JP2016033064A - Underwater work device and underwater work method - Google Patents

Abstract

An underwater work apparatus and an underwater work method are provided which can suspend a suspended load and install it at a predetermined position and orientation in water without work by an underwater worker.
A suspension frame 15 provided between a wire 13 extending from a crane 12 and a suspended load 14 and holding the suspended load 14 so as to be detachable and moving integrally with the suspended load 14, and a direction of the suspended frame 15 The sensor 17 for detecting the rotation, the thrust generators 22a and 22b for turning the suspension frame 15 in water, and the operation by the thrust generators 22a and 22b so that the orientation of the suspension frame 15 measured by the sensor 17 matches the desired direction. And a control device 16 for controlling.
[Selection] Figure 1

Description

  The present invention relates to an underwater work apparatus and an underwater work method, and more particularly, to an underwater work apparatus and an underwater work method for suspending a suspended load underwater by a wire extending from a crane and installing the suspended load at a predetermined position.

  Conventionally, suspension work of a suspended load at a high place on land has been made so that surrounding workers do not contact the obstacles below by manually turning the suspended load by an intermediate rope or rod attached directly to the suspended load. I went there. However, this work has a problem that when the suspended load is heavy or when working at a high place, the suspended load swings at the time of turning and the safety of the worker cannot be sufficiently secured. In view of this, a technique has been proposed in which a gyro device is incorporated in a swivel device and the swivel device is lifted by a crane together with the suspended load to prevent the suspended load from swinging when the suspended load is swiveled (for example, Patent Document 1, Patent). Reference 2).

  On the other hand, when installing concrete blocks underwater, such as revetment work, and paving stone work for the caisson foundation, materials such as concrete blocks (hereinafter referred to as `` suspended loads '') are used near the installation location. It was hung with a crane on board and dropped into the water, and an underwater worker (diver) dived into the water to manually guide the suspended load to the installation site. Such an underwater worker's induction work of the suspended load underwater is difficult because it is difficult to take a reaction force due to the influence of buoyancy unlike the ground, and because it is affected by tidal currents. For this reason, there are problems such as increased work time and poor construction efficiency.

  Therefore, instead of underwater workers diving underwater and manually guiding the suspended load to the installation position, an underwater work machine that suspends the suspended load and puts it in the water together with the suspended load to perform construction work. , Equipped with an equipment for workers (hereinafter referred to as "remote control") that is operated by underwater workers diving underwater, and underwater workers dive into the water to operate and suspend the underwater work machines with the remote control. An underwater work support device that guides a load to an installation position is also known (see, for example, Patent Document 3).

Unexamined-Japanese-Patent No. 2012-111570. JP2013-35651A. JP2013-238002A.

  In the invention described in Patent Document 3, the underwater worker does not directly guide the suspended load to the installation position, but dives in the water and operates the underwater work machine with the remote control to guide the suspended load to the installation together with the underwater work machine. Therefore, the labor given to underwater workers is reduced. However, the work performed by underwater workers underwater has not changed. Accordingly, since the underwater worker performs work while diving in the water, the work time per time is limited. Moreover, since the body is affected by tidal currents and water pressure, there is a problem that the fatigue given to underwater workers is large and workability is poor.

  Therefore, there is a technical problem to be solved in order to provide an underwater work device and an underwater work method that can eliminate the work by the underwater worker and suspend the suspended load and install it in a predetermined position and orientation in the water. The present invention aims to solve this problem.

  The present invention has been proposed in order to achieve the above object, and the invention according to claim 1 is an underwater working apparatus for suspending a suspended load underwater by a wire extending from a crane and installing the suspended load at a predetermined position. A suspension frame that is provided between the wire and the suspended load, detachably holds the suspended load and moves integrally with the suspended load, and a detecting means for detecting the orientation of the suspended frame, An underwater work comprising: a thrust generator that turns the suspension frame in water; and a control unit that controls the operation of the suspension generator so that the direction of the suspension frame measured by the detection unit coincides with a desired direction. Providing equipment.

  According to this configuration, the suspended load is suspended in the water together with the suspension frame by the wire extending from the crane, the direction of the suspension frame in the water is detected by the detection means, and the control means is further based on the detection result of the detection means. The operation of the thrust generator is controlled, and the thrust generator turns the suspension frame so that the direction of the suspension frame coincides with a desired direction. Therefore, it is possible to proceed with the underwater work without placing an underwater worker who works underwater, and even if it is arranged, only confirmation is performed.

