JPH0633461A - Positioning device for pile placed underwater - Google Patents

Abstract

PURPOSE:To correctly position a pile by adjusting the horizontal angle of monitor TV for substations on a terminal station, monitoring the images of the TV with the monitor TVs and detecting the position of the pile. CONSTITUTION:Two substations 7 are installed to positions which determine the position of a pile in an intersection direction based on the pile. Then, the azimuth of two TV cameras 8 is adjusted by operating an operation means 14 of a terminal station 6. A subtransmitter 11 modulates carrier waves based on image signals output from the cameras 8 and azimuth signals of the cameras 8 output from a drive means 9 and transmits the data to the terminal station 6. A terminal receiver 12 of the terminal station 6 receives the data so that the images of the cameras 8 are displayed with two monitor televisions 13. Moreover, a crain operator on the terminal station adjusts the horizontal position of the pile based on its reference, monitoring the monitor TV 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pile positioning device for driving a pile at a fixed position on the seabed.

[0002]

2. Description of the Related Art When constructing a bridge girder or the like on the seabed, foundation piles are driven. It is important that the foundation piles are accurately placed at the designated positions. A conventional pile positioning device is shown in FIG. In the positioning device shown in this figure, the transit 2 is installed at two locations apart from the pile 1. Transit 2
Are arranged at positions where the piles 1 can be collimated in directions orthogonal to each other. The two transits 2 are oriented horizontally for positioning the stake 1. For two Transit 2,
Looking at this, an operator will tell the position of the pile 1 using a transceiver. An operator who operates a crane on the ship receives radio waves transmitted from a person who looks into the transit 2, and adjusts the position of the pile 1. That is, an operator who operates a crane on the ship communicates with a person who looks into the two transits 2 by a transceiver and moves the pile 1 in the horizontal plane to determine the placement position.

[0003]

This device has the drawback that it is difficult to position the piles quickly and accurately. This is because the crane operator cannot directly collimate the position of the pile, and the person talking to the person who looks into the transit 2 and talks with the transceiver to position the pile. The operator of the crane cannot directly collimate the pile, and adjusts the position of the pile, for example, by listening to a word such as "move 10 cm to the right", and thus it is difficult to accurately position the pile. Therefore, this device has a drawback that it takes time to position the piles and the work efficiency is poor. In addition to the operator of the crane, it requires two operators to look into the transit and notify the position of the pile, which is a drawback that a small number of workers cannot perform labor-saving positioning.

In order to solve this drawback, as shown in FIG. 2, a device for measuring the position of the main ship 3 and measuring the positions of the main ship 3 and the pile 1 to position the pile has been developed. This device has a distance L1 between two reference points A and B provided on land.
And the distance L between the C point of the Vessel 3 and the two reference points AB on land
2. Measure L3 and L3, and further, point C of ship 3 and reference point A
The elevation angle θ with B is measured, and the measured value is calculated by the microcomputer to calculate the position of the ship 3. A laser measuring means 4 capable of measuring a distance and an angle by using a laser beam is equipped at a point C of the main ship 3. Reflection prisms 5 for reflecting the laser beam emitted from the laser measuring means 4 are installed at the reference points A and B on the land. The laser beam emitted from the laser measuring means 4 is reflected by the reflecting prism 5 on land and detected by the laser measuring means 4.

This device is capable of continuously calculating the position of the main ship 3 by means of a microcomputer installed on the main ship 3. Ship 3
By specifying the position and direction of the pile 1 from
The position of can be determined. Therefore, compared to a device in which two people look at the transit, the number of workers can be reduced and the position of the pile can be efficiently determined. With this device, the position of the ship 3 can be efficiently determined. However, since the position of the stake 1 is not directly specified, the position of the stake 1 is measured from the main ship 3, so that there is a drawback that extra work is required. Further, since the position of the ship 3 is calculated and the pile 1 is positioned with reference to the ship 3, it is difficult to increase the positioning accuracy of the pile. This is because the position of the pile cannot be directly determined, and the position of the pile 1 is indirectly determined via the point C of the ship 3. Furthermore, the pile positioning device of this structure has a drawback that the equipment cost is extremely high. This is because the laser measuring means 4 and the reflecting prism 5 are used to accurately measure the distance and the angle.

The present invention was developed with the object of resolving this drawback, and an important object of the present invention is to place piles in the sea so that they can be positioned easily, easily and accurately. The purpose is to provide a positioning device for a pile. Still another important object of the present invention is to provide a positioning device for a pile to be driven into the sea, which can reduce the facility cost and can be mass-produced at low cost.

