JPH0762660A - Rubble mound leveled surface measurement system - Google Patents

Abstract

PURPOSE:To make it possible to measure a leveled surface of a seabed rubble mound without any particular need for diver-based work with regards to a system which measures a leveled surface of a sealed rubble mound in port construction work or the like. CONSTITUTION:A submarine transfer device 3, which is capable of moving along a seabed rubble mound surface 2 is provided with a support boat 8 coupled with the device 3 by way of a signal and power cable 10 and a device 6 which selects the position for the marine transfer device 3 and a sonar 4 which measures a measured surface 24 of the leveled surface of the rubble mound while support vessel 8 is provided with a device 14 which rates the position of the support vessel 8 based on a land reference point 15. An arithmetic operation device installed to the support vessel 8 receives a rating signal from each of the devices 6 and 14 and a measuring signal from the sonar 4 and computes an absolute position of the leveled surface of the rubble mound.

Description

Detailed Description of the Invention

[0001]

[Field of Industrial Application] The present invention is applicable to port construction, etc.
The present invention relates to a system for measuring the leveling surface of a rubble mound on the seabed.

[0002]

2. Description of the Related Art Conventionally, when measuring a leveling surface of a rubble mound on the seabed, a diver 25 dives into the water as shown in FIG. 7, and an underwater reference jig 26 and a leveling surface provided on the leveling surface are used. The difference from 2 is measured using the scale 28, while the underwater staff 27 set up by the diver 25 measures the depth to the underwater reference jig 26 on the support ship 8 and the sum of these measured values is calculated. The request was being made.

[0003]

However, the conventional measuring means as described above has a problem in the safety of the diver because the diver directly works by diving. In addition to the problem that the work is hard work and takes a long time,
There are also problems such as difficulty in visual inspection due to the turbidity of seawater. Further, although there is a means for performing measurement from the ship to the leveling surface of the rubble mound using an ultrasonic measuring device (sonar), there is a problem in that the accuracy is deteriorated due to the spread of the transmitted ultrasonic beam because it is a long distance measurement.

The present invention is intended to solve the above-mentioned problems, and performs sonar measurement of the leveling surface of a rubble mound with an underwater moving device connected to a support ship by a signal / power cable, and the measured value. It is an object of the present invention to provide a system capable of accurately measuring the leveling surface of a rubble mound without requiring the work of a diver to be appropriately corrected.

[0005]

In order to achieve the above-mentioned object, a rubble mound leveling surface measuring system of the present invention comprises an underwater moving device capable of moving along a leveling surface of a rubble mound on the seabed, and the underwater moving. A support vessel connected to the device via a signal / power cable, and the above-mentioned underwater moving device to measure the underwater position locating device for locating the underwater moving device and the leveling surface of the rubble mound. An ultrasonic measuring device is installed, and a supporting ship position locating device for locating the position of the supporting ship based on a land reference point is installed on the supporting ship, and a measurement signal from the ultrasonic measuring device is installed. And a computing device for computing the absolute position of the leveling surface of the rubble mound in response to the positioning signals from the underwater position locating device and the support ship position locating device.

Further, the rubble mound leveling surface measuring system of the present invention is an underwater moving device that can move along the rubble mound leveling surface on the seabed, and an assist connected to the underwater moving device via a signal / power cable. The ship is equipped with an underwater position locator for locating the underwater moving device, a first azimuth gyro that detects the azimuth of the underwater moving device, and a rubble mound leveling surface for the underwater moving device. And an ultrasonic measuring device for adjusting the motion, a first motion detector for correcting motion of the measuring device, and a seawater temperature detector for correcting ultrasonic propagation velocity in water are installed, and the above-mentioned support is provided. A support ship position locating device for locating the position of the support ship on the basis of a land reference point, a second azimuth gyro for detecting the direction of the support ship, and a second shaking for detecting the shaking of the support ship. Detector and installed, In the support ship, a positioning signal from the support ship position locating device, a measurement signal from the ultrasonic measuring device, a detection signal from the seawater temperature detector, and the first and second shaking detectors. From the underwater position locating device and the azimuth gyro data signals from the first and second azimuth gyros, and based on these signals, the absolute position of the leveling surface of the rubble mound It is characterized in that it is equipped with a computing device that computes.