  According to a second aspect of the present invention, in the configuration according to the first aspect, the detection means provides an underwater work device that measures the orientation of the suspension frame in water.

  According to this structure, since the direction of the suspension frame in water is measured by the sensor, the apparatus can be constructed with a simple structure.

  According to a third aspect of the present invention, in the configuration according to the first or second aspect, the detection means includes a first compass that is at least partially exposed to the atmosphere and measures the direction of the suspension frame, and the suspension. Provided is an underwater work device that is a second compass for measuring the direction of the suspension frame in a state where the frame is submerged.

  According to this configuration, the detection unit includes two first compasses that are exposed to the atmosphere and measure the direction of the hanging frame, and the second compass that is submerged with the suspended load and measures the direction of the hanging frame. Since the direction of the suspension frame in water can be accurately measured using the compass, it can contribute to the improvement of work accuracy.

  According to a fourth aspect of the present invention, in the configuration according to the third aspect, the second compass provides an underwater work device that detects an angular velocity of the suspension frame.

  According to this configuration, when the detection unit enters the water together with the suspension frame and the direction of the suspension frame cannot be measured by the first compass, the second direction capable of measuring the direction of the suspension frame in a submerged state is provided. Since the angular velocity of the suspension frame in water is detected by the compass, the orientation of the suspension frame can be measured more accurately, which can contribute to further improvement in work accuracy.

  According to a fifth aspect of the present invention, there is provided an underwater work apparatus for suspending a suspended load in water by a wire extending from a crane and installing the suspended load at a predetermined position. The suspended work device is provided between the wire and the suspended load. A suspension frame that removably holds the load and moves integrally with the suspension load, a detection means that detects a direction of the suspension frame, a thrust generator that pivots the suspension frame in the water, and a A display that displays a desired direction and a measured direction, and displays an icon for instructing the turning operation of the suspension frame by the thrust generator from the outside, and an orientation of the suspension frame measured by the detection means Provided is an underwater work device comprising a control means for controlling an operation by the thrust generator and a display on the display based on an input instruction via the icon.

  According to this configuration, the suspended load is suspended in the water together with the suspension frame by the wire extending from the crane, and the direction of the suspension frame in the water is detected by the detection means. The control means displays on the display the direction measured by the detection means and the desired direction of the suspended load, and displays an icon for instructing a turning operation for changing the direction of the hanging frame from the outside. Further, when an operator or the like gives an input instruction using an icon displayed on the display, the control means controls the operation of the thrust generator. At the same time, a change in the direction of the suspension frame controlled by the thrust generator is received from the detection means and displayed on the display in real time with an icon or the like. Thus, when the operator operates the icon while looking at the display, the direction of the hanging frame is changed, and the suspended load can be installed at a predetermined position.

  The invention according to claim 6 is an underwater work method for suspending a suspended load underwater by a wire extending from a crane and installing the suspended load at a predetermined position, wherein the suspended load is suspended from the wire via a suspended frame. A thrust generator for turning the suspension frame according to the direction of the suspension frame detected in the suspension step, the suspension frame orientation detection step for detecting the orientation of the suspension frame in the water, and the suspension frame orientation detection step And a thrust generator driving process for driving the underwater operation method.

  According to this method, the suspended load is suspended in the water together with the suspension frame by the wire extending from the crane, the direction of the suspension frame in the water is detected by the detecting means, and the operation of the thrust generator based on the detection result. And the suspension frame is turned by the thrust of the thrust generator so that the direction of the suspension frame coincides with the desired direction. Accordingly, it is possible to proceed with the underwater work without placing an underwater worker who works underwater, and even if it is arranged, only confirmation is performed.

  According to a seventh aspect of the present invention, in the method according to the sixth aspect, before the suspended load is suspended, at least a part of the suspended frame is exposed from the water surface before the suspended load is suspended and the suspended frame is submerged. An underwater work method is provided that includes a suspension position determination step of measuring the position and orientation of the suspension frame in a state of being suspended.

  According to this method, the suspended load can be suspended and submerged, and the position and orientation of the suspension frame can be detected and adjusted together with the suspended load with the upper surface of the suspension frame exposed from the water surface. Accordingly, the position and orientation of the suspended load are determined to some extent before being submerged, and only fine adjustment of the orientation is necessary thereafter. As a result, the work becomes easy and accurate installation becomes possible.