[0007]

In order to achieve the above-mentioned object, the device of the present invention has the following constitution. That is,
The pile positioning device for driving into the sea according to the present invention has the following configuration. (A) The pile positioning device includes a base station 6 and a plurality of child stations 7. (B) At each child station 7, a television camera 8 for collimating the pile 1 arranged in the sea, a driving means 9 for rotating the television camera 8 in a horizontal plane, and a control signal output to the driving means 9. And a slave transmitter 11 that modulates a video signal of the television camera 8 into a carrier wave and transmits the carrier wave. (C) The base station 6 includes a base receiver 12 that receives radio waves transmitted from the slave transmitter 11 of the slave station 7, a monitor television 13 that displays a video signal demodulated by the base receiver 12, and a slave. Operation means 14 for horizontally rotating the TV camera 8 of the station 7, and operation means 1
And a base transmitter 15 which modulates the output of No. 4 into a carrier wave and transmits it to the child receiver 10 of the child station 7. (D) The horizontal angle of the monitor televisions 13 of the plurality of child stations 7 is adjusted by operating the operating means 14 of the base station 6, and the video signal of the monitor television 13 is transmitted by the child transmitter 11 to monitor the base station 6. It is configured to observe on the television 13 and detect the position of the pile 1 at the base station 6.

[0008]

The pile positioning device for driving into the sea according to the present invention installs the base station 6 on the main ship 3 and the slave stations 7 at a plurality of points apart from the pile 1. Child station 7
Are arranged at specific positions. The position of the pile 1 can be determined by collimating the specific direction from the child station 7 at the specific position.
An operator who operates the crane on the main ship 3 can position the pile 1 by moving it to an accurate position while watching the monitor TV 13. The monitor television 13 wirelessly transmits and displays the signal from the television camera 8 provided in the child station 7.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. However, the examples shown below exemplify a device for embodying the technical idea of the present invention, and the device of the present invention has the following materials, shapes, structures, and arrangements of components. Not specific. The device of the present invention can be modified in various ways within the scope of the claims.

Further, in this specification, for easy understanding of the claims, the numbers corresponding to the members shown in the embodiments are referred to as "claims column", "action column", and "action column". It is added to the members shown in the section of "Means for Solving the Problems". However, the members shown in the claims are
It is by no means specific to the members of the examples.

The pile positioning device shown in FIG. 3 comprises a base station 6 and two sets of child stations 7.

At the child station 7, a television camera 8 for collimating the pile 1 arranged in the sea, a driving means 9 for rotating the television camera 8 in a horizontal plane, and a control signal are output to the driving means 9. The slave receiver 10 and the slave transmitter 11 that modulates the video signal of the television camera 8 into a carrier wave and transmits the carrier wave are provided.

As the television camera 8, the eyepiece lens of the transit 2 provided with a photoelectric conversion element can be used.
The opto-electrical conversion element converts an optical signal into an electric signal, and a CCD or an image orthoicon can be used. The television camera 8 may be a transit eyepiece to which a commercially available portable video camera is connected. The television camera 8 displays the collimation line on the lens so that the vertical and horizontal collimation lines shown in FIG. 4 are displayed on the monitor television 13, or electrically displays the collimation line on the center of the monitor television 13. To output the signal.

The drive means 9 comprises a servo motor for rotating the television camera 8 in a horizontal plane, and a drive circuit for the servo motor. The servo motor has a vertical output shaft,
This output shaft is fixed to the television camera 8. When the servo motor is rotated, the TV camera 8 is rotated in the horizontal plane. The rotation angle of the servo motor is controlled by the drive circuit.

The driving means 9 rotates the servo motor in response to the output signal from the slave receiver 10. The child receiver 10 receives the radio wave transmitted from the base station 6 and inputs its output to the driving means 9. As the output of the slave receiver 10, for example, a pulse width signal corresponding to the rotation angle of the servo motor can be used. For example, a pulse width of 10-46μ
The rotation angle of the TV camera 8 is changed in the range of sec.
That is, the azimuth angle can be controlled. The azimuth angle of the television camera 8 can be determined to be 0 ° for true north, 90 ° for true east, 180 ° for true south, and 270 ° for true west. In this case, as shown in FIG. 5, the pulse width can be determined according to the azimuth angle of the television camera 8. In the system shown in this figure, for example, when it is desired to set the azimuth angle of the television camera 8 to 90 degrees and direct it to the east, the base station 6
The base transmitter 15 of 1 transmits a signal having a pulse width of 19 μsec. This signal is received by the child receiver 10 of the child station 7 and input to the driving means 9. The drive circuit of the drive means 9 drives the servomotor according to the pulse width of the input pulse signal, and the pulse width is 19 μse.
Rotate to the position of c and stop the TV camera 8 toward the east.

