JPH03150408A - Building berth positioning method - Google Patents

Abstract

PURPOSE:To reduce the cost as compared with a system which uses three range finder by measuring the distance and angles to two points in a cabin at its upper part by automatic tracking range finder and angle gage provided at two points on a building berth side and determining the position coordinates of the building berth. CONSTITUTION:Targets which have corner prisms and light sources are installed at reference points A and B at both ends of the base line l0 of a ground part 2 and the automatic tracking range finder and angle gage placed at the refer ence points C and D on the building berth 1 measure the distances CA, CB, DA, and DB, and acute angleACB and acute angleADB. The coordinates of the points C and D are determined according to the measured values and the distance l5 between C and D is already known, so the tilt angle gamma of the building berth is also calculated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] Industrial Field of Application The present invention relates to a positioning device for a working platform at sea.

2. Prior Art A conventional method for positioning a work platform is patent No. 1199 for ``Ship Positioning Method,'' which has already been patented by the applicant of the present invention.
As shown in No. 054, three automatic tracking light wave rangefinders are installed on the ship's platform (l) side, and as shown in Figure 6, the known baseline lengths (j!@), (#5), (l's The coordinates of the pier were determined by measuring the length of the three sides outside.

Although positioning accuracy is high when using such a device, since three automatic reference light wave distance meters are used, the entire device becomes extremely expensive and has drawbacks such as difficulty in long-distance observation.

The positioning accuracy of the work platform is on the order of a few points, such as for submarine dams and bridge foundations, and it is on the order of a few points, such as in sand pump ships used for reclamation work and undersea piling work ships, in addition to the construction of submarine structures.
There are many positioning operations that only require position management using 01.

These marine positioning systems require a low-cost measurement system, and the present invention relates to the low-cost ship positioning system. As shown in Fig. 6, the conventional boat positioning system configures a rectangular coordinate system with a base line ABt-X axis, a direction perpendicular to this axis as the Y axis, and A as the origin, and the base on the boat platform (l) side. Three automatic standard optical distance meters were installed at three points on wA (Ils) and the base line (j!
. ) at both ends (A).

(B) The target, which is composed of a light source and a corner prism integrated, is measured using the automatic standard lightwave rangefinder to measure the distances on three sides (j!I), Clt), (l14), (fi&
) and used the base line length (II.), (l15), and (II>) to find the coordinates of the base point CD of the platform.Then, how much difference does this coordinate value from the coordinate value (planned value) on the known map? A mathematical formula was created to determine whether the coordinates were the same, and the calculations were processed by a computer to move and position the boat platform in such a way as to minimize the deviation from the planned coordinate values.

When using the above method, the position of the pier is determined entirely by measuring the length, and there is no need to observe the angle, so the accuracy of the coordinates is determined by the accuracy (number) of measuring the length. However, when measuring the position of the ship using this method, three expensive automatic reference light wave distance meters are required, making the entire system extremely expensive.

Problems to be Solved by the Invention The present invention attempts to constantly and automatically measure the position of the ship using two automatic tracking rangefinders instead of the three automatic reference light wave distance meters as described above. It is something to do.

[Structure of the invention]

Means for Solving the Problems The measurement method of the present invention will be explained with reference to FIG.
2) A target with a corner prism and a light source is placed at the reference points (A) and (B) at both ends of the baseline (j!@), respectively. A tracking rangefinder and goniometer is installed facing the target. Conventional goniometers have poor angle measurement accuracy, and side-to-side measurement has better distance accuracy, so they relied on side-to-side measurement, but in recent years encoders have been used for the angle measurement part of the automatic tracking rangefinder. The division accuracy has also improved. For this reason, it became practical to use angle measurement and the cost was low, so an automatic tracking goniometer was used. And the above (C
) The distance (Il+) between (C) and (A) and the direction angle θ1 when referenced to the base line (C) (D) on the platform and point A are measured using the automatic tracking rangefinder and goniometer at point (D). ) The distance between (D) and (B) (l12) and the direction angle θ when the base line (C) and points (D) and (B) are referenced using an automatic tracking rangefinder and goniometer.
2 is measured.

At this time, when the coordinate origin is set at (A), (C) and (D
) The coordinates of the point are determined as follows.

(C) The coordinates of the point xc yc are XC=l, cosαY
C= 12 + sin α (D) The coordinates of point XD VD are XD-7! , cosβY
l)=4!3sinβ1! , “+z@”−Il− #3”=j!%+4!5” 27! tj! s cOs
θ□14−”= l z” + j! s”-2j!
z II 5 cos θ2D-YC That is, Il,, J, are measured by distance measurement using an automatic tracking goniometer, and θ1. θ2 is measured by the encoder of the goniometer. Therefore, 113 and 114 can be found by calculation, α and β can be found from the above cos α and cos β, and the coordinates of C and D (Xc, Yc) (Xa, Yo
) can be obtained.

Also, from the formula for the direction angle tan T, it is possible to determine how much the ship's platform is tilted with respect to the base line. Examples of automatic tracking are as follows.