  According to the present invention, it is possible to easily install a suspended load at a predetermined position in water without disposing an underwater worker who works underwater.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic of the underwater work apparatus shown as 1st Example of this invention. It is a block diagram of the configuration of the control system in the underwater work device of the first embodiment. It is a figure which shows the outline of the hanging frame and thrust generator which suspend the suspended load of 1st Example same as the above, and is submerged. It is a figure which shows the example of a display displayed on the display of 1st Example same as the above. It is a figure explaining the operation example of the underwater work apparatus of 1st Example same as the above. It is the schematic of the underwater work apparatus shown as 2nd Example of this invention. It is a block diagram of the configuration of the control system in the underwater work device of the second embodiment. It is a figure which shows the outline of the suspension frame and the thrust generator which suspend the suspended load of 2nd Example same as the above, and is submerged. It is a figure which shows the example of a display displayed on the display of 2nd Example same as the above. It is a figure explaining one operation example of the same underwater work apparatus of a 2nd Example same as the above.

  In order to achieve an object of the present invention to provide an underwater work device that can be installed at a predetermined position and orientation in water by suspending a suspended load and eliminating work by an underwater worker, a wire extending from a crane is used. An underwater working apparatus for suspending a suspended load in water and installing the suspended load in a predetermined position, provided between the wire and the suspended load, and detachably holding the suspended load so as to be integrated with the suspended load. A hanging frame that moves to the right, a detecting unit that detects the direction of the hanging frame, a thrust generator that turns the hanging frame in the water, and a direction of the hanging frame that is measured by the detecting unit matches a desired direction. And a control means for controlling the operation of the thrust generator so as to achieve this.

  Further, the present invention extends from a crane in order to achieve an object of providing an underwater work device that can be installed at a predetermined position and orientation in the water by suspending a suspended load by eliminating work by an underwater worker. An underwater work apparatus for suspending a suspended load underwater by a wire and installing the suspended load at a predetermined position, provided between the wire and the suspended load, and holding the suspended load in a detachable manner. A suspension frame that moves in unison, detection means for detecting the orientation of the suspension frame, a thrust generator that rotates the suspension frame in the water, and a desired orientation and a measured orientation of the suspension load. And a display for displaying an icon for instructing the suspension frame to be turned from the outside by the thrust generator, and the direction of the suspension frame measured by the detection means and an input instruction via the icon. It was implemented as a structure and a control means for controlling the display on the the operation by the thrust generator display, Zui.

  In addition, the present invention extends from a crane in order to achieve an object of providing an underwater work method capable of suspending a suspended load and installing it at a predetermined position and orientation in the water without work by an underwater worker. An underwater work method for suspending a suspended load underwater by a wire and installing the suspended load at a predetermined position, wherein the suspended load is suspended from the wire via the suspended frame, and the suspended frame is suspended in the water. A suspension frame orientation detection step for detecting the orientation of the suspension frame, and a thrust generator drive step for driving a thrust generator for turning the suspension frame according to the orientation of the suspension frame detected in the suspension frame orientation detection step, It was realized as follows.

  Hereinafter, an underwater work device and an underwater work method according to embodiments of the present invention will be described in detail with reference to the drawings.

  1 to 5 show a first example of the embodiment according to the present invention. As shown in FIG. 1, the underwater work apparatus 10 drops a suspended load 14 together with a hanging frame 15 into the water with a wire 13 from a crane 12 of a crane ship 11 and sinks it to a position just before a predetermined position (such as a riverbed or a seabed). Then, the suspension frame 15 is swung in the water together with the suspended load 14 at the submerged position, the swiveling angle (direction) and position of the suspended load 14 are adjusted, and after the adjustment, the suspension frame 15 is submerged to the predetermined position, and further suspended. It is a machine that releases the load 14 from the suspension frame 15 and installs it on the riverbed or the seabed. That is, it is a machine that allows the suspended load 14 to be installed at a predetermined position without arranging an underwater worker who performs work. The suspended load 14 is a concrete block such as a wave-dissipating block or a covering block.

  FIG. 2 is a configuration block diagram of a control system of the underwater work device 10 shown in FIG. The configuration of the underwater work apparatus 10 will be further described with reference to FIGS. 1 and 2. In the figure, on the crane ship 11, in addition to the crane 12, a control device 16 as a control means, a GPS (Global Positioning System) sensor 17 (hereinafter referred to as "GPS17") as a detection means, and the like. I have.