As described above, the method of driving the servo motor by changing the pulse width is a simple circuit for the television camera 8
Can be directed in a particular direction. However, the device of the present invention does not specify the method in which the driving means 9 points the television camera 8 in a specific direction. For example, the base transmitter 15 of the base station 6 transmits a 4- to 8-bit digital signal corresponding to the azimuth angle of the television camera 8, the slave receiver 10 receives this signal, and the drive means 9 receives the azimuth angle. Can be calculated and the television camera 8 can be directed to the calculated azimuth angle. This system has a feature that the direction of the television camera 8 can be controlled with high accuracy.

Further, as shown by the broken line in FIG. 3, the driving means 9 inputs a signal corresponding to the direction of the television camera 8 to the slave transmitter 11. The signal input from the driving means 9 to the slave transmitter 11 is received by the base receiver 12 of the base station 6, and the base station 6 displays the azimuth of the TV camera 8 on the monitor TV 13. As described above, the device for displaying the azimuth angle of the television camera 8 at the base station 6 has a feature that the pile can be positioned without fail.

The slave transmitter 11 modulates a carrier wave with the video signal output from the television camera 8 and the signal output from the driving means 9 and indicating the azimuth angle of the television camera 8, and transmits the carrier wave. The transmission power of the slave transmitter 11 is adjusted to the minimum power that can be received by the base receiver 12 of the base station 6.
The distance between the base station 6 and the child station 7 is usually about several hundred meters. Therefore, the child transmitter 11
The transmission output of is adjusted in the range of several tens μW to several tens mW.
The device of the present invention includes a plurality of child stations 7, and a child transmitter 11 of each child station 7 transmits a radio wave modulated by a video of a television camera 8. At base station 6,
The radio waves of each slave transmitter 11 are separated and received. Therefore, each slave transmitter 11 transmits radio waves having different transmission frequencies.

The base station 6 is a child station 7
The base receiver 12 that receives the radio waves transmitted from the child transmitter 11, the monitor TV 13 that displays the video signal demodulated by the base receiver 12, and the TV camera 8 of the child station 7 are horizontally rotated. The operating means 14 for controlling the operating means 14 and the base transmitter 15 for modulating the output of the operating means 14 into a carrier wave and transmitting the modulated carrier wave to the slave receiver 10 of the slave station 7 are provided.

The base receiver 12 separates and receives the radio waves transmitted from the slave transmitters 11 of the two slave stations 7, and outputs the received and demodulated video signals to the respective monitor televisions 13. Further, the slave transmitter 11 transmits a signal indicating the azimuth angle of the television camera 8, so that this signal is also demodulated and output to the monitor television 13.

The monitor television 13 independently displays the images sent from the television cameras 8 of the respective child stations 7. In addition, the monitor TV 13 is a TV camera 8
The azimuth angle is displayed digitally, and the direction of the TV camera 8 is also displayed.

The operating means 14 has two azimuth dials 16 for independently controlling the horizontal orientation of the television camera 8 of each child station 7. The azimuth dial 16 is connected to a variable resistor whose resistance changes according to the rotation angle, and the resistance value changes according to the rotation angle.

The base transmitter 15 modulates a carrier wave with a pulse signal having a pulse width corresponding to the variable resistance value of the operating means 14 and transmits it. The transmission frequency of the base transmitter 15 is designed to be different from the frequency of each child transmitter 11. This is because the base transmitter 15 transmits while receiving the radio wave of the slave transmitter 11. That is, as shown in FIG. 3, two slave transmitters 11 and one base transmitter 1
The device having 5 and 5 transmits radio waves having different frequencies, and communicates without interference.

The operation means 14 may use a ten-key pad instead of the azimuth dial 16 shown in the figure. The operation means 14 of the ten-key pad inputs the azimuth angle of the television camera 8 numerically. A digital signal corresponding to the input numerical value is input to the base transmitter 15. The base transmitter 15 modulates and transmits a carrier wave with a digital signal, and the driving means 9 of the child receiver 10 sets the television camera 8 at an angle corresponding to the digital signal.
Rotate.