[0007]

In the above-mentioned rubble mound leveling surface measuring system of the present invention, the rubble mound leveling surface on the seabed is measured by the ultrasonic type measuring device installed in the underwater moving device, and the measured value is on the support ship. In the arithmetic unit, it is corrected by the input from the seawater temperature detector or the input from the first motion detector on the underwater moving device. Next, based on the orientation signal from the underwater position locator, the data on the relative positional relationship between the support ship and the underwater moving device is input, and based on the orientation signal from the support ship position locator, the land reference point and the support ship Data on the relative positional relationship is input.

Further, the relative positional relationship between the ultrasonic measuring device and the mounting position of the underwater position locating device is corrected by inputting data from the first azimuth gyro on the underwater moving device. Then, the detection signal from the second motion detector on the support ship and the data signal from the second azimuth gyro on the support ship are input, whereby the support ship position locator and the mounting position of the underwater position locator on the support ship side are input. The relative positional relationship is corrected. In this way, the absolute position of the leveling surface of the rubble mound is calculated by the arithmetic unit.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A rubble mound leveling surface measuring system as an embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is an elevational view schematically showing the overall configuration, FIG. 2 is a circuit configuration diagram thereof, FIG. 3 is an explanatory diagram showing the principle of absolute position localization of the measurement surface, and FIG. 4 is a calculation process in the arithmetic unit. FIG. 5 is an explanatory diagram showing the outline of the detection distance correction associated with the inclination of the ultrasonic measuring device (sonar) in the underwater moving device, and FIG. 6 is an explanatory diagram showing the relationship between the sonar measured distance and horizontal resolution. Is.

As shown in FIGS. 1 and 2, in the rubble mound leveling surface measuring system of this embodiment, an underwater moving device 3 that can move along the leveling surface 2 of the rubble mound 1 on the seabed,
A support ship 8 connected to the underwater moving apparatus 3 via a signal / power cable 10 is provided. The underwater moving device 3 is provided with an underwater position locating device 6 for locating the underwater moving device 3 and a first azimuth gyro 71a for detecting the azimuth of the underwater moving device 3, and also a rubble stone. An ultrasonic measuring device (hereinafter referred to as sonar) 4 for measuring the leveled surface 2 of the mound and a first shake detector 7a for correcting the shake of the sonar 4 are provided. Further, the underwater moving device 3 is provided with a seawater temperature detector 72 for correcting the underwater propagation velocity of ultrasonic waves.

The support ship 8 has a support ship position locating device 14 for locating the position of the support ship 8 based on a reference point 15 on land.
In addition to the above, a second bearing gyro 71 for detecting the bearing of the support ship 8 and a second motion detector 7 for detecting the motion of the support ship 8 are provided. Furthermore, on the support ship 8,
An orientation signal from the support vessel position locating device 14, a measurement signal from the sonar 4, a detection signal from the seawater temperature detector 72, and detection signals from the first and second shaking detectors 7a and 7,
Locating signal from the underwater position locating device 6 and the first and second
An azimuth gyro data signal from the azimuth gyro 71a, 71 is received, and an arithmetic unit 31 for calculating the absolute position of the rubble mound leveling surface 2 based on these signals is installed.

The reference numeral 12 in the figure indicates the sea surface,
13 is land, 16 is horizontal resolution at short distance, 17 is horizontal resolution at long distance, 18 is divergence angle of transmitted ultrasonic beam, 19 is measured distance, 20 is corrected detection distance, 21 is tilt angle, 23 is corrected Sonar position, 24 measurement surface, 32 operation section, 33 display section, 34 external input / output interface, 35 data recording section, 36 printing device, 37 transmitting / receiving section, 38 transmitting section, 39 receiving section Shows a wave instrument.