  The control device 16 is, for example, a personal computer (personal computer), and includes a display 16a and a keyboard, a mouse, and the like as external input means.

  The GPS sensor 17 is detection means attached to the tip of the crane 12 where the wire 13 hangs down. The GPS sensor 17 has a hanging frame that hangs down below the wire 13 as shown in FIGS. The center position of 35 (this center position C is substantially the same as the center position of the suspended load 14) is measured, and the position information is sequentially input to the control device 16.

  The suspension frame 15 is suspended substantially horizontally via a swivel 19 and a suspension wire rope 20 at the tip (lower end) of the wire 13 and further via a sling wire rope 21 that can be released below the suspension frame 15. The suspended load 14 is suspended substantially horizontally.

  As shown in FIG. 3, the suspension frame 15 is formed in, for example, a rectangular frame shape, and four corners thereof are horizontally supported by the suspension wire rope 20. In addition, thrust generators 22a and 22b are attached to the outer surfaces of a pair of parallel bars 15a and 15b facing each other in the suspension frame 15 in the same direction. Further, the upper surface of one of the pair of parallel bars 15c and 15d that intersects the pair of parallel bars 15a and 15b at a right angle and faces each other, A sensor 18 (for example, a transponder) is attached as detection means for measuring the orientation and position. The thrust generators 22 a and 22 b and the sensor 18 are electrically connected to the control device 16 through a signal cable 24.

  The pair of thrust generators 22a and 22b are, for example, pump jet propulsors, and push the seawater around the suspension frame 15 backward with a propeller provided on the tail, thereby causing the suspension frame 15 to move to the suspended load 14. At the same time, thrust for turning and moving can be generated. Then, by adjusting the balance of the thrusts of the pair of thrust generators 22a and 22b in accordance with an instruction from the control device 16, the suspension frame 15 is swung and the X and Y positions are moved. Etc. can be adjusted.

  The sensor 18 has a function of measuring the direction of the hanging frame 15 in a submerged state, and information on the direction of the hanging frame 15 measured by the sensor 18 is sequentially sent to the control device 16. That is, the sensor 18 here has a function of measuring the direction of the suspension frame 15 in water.

  In the control device 16 that receives the value measured by the sensor 18, a control signal corresponding to the value is generated by the thrust generators 22 a and 22 b so as to eliminate the difference between the actual direction of the hanging frame 15 and the deviation of the desired direction. To control the driving (operation) of the thrust generators 22a and 22b.

  The display 16a is an output display device of the control device 16, and as shown in FIG. 4, for example, a hanging frame icon 25a representing the desired direction of the hanging frame 15 and a hanging frame icon 25b representing the actual direction of the hanging frame 15. In addition, turning instruction information 25c for instructing turning, such as how many times the hanging frame icon 25b needs to be rotated in the left and right directions with respect to the hanging frame icon 25a, and driving of the thrust generators 22a and 22b are driven. Icon for instructing a turning operation for changing the direction of the suspension frame 15 from the outside, that is, a “left turning” icon 25d for instructing a left-hand turning from the outside, and for instructing a clockwise turning from the outside The “turn right” icon 25e and the like can be displayed.

  FIG. 5 shows one operation process of the underwater work apparatus 10 configured as described above, and this operation process is sequentially executed by an instruction of software incorporated in the control apparatus 16.

  Next, the operation of the underwater work apparatus 10 configured as described above will be described according to the flow of FIG.

  First, the suspended load 14 and the suspension frame 15 are suspended from the tip of the wire 13 hanging from the tip of the crane 12 extending from the crane ship 11 on the crane ship 11 as in this embodiment. Then, in a state where the suspended load 14 is suspended together with the suspension frame 15, the crane 12 is turned and expanded and contracted, the center position C of the suspended load 14 is known from the position information of the GPS sensor 17, and the center position C is a desired position. When they coincide with each other, the turning and up / down of the crane 12 are stopped, and the suspension position is roughly determined (suspending position determination step S1).