The pile positioning device for driving into the sea shown in FIG. 3 is used as follows. Two child stations 7 are installed at specific positions.
The position where the child station 7 is installed is specified by the longitude and the latitude, or is determined with the reference point as the standard. The two child stations 7 are preferably, as shown in FIG.
It is installed at a position where the piles 1 are collimated and positioned in directions orthogonal to each other. The television cameras 8 of the two child stations 7 installed at specific positions can collimate a specific direction and determine the position of the pile 1. The azimuth angle at which the television camera 8 determines the position of the pile 1 is calculated in advance. 2 by operating the operating means 14 of the base station 6.
The azimuth angles of the TV cameras 8 are adjusted to the calculated values. The image of the TV camera 8 is transmitted by the slave transmitter 11, and the monitor TV 13 displays the image of the TV camera 8 in the base station 6. The operator who operates the crane at the base station 6 adjusts the horizontal position of the pile 1 according to the sight lines while watching the two monitor televisions 13. The center of the stake 1 can be aligned with the line of sight, but preferably the sides of the stake 1 are aligned with the line of sight. This is to reduce the error as much as possible. When the pile 1 is not reflected on the television camera 8, the television camera 8 is rotated by the operation means 14 to detect the direction of the pile 1. In a state where the pile 1 is reflected, the television camera 8 is rotated in a specific direction by the operation means 14, and the pile 1 is moved and accurately positioned.

[0026]

EFFECTS OF THE INVENTION In the pile positioning device for driving into the sea according to the present invention, an operator who operates a crane at a base station adjusts the driving position while directly checking the position of the pile by watching a monitor TV. it can. Therefore, the operator of the base station has a feature that the pile driving position can be adjusted easily, easily, and quickly and efficiently. further,
Since the operator can adjust the position of the pile while watching the position of the pile on the monitor TV, the feature that the position can be adjusted accurately is also realized. In addition, since there is no need for an operator who looks at the transit unlike the conventional case, there is a feature that the number of workers can be reduced to 1/3.

Furthermore, the device of the present invention does not require the use of an expensive laser beam or the like, and has a feature that it can be mass-produced at low cost by combining the devices already on the market.

Further, the pile positioning device for driving into the sea according to the present invention has a feature that the child station can be installed easily because the child station can be made light and compact. Furthermore, it is not necessary to connect the child station and the base station by wire. The child station and the base station are communicated by radio waves. This synergizes with the simple installation of the child station and realizes a feature that is extremely convenient to use. Moreover, conveniently,
In the sea where the piles are placed, there are no obstacles that obstruct the electric wave transmission, and the transmitters of the base station and the child stations can transmit extremely weak radio waves to achieve the feature of accurately positioning the piles.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing a conventional positioning device for a pile to be driven into the sea.

FIG. 2 is a schematic plan view showing a conventional pile positioning device for driving into the sea.

FIG. 3 is a block diagram of a pile positioning device for driving into the sea showing an embodiment of the present invention.

FIG. 4 is a front view showing an example in which a monitor TV shows a pile.

FIG. 5 is a graph showing a pulse width with respect to an azimuth angle of a TV camera.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Pile 2 ... Transit 3 ... Main ship 4 ... Laser measuring means 5 ... Reflection prism 6 ... Base station 7 ... Child station 8 ... Television camera 9 ... Driving means 10 ... Child receiver 11 ... Child transmitter 12 ... Base receiver 13 ... monitor TV 14 ... operating means 15 ... base transmitter 16 ... azimuth dial

Claims (1)

[Claims] 1. A positioning device for a pile to be driven into the sea, which has the following configuration. (A) The pile positioning device is a base station (6),
It has a plurality of child stations (7). (B) At each child station (7), a television camera (8) for collimating the piles arranged in the sea, a drive means (9) for rotating the television camera (8) in a horizontal plane, and a drive A slave receiver (10) for outputting a control signal to the means (9) and a slave transmitter (11) for modulating the video signal of the television camera (8) into a carrier wave and transmitting the modulated carrier wave. (C) The base station (6) is a base receiver (12) that receives radio waves transmitted from the slave transmitter (11) of the slave station (7), and an image demodulated by the base receiver (12). A monitor television (13) for displaying signals, an operating means (14) for horizontally rotating the television camera (8) of the child station (7), and the child station by modulating the output of the operating means (14) into a carrier wave. (7)
And a base transmitter (15) for transmitting to the child receiver (10). (D) The horizontal angle of the monitor TV (13) of the plurality of child stations (7) is adjusted by operating the operation means (14) of the base station (6), and the video signal of the monitor TV (13) is transmitted to the child transmitter. (1
Monitor TV (13) of base station (6) transmitted by 1)
The base station (6) is used to detect the position of the pile (1).