Since the rubble mound leveling surface measuring system of the present embodiment is constructed as described above, it will be described with reference to FIGS.
As shown in FIG. 6, based on the signal from the underwater position locating device 6 fixed to the underwater moving device 3, the same device 6 on the support ship 8 is provided.
The position of the underwater moving device 3 (a measurement line as a relative position from the support ship 8, see reference numeral 42 in FIG. 3) is measured by the above-mentioned onboard equipment set via the receiving unit 6a. Similarly, the position of the support ship 8 is measured by the ship position locating device 14 as a relative position (measurement line) 43 from a known reference point 15 installed on the land 13 shown in the figure. In addition, the first moving gyro 71a installed on the underwater moving device 3 causes the underwater moving device 3 to move.
Direction is detected and the position of sonar 4 is known,
The relative position 44 of the sonar 4 with respect to the underwater position locating device 6 is calculated from the measurement value by the underwater position locating device 6 and the above-mentioned azimuth. Even when the underwater moving device 3 is tilted, the tilt angle 21 of the sonar 4 shown in FIG. 5 is measured by the first motion detector 7a installed on the sonar 4, and the measured distance 19 is corrected by the tilt angle 21. Corrected detection distance 20 and corrected sonar position 23
And are calculated. And the water temperature of the ultrasonic propagation path is detected by the temperature detector 72, the underwater propagation velocity is corrected each time,
In this way, the relative position (measurement line) 41 between the sonar 4 and the measurement surface 24 on the rubble mound leveling surface is measured.
Therefore, the relative positions (measurement lines) 41, 42, and
By adding the values of 43, 44 in the X, Y, and Z directions, respectively, the absolute position of the measurement surface 24 on the rubble mound leveling surface can be accurately obtained.

The above calculation process will be described with reference to the flow chart (see FIG. 4) in the arithmetic unit 31. (1) The transmission / reception time from the sonar 4 installed on the underwater moving device 3 is measured and input. (2) Similarly, the seawater temperature is input. (3) Similarly, the inclination angle 21 by the motion detector 7a on the underwater moving device 3 is input. (4) From the data of the above items (1) to (3), the ultrasonic wave propagation velocity in seawater at the time of measurement is calculated based on the seawater temperature. Depending on the transmission / reception time and propagation speed, sonar 4 to measurement surface
Twenty-four relative positions are calculated. A relative position correction calculation is performed by the motion detection (tilt angle 21). The same correction / relative position 41 is set to X3, Y3, Z3.

(5) Support ship 8 by underwater position locator 6
-Position data 42 between the underwater moving devices 3 is input. Equivalent values are set to X2, Y2 and Z2. (6) Land reference point 15 to support ship 8 by the ship position locator 14
The position data 43 between is input. Equivalent to X1, Y1, Z
Set to 1. (7) Direction data is input by the direction gyro 71a on the underwater moving device 3. (8) From (3) and (7) above, based on the motion detection (tilt angle 21), the relative position 44 between the sonar 4 and the mounting position of the underwater position locator 6 (underwater moving device 3 side) is determined. A correction calculation is performed. The relative position 44 is corrected and calculated from the azimuth data. Equivalent to x2, y2, z2

(9) The tilt angle by the motion detector 7 on the support vessel 8 is input. (10) Direction data is input by the direction gyro 71 on the support ship 8. (11) From the items (9) and (10) above, the ship position locator 14-
The relative position (distance) between the underwater position locating device 6a (ship side) mounting positions is corrected and calculated. From the azimuth data, the relative position 45 between the mounting positions is corrected and calculated. The equivalent values are x1, y1, and z1. (12) At the known land reference points X0, Y0, Z0, the above X,
By adding the respective values in the Y and Z directions, the absolute position of the measurement surface (rubbish mound leveling surface) 24 can be accurately measured.

Incidentally, in the measurement of the leveling surface 2 of the rubble mound, the distance from the measuring surface is shortened by installing the sonar 4 on the underwater moving device 3, and the horizontal resolution is greatly improved (see FIG. 6). Electrical scanning of sonar 4 or
By operating by mechanical scanning, it becomes possible to perform signal processing of the point information of the measurement surface 24 and display it as surface information on the display device (included in the onboard equipment set), which helps Since the onboard operator 11 on the ship 8 can obtain an underwater image in the front, the underwater moving device 3 can be operated from the ship based on the sonar image even under the condition that the underwater camera cannot see the image due to the turbidity of seawater. It becomes possible to measure the leveling surface of the rubble mound.