  Next, the process proceeds to the suspended load hanging process S2. The suspended load suspending step S2 and the suspended position determining step S1 may be processed as one step. In the suspended load suspending step S2, the wire 13 is further extended to drop the suspended load 14 and the suspended frame 15 together into the water, and the suspended load 14 and the suspended frame 15 are installed in the suspended load 14. Submerge in the water up to the previous position. Further, the position and orientation of the suspension frame 15 at the position immediately before the installation, that is, the orientation of the suspended load 14 is measured by information from the sensor 18 (suspended load orientation detection step S3).

  The control device 16 compares the suspension frame data serving as a reference with the data of the suspension frame 15 measured by the sensor 18 to obtain the difference. Then, as shown in FIG. 3, the control device 16 needs a hanging frame icon 25a representing the desired direction of the hanging frame 15 and a hanging frame icon 25b representing the measured actual direction on the display 16a, and adjustment thereof. And the icons 25d and 25e for instructing a turning operation for adjusting the direction from the outside (in this example, it is necessary to correct 13 ° clockwise).

  Subsequently, the control device 16 proceeds to a thrust generator driving step S4 for adjusting the direction of the suspension frame 15. In the thrust generator driving step S4, the thrust generator is based on the difference between the reference hanging frame data detected in the hanging load direction detecting step S3 and the hanging frame 15 data measured by the sensor 18. It is possible to switch between an automatic control mode in which the operations of 22a and 22b are automatically controlled and a manual control mode in which the operations of the turn instruction icons 25d and 25e on the display 16a are manually operated by the operator.

  In any case, the control device 16 outputs a signal for driving the pair of thrust generators 22a and 22b, and individually controls the drive of the pair of thrust generators 22a and 22b. Moreover, while balancing the thrust between the pair of thrust generators 22a and 22b, the direction of the rotation direction of the suspension frame 15 is adjusted, and it is actually placed on the suspension frame icon 25a representing the desired direction of the suspension frame 15. The hanging frame icons 25b representing the direction of the are overlapped. Due to the overlap of the two icons 25a and 25b, the actual position of the suspended load 14 and the direction of the suspended load 14 are respectively arranged at desired positions.

  Thus, if the position and direction of the hanging load 14 are adjusted, it will enter into the final installation process S5, the wire 13 will be further extended from the crane 12, and the hanging load 14 will be installed in the final position. Thereby, the suspended load 14 is installed in a predetermined direction on a predetermined riverbed or the seabed. When the installation is completed, a release device (not shown) provided on the hanging frame 15 is operated by a signal from the control device 16, and the slinging wire rope 21 is automatically removed from the hanging load 14 by remote control. Then, only the suspended load 14 is left on the seabed and the suspension frame 15 is lifted by the wire 13. Thereby, the suspended load 14 is installed in a predetermined direction at a predetermined position. Hereinafter, by repeating this operation, a predetermined amount of the suspended load 14 can be installed in the water in a predetermined state.

  Therefore, according to the underwater work device 10 according to the first embodiment, the suspended load 14 is suspended together with the suspension frame 15 by the wire 13 extending from the crane 12, and the direction of the suspension frame 14 in the water is detected by the sensor 18. Further, the control device 16 as the control means controls the operation (drive) of the thrust generators 22a and 22b based on the detection result of the sensor 18, and the thrust generators 22a and 22b rotate the suspension frame 15, Since the direction of the suspension frame 15 is controlled so as to coincide with the desired direction, it is not necessary to place an underwater worker who works underwater, and even if it is placed, it is easy to confirm. It becomes possible to proceed to work.

  6 to 10 show a second example of the embodiment according to the present invention. In addition, the part which the structure of 1st Example and the structure of 2nd Example become the mutually same structure attaches | subjects the same code | symbol, and abbreviate | omits duplication description.

  FIG. 6 is a diagram showing an outline of an underwater work apparatus according to the second embodiment of the present invention. As shown in FIG. 6, the underwater work device 30 suspends the suspended load 14 together with the suspension frame 35 with the wire 13 from the crane 32 of the crane ship 31 and sinks it to a predetermined position (such as a riverbed or the seabed). Then, the suspension frame 35 is swung together with the suspended load 14 on the water surface, the turning angle (direction) of the suspended load 14 is adjusted, and after the adjustment, the suspended load 14 is submerged in the predetermined position. It is a machine that is released from and installed on the riverbed or the seabed. That is, in the case of the second embodiment, the suspended load 14 can be installed at a predetermined position without arranging an underwater worker who works underwater. The suspended load 14 is a concrete block such as a wave-dissipating block or a covering block.

