS. 1 and 2, 1 indicates a work boat, 2 indicates an improvement work area, and 3 indicates a water area. A light wave rangefinder 5 for points, a reflector 6 for a reference point for measuring ship position and a reference point for measuring ship direction on a survey platform 4 installed at a known position outside the work boat 1, and a reflector 6 for a reference point for measuring the ship's direction, respectively installed on the work boat 1. a ship tilt detector 9, a draught detector 11, an improved machine deviation detector, an improved machine head tilt detector 25, an improved machine support pipe tilt detector 21, and a tide level detector 13.
and signals corresponding to the straight-line distances between the ship position measurement point and the simultaneous reference point and between the ship orientation measurement point and the same reference point detected by the distance measurement operation of the light wave rangefinder 5, and the signals detected by the respective detectors. A calculator 28 that calculates the respective signals, and a display 29 that displays and records the trajectory of the tips of the improved machine, that is, the centers P ₇ and P ₇ ' of the tips of the stirring shafts 20 and 20' obtained from the calculation results. and a recorder 30.

A method of measuring the spatial positions of the ship positioning point _P1 and the ship's orientation measuring point _P2 of the work boat 1 will be explained below.

As shown in Figure 1, the vertical and horizontal construction normal lines X and Y provided in the improvement work area 2 are the X and Y axes, and the straight line passing through the origin is the Z axis, and Z = 0 is the zero altitude. In the spatial coordinates (X, Y, Z), the coordinates (Xa, Ya, Za), (Xb, Yb, Zb) and (Xc,
Points Pa, Pb, and Pc of Yc, Zc) are used as reference points, and a surveying platform 4 is provided at each reference point, and a reflecting mirror 6 for a light wave range finder 5 is provided on the surveying platform 4.

On the other hand, as shown in Figs. 1 and 2, an arbitrary point on the top plane of the work boat turret 7 is defined as a ship positioning point _P1 , and a line connecting P ₁ is a point on the top plane of the turret that is perpendicular to the ship center line L. An arbitrary point is defined as an azimuth measuring point _P2 , and a light wave rangefinder 5 is provided at each of points _P1 and _P2 .

In addition, a ship inclination detector 9 is installed on the turret 7, a swamp detector 11 is installed on the bottom 10 of the ship just below point _P1 , a pile 12 is installed in the water area 3 near the improvement work area 2, and a tide level detector 13 is attached to this pile 12. .

The ship's heel angle in the direction of the ship's centerline L obtained by the ship's inclination detector 9, the ship's inclination angle in the horizontal direction perpendicular to the ship's centerline L, the hiccups obtained by the stuttering detector 11, and the tide level detector 13. The elevations of points P ₁ and P ₂ can be determined based on the obtained tide level.

The range finder sights the reflectors 6 at points Pa and Pb using the light wave range finder 5 at point P, and the reflector 6 at point Pc using the light wave range finder ₅ at point _P2 , and performs distance measurement operations. do,
Find the straight-line distances between P ₁ and Pa, between P ₁ and Pb, and between P ₂ and Pc. From the above results, the known spatial coordinates of points Pa, Pb, and Pc, the respective elevations of points P ₁ and P ₂ , and P ₁ , Pa
and the straight line distance between P ₁ and Pb and between P ₂ and Pc.
Coordinates of _one point P (X ₁ , Y ₁ , Z ₁ ) and coordinates of _two points P (X ₂ ,
Y ₂ , Z ₂ ) are calculated.

Next, a method for measuring the spatial position of the measuring point _P4 of the improved aircraft 14 will be explained.

As shown in Fig. 3, the wire 16 unwound by the torque winch 15 installed at the top of the turret is passed through the turret measurement point P ₃ , which is located at the top of the turret, and is suspended from the onboard measurement point P ₁ . , is connected to the upper part of the wire inclination detector 17, and the lower part of the same detector 17 is connected to the improved measurement point _P4 by a wire 16'.