[0018]

As described above in detail, according to the rubble mound leveling surface measuring system of the present invention, the sonar measurement of the rubble leveling surface can be performed by the underwater moving device connected to the support ship by the signal / power cable. As the measurement is performed, the measured value is appropriately corrected, so that the leveling surface of the rubble mound can be accurately measured without the diving work of the diver.

[Brief description of drawings]

FIG. 1 is an elevational view schematically showing the overall configuration of a rubble mound leveling surface measuring system as an embodiment of the present invention.

FIG. 2 is a circuit configuration diagram of the system of FIG.

FIG. 3 is an explanatory diagram showing the principle of absolute position orientation of a measurement surface in the system of FIG.

FIG. 4 is a flowchart of a computing device in the system of FIG.

5 is an explanatory diagram showing a procedure of correction of a detection distance associated with the inclination of a sonar in the system of FIG.

6 is an explanatory diagram showing a relationship between a sonar measurement distance and horizontal resolution in the system of FIG.

FIG. 7 is an elevation view showing a conventional means for measuring a leveled surface of a rubble mound.

[Explanation of symbols]

1 Rubble Mound 2 Rubble Mound Leveling Surface 3 Underwater Moving Device 4 Ultrasonic Measuring Device (Sonar) 5 Ultrasonic 6 Underwater Positioning Device 6a Receiver 7a First Shake Detector 7 Second Shake Detector 8 Support Ship 10 Signal / Power cable 11 Onboard operator 12 Sea surface 13 Land 14 Support vessel position locator 15 Reference point 16 Horizontal resolution at short distance 17 Horizontal resolution at long distance 18 Transmitted ultrasonic beam divergence angle 19 Measured distance 20 Corrected detection distance 21 Tilt angle 23 Corrected sonar position 24 Absolute position of measurement surface 25 Diver 26 Underwater reference jig 27 Underwater staff 28 Scale 31 Computing device 32 Operation part 33 Display part 34 External input / output interface 35 Data recording part 36 Printing device 37 Transmitter / receiver part 38 Wave transmitter 39 Wave receiver 41 Measurement line by sonar (X3, Y3, Z3) 42 Measurement line by underwater position locator (X2, Y2
Z2) 43 Measurement line (X1, Y1, Z
1) 44 Underwater position locator (underwater working machine side) 6 to sonar 4 mounting position data (x2, y2, z2) 45 Ship position locator 14 to underwater position locator (support ship side)
Mounting position data between 6 (x1, y1, z1) 71a 1st direction gyro 71 2nd direction gyro 72 Temperature detector

Claims (2)

[Claims] 1. An underwater moving device that can move along a leveling surface of a rubble mound on the seabed, and a support ship connected to the underwater moving device via a signal / power cable. An underwater position locator for locating the underwater moving device and an ultrasonic measuring device for measuring the leveling surface of the rubble mound were installed, and the position of the support ship was set on the land. A support vessel position locator for locating based on a reference point is installed, and receives the measurement signals from the ultrasonic measurement device and each of the orientation signals from the underwater position locator and the support vessel position locator and discards the stones. A rubble mound leveling system measuring system equipped with a computing device that calculates the absolute position of the leveling level of the mound. 2. An underwater moving device that can move along a leveling surface of a rubble mound on the seabed, and a support ship connected to the underwater moving device via a signal / power cable. An underwater position locator for locating the underwater moving device, a first azimuth gyro that detects the azimuth of the underwater moving device, and an ultrasonic measuring device for measuring the leveling surface of the rubble mound, A first motion detector for compensating the motion of the measuring device and a seawater temperature detector for compensating the ultrasonic propagation velocity in the water are installed, and the position of the support ship is set on the land. A support vessel position locating device for locating based on a reference point, a second azimuth gyro that detects the direction of the support vessel, and a second sway detector that detects shaking of the support vessel are installed. On the ship, the mark from the above-mentioned support ship position locator Constant signal, the measurement signal from the ultrasonic measuring device, the detection signal from the seawater temperature detector, the detection signals from the first and second motion detectors, and the underwater position locating device. The orientation signal and the first
And a azimuth gyro data signal from the second azimuth gyro, and based on these signals, an arithmetic unit for calculating the absolute position of the rubble mound smoothing surface is provided, and the rubble mound smoothing surface is provided. Measuring system.