  FIG. 7 is a block diagram showing the configuration of the control system of the underwater work device 30 shown in FIG. The configuration of the underwater work device 30 will be further described with reference to FIGS. 6 and 7. In the figure, on the crane ship 31, in addition to the crane 32, a control device 36 as a control means is provided.

  The control device 36 is, for example, a personal computer (personal computer), and includes a display 36a, a keyboard, a mouse, and the like as external input means.

  The suspension frame 35 is suspended substantially horizontally via a swivel 19 and a suspension wire rope 20 at the tip (lower end) of the wire 13 and further via a sling wire rope 21 that can be released below the suspension frame 35. The suspended load 14 is suspended substantially horizontally.

  As shown in FIG. 8, the suspension frame 35 is formed in, for example, a rectangular frame shape, and four corners thereof are horizontally supported by the suspension wire rope 20. In addition, thrust generators 22a and 22b are attached to the outer surfaces of a pair of parallel bars 35a and 35b facing each other in the suspension frame 35 in the same direction. Furthermore, the upper surface of one of the pair of parallel bars 35c and 35d that intersects the pair of parallel bars 35a and 35b at a right angle and faces each other is disposed on the upper surface of one of the bars 35d. A sensor 37 is attached as a detection means for measuring the position and orientation. The thrust generators 22 a and 22 b and the sensor 37 are electrically connected to the control device 36 via the signal cable 24.

  The pair of thrust generators 22a and 22b are, for example, pump jet propellers, and push the seawater around the suspension frame 35 backward with a propeller provided at the tail as in the case of the first embodiment. Thus, it is possible to generate a thrust for turning and moving the suspension frame 35 together with the suspended load 14. Then, in accordance with an instruction from the control device 36, by adjusting the balance of the thrusts in the pair of thrust generators 22a and 22b, the direction in which the suspension frame 35 is swung and the positional movement in the X and Y directions Etc. can be adjusted.

  The sensor 37 has a first compass 37a that is at least partially exposed to the atmosphere and measures the position and orientation of the suspension frame 35, and a first compass 37a that measures the orientation of the suspension frame 35 while the suspension frame 35 is submerged. 2 compass 37b. For example, a transponder or a GPS (Global Positioning System) compass (hereinafter referred to as “GPS 37a”) is used for the first compass 37a, and the second compass 37b is suspended from the magnetic north. A magnetic compass that measures the deviation of the direction of the frame 35 or a gyrocompass that measures the angular velocity of the hanging frame 35 and measures the deviation of the direction of the hanging frame 35 relative to the true north is used. Then, the values of the first compass 37 a and the second compass 37 b measured by the sensor 37 are sequentially sent to the control device 36.

  The display 36a is an output display device of the control device 36. For example, as shown in FIG. 9, a hanging frame icon 25a representing the desired direction of the hanging frame 35 and a hanging frame icon 25b representing the actual direction of the hanging frame 35. In addition, turning instruction information 25c for instructing turning, such as how many times the hanging frame icon 25b needs to be rotated in the left and right directions with respect to the hanging frame icon 25a, and driving of the thrust generators 22a and 22b are driven. An icon for instructing a turning operation for changing the direction of the suspension frame 35 from outside, that is, a “left turning” icon 25d for instructing a left-hand turning from the outside, and an instruction for a clockwise turning from the outside The “turn right” icon 25e and the like can be displayed.

  FIG. 10 shows one operation process of the underwater work apparatus 30 configured as described above, and this operation process is sequentially executed in accordance with an instruction of software incorporated in the control apparatus 36.

  Next, the operation of the underwater work device 30 configured as described above will be described according to the flow of FIG.

  First, on the crane ship 31 as in this embodiment, the suspended load 14 is suspended together with the suspension frame 35 on the tip of the wire 13 that hangs down from the tip of the crane 32 extending from the crane ship 31. Further, before submerging the suspension frame 35 together with the suspended load 14, that is, with the sensor 37 that is a part of the suspension frame 15 being exposed from the water surface, the crane 32 is turned and moved up and down, and a GPS sensor (first compass) 37a. The center position C of the suspended load 14 is obtained from the position information, and when the center position C coincides with the desired position, the crane 32 is turned and stopped and the suspension position is determined (suspending position determination step S6). .