This wire tilt detector 17 and the wire 16,1
6' is stretched in the vertical direction with a constant tension of the torque winch 15, and the wire inclination detector holder 19 installed at the top of the improved machine 14 is used to adjust the vertical, horizontal, and horizontal directions of the wire inclination detector 17 and the work boat 1, respectively. The baselines are aligned and the detector 17 is kept from shaking or twisting. A wire amount detector 18 for detecting the amount of wire fed out is provided at the top of the tower, and the above device is collectively referred to as an improved machine deviation detector. A known inclination detector is used as the wire inclination detector 17. For example, vertical,
The detection source is a differential transformer with a built-in piece of iron that is moved by a weight that swings in two horizontal directions, and the swing angle of the weight, that is, the inclination with respect to the straight line, is captured by the signal generated by the differential transformer and output. Use.

The wire tilt detector 17 detects the wire 16,1
6' can be detected in two directions, vertical and horizontal, that is, the slopes of straight lines ₃ and _4. On the other hand, the wire amount detector 18 can detect the length of the straight line between P ₃ and P ₄ . The deviation of improved machine measurement point P ₄ from measurement point P ₃ can be detected.

The deviation of the turret measuring point P ₃ with respect to the ship positioning point P ₁ can be determined from the ship's inclination detected by the ship's inclination detector 9, since the ship's positioning point P ₁ and the turret measuring point P ₃ are in a fixed relationship. Based on this and the deviation of the improved equipment measurement point P ₄ with respect to the turret measurement point P ₃ , the deviation of the same measurement point P ₄ with respect to the ship position measurement point P ₁ is determined.

Next, the lower end of the support pipe P ₆ and the tip of the improved machine P ₇ , P
₇ Explain how to measure the spatial position of each ′ point.

As shown in FIG. 3, the stirring shaft 2 of the improved machine 14
0,20' upper end measurement point _P5 of the support pipe 8,
The upper part of the support pipe inclination detector 21 provided inside the support pipe 8 is connected to the lower part of the support pipe inclination detector 21 and the support pipe 8
and the lower end measurement point P ₆ are connected under tension with support tube inclination detector wires 22, respectively.

Then, by the retainer 23 provided on the support tube 8,
The support pipe inclination detector 21 and the work boat 1 are vertically and
By aligning the horizontal and horizontal baselines and keeping the detector 21 from shaking or twisting, it is possible to maintain a straight line.
₅ and ₆ , that is, the inclination of the support tube 8 relative to the ship's hull in two directions, longitudinal and lateral, can be detected.

Further, an improved machine head inclination detector 25 is provided in the improved machine head 24.

Since P ₄ and P _{5 are in a fixed relationship, the deviation of the support pipe upper measurement point P 5 with} respect to the improved machine measurement point P ₄ is determined from the improved machine head inclination obtained by the improved machine head inclination detector 25. The deviation of the support pipe lower end measurement point P ₆ from the support pipe upper end measurement point P ₅ is determined by the support pipe inclination obtained by the support pipe inclination detector 21 and each measurement point at the upper and lower ends of the support pipe.
Since it can be calculated from the dimensions between P ₅ and P ₆ , from these results, the lower end measurement point of the support pipe for improved equipment measurement point P ₄ can be calculated.
The deviation of P ₆ is found.

On the other hand, the stirring shafts 20, 20' are supported by the support tube 8 over almost the entire length, and it is thought that the bending of the stirring shafts 20, 20' during the improvement work will follow the bending of the support tube 8. So the improved machine tip P ₇ and P ₇
′ with respect to the support pipe lower end measurement point P ₆ are P ₆ , P ₇ ,
Since P ₇ ' have a fixed relationship with each other, it can be determined from the support tube inclination obtained by the support tube inclination detector 21.

