JPH0245767Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to an azimuth measuring device for measuring the azimuth of an underwater working machine working on the bottom of the water.

Generally speaking, underwater working machines that work on the bottom of the water are operated by a support vessel.
It is necessary to accurately grasp the direction of the work machine body. Conventionally, the direction of the main body is measured using a magnetic compass, or two measurement stacks are set up on the main body, and the direction is measured using trigonometry. Measurement accuracy is low due to magnetic influences, and with the latter method, the two stacks installed upright on the work machine get in the way of work, and the work is complicated because the direction is determined by calculation. There were some drawbacks, such as:

This invention has been made with the aim of improving this drawback, and aims to provide an azimuth measuring device for underwater working machines that allows the azimuth of the main body to be easily measured from a single measuring stack installed upright from the main body of the working machine. That is.

This invention will be described in detail below with reference to an embodiment shown in the drawings. In the figure, 1 is a main body of an underwater working machine, which is movable with respect to four legs 2 provided on a main body leg frame 1a, and with respect to the main body leg frame 1a. By repeating the movement of the main body leg frame 1a and the movable leg frame 1b while alternately extending and contracting the four legs 3 provided on the movable leg frame 1b, the bottom of the working water area can be moved freely in any direction. There is. The main body 1 is supplied with power such as electric power, hydraulic pressure, and control signals via a power supply cable 6 from a support vessel 5 floating in the working area or moored on land 4 near the working area. Maneuvering operations such as moving and working are performed.

Also, from the main body 1 is a stack 7 for direction measurement.
is installed vertically. The above stack 7 is the second
As shown in the figure below, a support cylinder 7b is fixed to the upper end of a hollow support 7a, and a rotating shaft 7c is attached to this support cylinder 7b.
The lower end of the bushing 7d is rotatably supported. The lower end of the rotating shaft 7c is connected via a joint 9 to a drive source 8 such as an electric motor provided in the support column 7a, and is rotatable by this drive source 8. The drive source 8 is equipped with a potentiometer. A rotation angle detector 10 such as the above is connected, and the rotation angle of the rotation shaft 7c can be detected by this rotation angle detector 10.

On the other hand, a height scale 11 for water depth measurement is displayed vertically on the upper end side of the rotating shaft 7c, and a cylindrical head 7e is provided at the upper end of the rotating shaft 7c at right angles to the axis of the rotating shaft 7c. A laser beam reflecting mirror 12 is provided on the front surface of the head 7e, and a compass needle 13 is provided protruding from the rear portion of the head 7e. The direction needle 13 is made by bending a round bar or the like into a rectangular frame shape, and one vertical part 13a is fixed to the head 7e so as to be located on the axis of the rotating shaft 7c, and the other vertical part 13b is rotatable. It is provided in a protruding position at a distance l from the axis of the shaft 7c.

Next, to measure the direction of the main body 1, a laser rangefinder 14 and a level 1 for water depth measurement are installed on land 4 (or a measurement reference tower installed in the working area if there is no land).
5 are respectively installed, and the attitude of the main body 1 is first controlled so that the measurement stack 7 is vertical. Next, the direction needle 1 on the stack 7 is detected by the laser range finder 14.
3, the rotating shaft 7c is rotated by the drive source 8, and the rotating shaft 7c is stopped at a position where the vertical portions 13a and 13b of the compass needle 13 overlap each other, as shown in FIG. The rotation angle β of the rotation shaft 7c is detected by the rotation angle detector 10. Also, find the angle α of the laser range finder 14 from the reference direction 16,
By subtracting the rotation angle β from this angle α, the orientation θ of the main body 1 with respect to the reference orientation 16 can be easily determined. Further, the distance L to the main body 1 can be determined by irradiating the laser beam onto the laser reflecting mirror 12 provided on the upper end side of the stack 7, and by measuring the height scale 11 provided on the rotating shaft 7 using the level 15. Therefore, the depth of the working area can also be easily measured.

As described in detail above, this idea allows you to easily measure the direction of the underwater working machine by simply measuring the direction needle installed at the top of the measuring stack installed upright on the main body of the underwater work machine using a laser range finder. Since the direction is measured using a rangefinder, there is no magnetic influence from the main body, making highly accurate measurements possible. In addition, since only one measuring stack is required, there is no risk of interfering with work, and if a laser distance measuring mirror and height scale are provided on the top of the stack, it is easy to measure the distance to the main unit and the water depth. can be measured.

[Brief explanation of the drawing]

The drawings show one embodiment of this device, with Figure 1 being an overall perspective view, Figure 2 being a front view of this device, and Figure 3 being a front view of the device.
The figure is a partially cutaway side view of the same part, and FIGS. 4 and 5 are action explanatory views. 1 is the underwater working machine body, 7 is the measurement stack,
7c is a rotation axis, 8 is a drive source, 10 is a rotation angle detector, 13 is a direction needle, 13a, 13b are vertical parts, 1
4 is a laser range finder.

Claims (1)

[Scope of utility model registration request] An underwater work machine main body 1 that performs work on the bottom of the water by receiving power and control signals from a support vessel, 1
A stack 7 for measuring books is set up, and this stack 7 is
A rotating shaft 7c that can be freely rotated by a drive source 8 is provided on the upper part of the rotating shaft 7c, and at least two vertical portions 13a parallel to the axis of the rotating shaft 7c are provided at the upper end of the rotating shaft 7c.
13b is provided, and a rotating shaft 7 is provided.
A rotation angle detector 10 for detecting the rotation angle is located near c.
An azimuth measuring device for an underwater working machine, which is provided with a laser rangefinder 14 at an observation point for measuring the azimuth of the main body 1.