  Next, the process proceeds to the suspended load hanging process S7. The suspended load hanging process S7 and the hanging position determining process S6 may be processed as one process. In the suspended load suspending step S7, the wire 13 is further extended and dropped into the water integrally with the suspended load 14 and the suspended frame 35, and the suspended load 14 and the suspended frame 35 are immediately before the suspended load 14 is installed. Sink into the water by the position of. Further, the direction of the suspension frame 35 at the position immediately before the installation, that is, the direction of the suspended load 14 is measured by information from the second compass 37b in the sensor 37 (suspended load orientation detection step S8).

  The control device 36 compares the data of the suspension frame serving as a reference with the data of the suspension frame 35 measured by the sensor 37 and obtains the difference. Then, as shown in FIG. 8, the control device 36 needs a hanging frame icon 25a representing the desired direction of the hanging frame 35, a hanging frame icon 25b representing the measured actual direction, and adjustment thereof on the display 36a. And the icons 25d and 25e for instructing a turning operation for adjusting the direction from the outside (in this example, it is necessary to correct 13 ° clockwise).

  Subsequently, the control device 36 proceeds to a thrust generator driving step S9 for adjusting the direction of the suspension frame 35. In the thrust generator driving step S9, based on the difference (deviation) between the reference hanging frame data detected in the hanging load direction detecting step S8 and the hanging frame 35 data measured by the sensor 37, It is possible to switch between an automatic control mode for automatically controlling the operation of the thrust generators 22a and 22b and a manual control mode for manually operating the operation of the turning instruction icons 25d and 25e on the display 36a.

  In any case, the control device 36 outputs a signal for driving the pair of thrust generators 22a and 22b, and individually controls the drive of the pair of thrust generators 22a and 22b. In addition, while balancing the thrust between the pair of thrust generators 22a and 22b, the direction of the rotation direction of the suspension frame 35 is adjusted, and it is actually placed on the suspension frame icon 25a that represents the desired direction of the suspension frame 35. The hanging frame icons 25b representing the direction of the are overlapped. Due to the overlap of the two icons 25a and 25b, the actual position of the suspended load 14 and the direction of the suspended load 14 are respectively arranged at desired positions.

  Thus, if the position and direction of the suspended load 14 are adjusted, it will transfer to suspension process S10, the wire 13 will be extended again, and the suspended load 14 and the suspended frame 35 will be suspended to the seabed vicinity. Further, the direction of the suspension frame 35 at the position near the seabed where it is installed, that is, the direction of the suspended load 14 is measured by information from the second compass 37b in the sensor 37 (suspended load orientation detection step S11).

  Subsequently, the control device 36 proceeds to a thrust generator driving step S12 in which the direction of the suspension frame 35 is adjusted. In the thrust generator driving step S12, based on the difference (deviation) between the reference hanging frame data detected in the hanging load direction detecting step S11 and the hanging frame 35 data measured by the sensor 37, The operations of the thrust generators 22a and 22b are individually controlled. Then, while balancing the thrust between the thrust generators 22a and 22b, the direction of the suspension frame 35 in the rotational direction is finely adjusted, and the actual orientation is placed on the suspension frame icon 25a representing the desired orientation of the suspension frame 35. The hanging frame icons 25b representing are overlapped.

  Next, the final installation step S13 is entered, the wire 13 is further extended from the crane 32, and the suspended load 14 is installed at the final position. Thereby, the suspended load 14 is installed in a predetermined direction on a predetermined riverbed or the seabed. When the installation is completed, a release device (not shown) provided on the hanging frame 35 is operated by a signal from the control device 36, and the slinging wire rope 21 is automatically removed from the hanging load 14 by remote control. Then, only the suspended load 14 is left on the seabed and the suspension frame 35 is lifted by the wire 13. Thereby, the suspended load 14 is installed in a predetermined direction at a predetermined position. Hereinafter, by repeating this operation, a predetermined amount of the suspended load 14 can be installed in the water in a predetermined state.

  Therefore, even in the case of the underwater working device according to the second embodiment of the present invention, the suspended load 14 is suspended together with the suspension frame 35 by the wire 13 extending from the crane 32, and the orientation of the suspension frame 35 in the water is detected by the sensor 37. Further, the control device 36 as a control means controls the operation (drive) of the thrust generators 22a and 22b based on the detection result of the sensor 37, and the thrust generators 22a and 22b rotate the suspension frame 35. Since the direction of the suspension frame 35 is controlled so as to coincide with the desired direction, there is no need to place an underwater worker who works underwater, and even if it is placed, only confirmation is performed. This makes it possible to work easily.