Ship positioning point P ₁ with respect to the reference space coordinates obtained above
and the coordinates of the ship's orientation measuring point _P2 , the deviation of the improved machine measuring point _P4 from the ship's positioning measuring point _P1 , the deviation of the support pipe lower end measuring point _P6 from the improved machine measuring point _P4 , and the supporting pipe lower end measuring point By calculating the respective deviations of the improved machine tips P ₇ and P _{7 '} with respect to P ₆ , the spatial coordinates (X ₇ , Y ₇ , Z ₇ ) and ( _{X 7} ', Y ₇ ′, Z ₇ ′) are obtained.

Since it is necessary to continuously display and record the improved machine tip position obtained in this way for construction management and work boat operation, in this embodiment, a display 29 and a recorder 30 are provided in the cockpit 26.

In addition, 27 is an amplifier/converter, 31 is the water surface, 32 is the water bottom, 33 is the zero-altitude line, 34 is the improved machine lifting winch, 35 is the improved machine lifting wire, 36 is the leader, 37, 37' are stirring blades, 38 shows the tide level detector underwater cable.

In this embodiment, a light wave range finder 5 is provided at the ship direction measuring point _P2 and a reflector 6 is provided at the reference point Pc for detecting the ship's direction. It is also possible to use a gyro compass.

In addition, in this example, the number of support tubes is 1, the number of stirring shafts is 2, and the tip position of the improved machine is centered at the tip of the stirring shaft. However, if the number of support tubes changes, a support tube tilt detector and an improved deviation detector may be used. By providing the same number of support tubes as the number of support tubes, or when the number of stirring shafts per support tube changes, or when the tip position of the improved machine is the tip of the stirring blade, the lower end measurement point position of the support tube will be the same as the example. The only difference from the example is the positional relationship between the same measuring point and the tip of the stirring shaft or the tip of the stirring blade, so the present invention can be applied to both of the detectors as they are in the example. be.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the construction location of the improvement work, Fig. 2 is a side view of the work boat, Fig. 3 is an explanatory diagram of the improved machine, and Fig. 4 is a block diagram of the device of the present invention. 1...Work boat, 2...Improvement work area, 3...Water area, 4
...Survey table, 5...Light wave range finder, 6...Reflector, 7...
Turret, 8...Support pipe, 9...Ship inclination detector, 10...Bottom, 11...Swallowing detector, 12...Pile, 13...Tide level detector, 14...Improved machine, 15...Torque winch, 1
6, 16'... wire, 17... wire tilt detector,
18... Wire amount detector, 19... Wire inclination detector holder, 20, 21'... Stirring shaft, 21... Support tube inclination detector, 22... Support tube inclination detector wire, 23
...Support tube tilt detector holder, 24...Improved machine head,
25...Improved aircraft head tilt detector, 26...Cockpit, 2
7... Amplifier/converter, 28... Arithmetic unit, 29... Display, 30... Recorder, 31... Water surface, 32... Water bottom, 3
3... Zero-altitude line, 34... Improved machine lifting winch, 35... Improved machine lifting wire, 36... Leader, 3
7, 37'... Stirring blade, 38... Tide level detector underwater cable, X... Construction normal X axis, Y... Construction normal Y axis.

Claims (1)

[Claims] 1 Light wave rangefinder for ship position measurement point and ship direction measurement point installed on the work vessel for soft ground improvement work, and ship position measurement reference point and ship direction measurement reference point installed at known positions outside the work vessel. a reflector, a ship tilt detector, a draught detector installed on the work boat, a deflection detector of the improved machine extending from the work boat to the ground improvement area, a head tilt detector of the improved machine, and an inclination of the improved machine. a detector;
A tide level detector and a signal corresponding to each straight-line distance between the ship's position measuring point and the same reference point and between the ship's direction measuring point and the same reference point detected by the distance measurement operation of the light wave range finder, and each of the above-mentioned detectors. What is claimed is: 1. A workboat improvement machine tip position measuring device comprising: a computing unit that calculates the respective signals detected by the machine to measure the tip position of the improved machine; and a display and a recorder that display and record the calculation results.