The above-mentioned automatic tracking rangefinder and goniometer will be explained with reference to FIGS. 2, 3, and 4.

In Figure 3, the automatic tracking telescope (3) and the optical distance meter (4) supported on the horizontal axis (5) of the column (15) on the base (14) of the automatic tracking rangefinder and goniometer are shown. The structure is rotatable in horizontal and vertical planes by means of a horizontal axis (5) and a vertical axis (6).

A worm gear (7) is fixed to the horizontal shaft (5), and a worm (8) that meshes with the gear is provided and is driven by a servo motor (9) for altitude driving.

Similarly, a spur gear (l0) is attached to the vertical shaft (6),
A small gear (l1) that meshes with this is provided and is driven by a horizontal drive servo motor (l2).

Further, the automatic reference telescope (3) attached to the upper center of the optical distance meter (4) is fixed so that its tip axis is parallel to the optical axis of the optical distance meter. In the vicinity of the focal plane of the objective lens (l6) of the tracking telescope (3), there is a 4-split light receiving element (l7) of "Displacement Measuring Device" Patent No. 968463, which was already obtained by the applicant of this patent, as shown in Figures 3 and 3. The horizontal displacement signal of the 4-split light receiving element is the difference between a + c and b + d, and the vertical displacement signal is the difference between a + b and c + d. They are separated by a switching circuit (l8), amplified by a horizontal servo amplifier (l9) and a vertical servo amplifier (20), and then connected to a horizontal servo motor (l8).
2) and the vertical servo motor (9) to automatically align the tracking telescope in the target direction so that each output signal becomes zero.

On the other hand, for targets installed on land, a corner prism (23) for distance measurement is rotatably fixed on a leveling device (24) as shown in Fig. 5, and a reference light source W (21) is mounted on the top of the prism.
The tip axis (P) is the optical axis (
Install it so that it is approximately parallel to P').

The reference light source device fi (21) places a light emitting source (25) approximately at the focal plane of the condensing objective lens (22), and emits the emitted light in approximately parallel or slightly diverging form, or a cylindrical lens is placed in front of the objective lens. The light beam is spread horizontally and emitted.

If the light emitted from the reference light source equipment f(A) and (B) is modulated at the frequency determined for each light source equipment, the light sources (A) and (B) can be separated from each other when viewed from the ship's platform, and sunlight, etc. Not affected by natural light. In the above embodiment, the light source is provided on the land side, but according to the technical concept of the present invention, the light source does not need to be on the prism side, so it may be provided on the automatic tracking rangefinder and angle meter side. Of course.

With the above configuration, the light wave range finder (3) always tracks the direction of the corner prism even if the boat is shaken or moved by the flow of seawater.

At this time, since the angle encoder (l3) is attached to the vertical rotation axis (6) of the main body (l4), the angle output can be obtained simultaneously according to the direction tracking, and the distance is always measured by the measurement command from the handling room. and the measured value of the angle can be output. These distance measurement and angle measurement signals are processed by a computer using the coordinate equations described above to calculate the coordinates and azimuth of the ship's position at every moment, and these can be displayed on a cathode ray tube or printer.

Furthermore, if the slipway is 300 to 500 meters away from the shore and the automatic reference direction accuracy on the slipway is ±11, then the positioning accuracy of the slipway will be approximately ±201.

〔effect〕

As mentioned above, in the present invention, the two automatic tracking distance and goniometers always track the direction of the corner prism, so the positioning of the ship's platform can be performed.Compared to the conventional ship's positioning system, the accuracy is almost unchanged and the system is improved. Not only is it simplified and maintenance is easy, but the measurement cost can be reduced by about 30%.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the method of the present invention, Fig. 2 is a principle diagram of the automatic tracking rangefinder and goniometer used in the present invention, Fig. 3 is an enlarged view of the automatic tracking optical system, and Fig. 4 is an automatic tracking optical system. A block diagram of tracking, FIG. 5 is a side view of a target consisting of a light source and a reflecting prism, and FIG. 6 is a plan view showing a conventional method. (A) (B)...Reference point on land, (C) (D)...
- Reference point on the platform, (t+) (j!z)... distance, (j?o) (j!s)... baseline. Sai1 (2) λmouth t3 figure Sai4 figure? 1

Claims (1)

[Claims] Reference points (A) (B) with baseline length (l_0) on land
At the same time, corner prisms are installed at two reference points, and both ends (C) (D) of the base line (l_5) on the ship's deck side at sea are installed.
The automatic tracking range finder and goniometer on the side (C) is used to measure the distance between ∠ACD and the distance (with respect to the reference point (A)).
l_1) can be automatically measured at all times, and the automatic tracking rangefinder on the (D) side measures ∠BDC and distance (
l_2) can be automatically measured using a known baseline (l_0)(
1_5) and the two sides and two angles of the above measured values to calculate the coordinates of measurement points (D) and (C) on the ship's platform, and also calculate the deviation from the planned coordinate values at the same time to display the ship's position coordinates. Characteristic method of positioning the platform.