  In the second embodiment, in addition to the first compass 37a in the sensor 37, the tip of the crane 32 on which the wire 13 hangs is provided in the same manner as in the first embodiment, that is, FIG. Further, the GPS sensor 17 or the like may be attached so as to draw a dotted line in FIG. 7), and the position information of the GPS sensor 17 may be sequentially input to the control device 36. In this way, the control device 36 can more accurately recognize the position of the hanging frame 35 using the position information from the first compass 37 a and the position information from the GPS sensor 17. And the processing work of hanging position determination process S6 can be simplified.

  It should be noted that the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.

  Although this invention demonstrated the case where concrete blocks, such as a wave-dissipating block and a covering block, were installed in water, it is not limited to this, It can apply also when installing metal structures, a mechanical apparatus, etc.

DESCRIPTION OF SYMBOLS 10 Underwater work apparatus 11 Crane ship 12 Crane 13 Wire 14 Hanging load 15 Hanging frame 15a-15d Crosspiece 16 Control apparatus (control means)
16a display 17 GPS sensor 18 sensor (detection means)
DESCRIPTION OF SYMBOLS 19 Swivel 20 Hanging wire rope 21 sling wire rope 22a, 22b Thrust generator 24 Signal cable 25a Hanging frame icon 25b showing desired direction Hanging frame icon 25c showing actual direction Turning instruction information (external input means)
25d, 25e Turning instruction icon 30 Underwater working device 31 Crane ship 32 Crane 35 Hanging frames 35a to 35d Crosspiece 36 Control device (control means)
36a Display 37 Sensor (detection means)
37a First compass 37b Second compass C Center position S1 Hanging position determining step S2 Hanging load hanging step S3 Hanging load direction detecting step S4 Thrust generator driving step S5 Final installation step S6 Hanging position determining step S7 Hanging Load suspension process S8 Suspension load detection process S9 Thrust generator drive process S10 Suspension load suspension process S11 Suspension load direction detection process S12 Thrust generator drive process S13 Final installation process

Claims (7)

In an underwater work device for hanging a suspended load underwater by a wire extending from a crane and installing it at a predetermined position,
A suspension frame which is provided between the wire and the suspended load and which moves the integral with the suspended load while detachably holding the suspended load;
Detecting means for detecting the direction of the hanging frame;
A thrust generator for turning the suspension frame in the water;
Control means for controlling the operation of the thrust generator so that the direction of the suspension frame measured by the detection means coincides with a desired direction;
An underwater working device comprising:   The underwater work device according to claim 1, wherein the detection unit measures a direction of the suspension frame in water.   The detection means includes a first compass that measures at least a part of the suspension frame that is exposed to the atmosphere and measures the orientation of the suspension frame, and a second compass that measures the orientation of the suspension frame while the suspension frame is submerged. The underwater work device according to claim 1 or 2, wherein   The underwater work device according to claim 3, wherein the second compass detects an angular velocity of the hanging frame. In an underwater work device for hanging a suspended load underwater by a wire extending from a crane and installing it at a predetermined position,
A suspension frame which is provided between the wire and the suspended load and which moves the integral with the suspended load while detachably holding the suspended load;
Detecting means for detecting the direction of the hanging frame;
A thrust generator for turning the suspension frame in the water;
A display that displays a desired direction and a measured direction of the suspended load, and displays an icon for instructing a turning operation of the suspension frame by the thrust generator from the outside,
Control means for controlling the operation by the thrust generator and the display on the display based on the direction of the suspension frame measured by the detection means and the input instruction from the input means;
An underwater working device comprising: In an underwater work method for installing a suspended load underwater by a wire extending from a crane and installing it in a predetermined position,
A suspended load suspending step of suspending the suspended load on the wire via a suspension frame;
A suspension frame orientation detection step for detecting the orientation of the suspension frame in the water;
A thrust generator driving step of driving a thrust generator that rotates the suspension frame according to the direction of the suspension frame detected in the direction detection step of the suspension frame;
An underwater working method comprising:   The suspended load suspending step is a suspended position for measuring the position and orientation of the suspended frame in a state where at least a part of the suspended frame is exposed from the water surface before the suspended frame is suspended and the suspended frame is submerged. The underwater operation method according to claim 6, further comprising a determining step.