JP2016113744A - Underwater structure installation device and installation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater structure installation device and method without requiring an operator.SOLUTION: A midair section of an installation caisson 1 is equipped with: reflectors 3A, 3B, 3C corresponding to total stations 2A, 2B, 2C; a computer, which calculates a position of the caisson 1 on the basis of the positions of reflectors 3A, 3B, 3C obtained by the total stations 2A, 2B, 2C that collimate corresponding reflectors 3A, 3B, 3C; display means to display the calculated position of the installation caisson 1; installation winches 91, 92, 93, 94 to install the installation caisson 1; and a camera to take images of the installation winches 91, 92, 93, 94. Unmanned installation of the installation caisson 1 is realized as the installation winches 91, 92, 93, 94 can be remotely monitored with the images and the installation caisson 1 is precisely guided and installed while checking a posture of the installation caisson 1 by the display means.SELECTED DRAWING: Figure 13

Description

  The present invention relates to an installation apparatus and installation method for an underwater structure such as a caisson.

  Conventionally, a caisson is known as this type of underwater structure. For example, a first GPS receiver that is installed with a reflection target at a point having a known coordinate value and receives radio waves transmitted from a plurality of satellites, A transmitter connected to a 1GPS receiver and transmitting satellite signal information received by the first GPS receiver and an unknown point for measuring coordinate values are installed together with the total station at least at the start of measurement, and transmitted from a plurality of satellites. A second GPS receiver that receives the received radio wave at the same time as the first GPS receiver, a receiver that receives the satellite signal information transmitted from the transmitter, and the second GPS receiver and the receiver. Measured from the measured distance between the reflective target measured by the total station and the second GPS receiver at the start of measurement. A position measuring device having an arithmetic processing unit that obtains the coordinate value of the first unknown point and obtains the unknown point coordinate value after the start of measurement based on the satellite signal information of the first and second GPS receivers (for example, Patent Document 1) In addition, the drainage and water injection pump provided on the caisson to be installed, the pulling winch, the water level sensor in the caisson, the GPS mobile station, the operation status signal of the drainage and water injection pump and the pulling winch, Data transmission device and wireless transmission device for sending water level sensor and GPS mobile station data to mother ship, receiving drain / water injection pump and pulling winch start / stop signal from mother ship, GPS reference station at remote reference station, and GPS reference station Caisson comprising a correction information transmitter and a correction information receiver for sending correction information to a GPS mobile station provided on the caisson from above Biasing device (e.g. Patent Document 2) it is proposed.

  In Patent Document 1, unknown points on a work ship can be measured using GPS, and in Patent Document 2, the position of a GPS mobile station on a caisson can be measured using GPS.

JP-A-8-29192 JP 2004-238914 A

  By using the techniques of Patent Documents 1 and 2 for installation of the underwater structure, the position of the underwater structure to be installed can be measured. In this way, the position of the aerial part at the top of the underwater structure can be measured accurately, but in the case of a structure with a large height such as a caisson, the position of the lower part is obtained from the inclination angle and the position of the aerial part at the top. However, it is difficult to confirm the exact position of the underwater part due to measurement errors. Moreover, although the value of the inclination angle of the underwater structure can be confirmed by a monitor or the like, it is difficult to instantaneously grasp the clearance between the lower end of the underwater structure and the existing structure from the inclination angle.

  In particular, this type of underwater structure is easily affected by waves, and the caisson has a large height, so even a slight tilt may cause contact with existing structures. Cost.

  In addition, an operator placed on the installation caisson usually monitors and surveys the amount of water injected, grasps the attitude and position of the caisson, and performs the installation work while operating the winch. As described above, when the caisson is installed, it is necessary for an operator to monitor and survey the amount of water injected while frequently moving on the installation caisson. It is desirable to unmanned for the safety of workers.

  On the other hand, in the caisson installation device of Patent Document 2, it has been proposed to remotely control the drainage of water in the caisson to be installed and the pulling winch, but it is sent from the drainage / water injection pump and the pulling witch. It was difficult to make the installation caisson side unmanned because it was not possible to operate intuitively only with the incoming data.

  In both Patent Documents 1 and 2, since the upper part of the caisson is pulled by the winch, there is a possibility that the lower part of the caisson swings.

  Accordingly, in view of the above-described problems, the present invention provides an installation device and an installation method for an underwater structure that can eliminate the need for an operator on the underwater structure and can accurately guide and install the underwater structure. Objective.

The invention according to claim 1 is a plurality of total stations having an automatic tracking function, a reflector provided corresponding to the total station in an aerial part of an underwater structure to be installed, and the reflection corresponding to the plurality of total stations. Analysis means for calculating the position of the underwater structure from the position of the reflector obtained by collimating a body, display means for displaying the position of the underwater structure calculated by the analysis means, and the underwater structure Installation equipment for installing objects;
Imaging means for imaging the installation equipment.

  The invention according to claim 2 is characterized in that the installation equipment is a water supply pump, a drainage pump, and an installation winch.

  The invention according to claim 3 is characterized in that an underwater camera is disposed at an installation position of the underwater structure, and an image captured by the underwater camera is displayed on the display means.

  According to a fourth aspect of the present invention, there is provided a moving installation wire in which one end is fixed to the movement front side outside the underwater structure and the other end is connected to the underwater structure, and the movement outside the underwater structure. It is characterized by comprising an anti-moving installation wire having one end fixed to the rear side and the other end connected to the underwater structure.

  Further, in the invention according to claim 5, after the installation equipment is mounted on the underwater structure, the underwater structure is made unattended, and the underwater structure is confirmed while confirming the installation equipment by an image obtained by the imaging means. It is characterized by installing a structure.

  Further, in the invention according to claim 6, the installation device is an installation winch, the other end of the installation wire having one end fixed is connected to the installation winch, and a water supply pump, a drainage pump, and the installation winch are provided. After enabling remote operation, the underwater structure is unmanned.

  According to the configuration of the first aspect, the operation of the installation device can be remotely monitored by the image of the imaging means, and the underwater structure can be accurately guided and installed while the posture of the underwater structure is confirmed by the display means. Can be unmanned on the underwater structure.

  Moreover, according to the structure of Claim 2, unmanned on an underwater structure can be achieved in installation of an underwater structure.

  Moreover, according to the structure of Claim 3, it can install, confirming the attitude | position of an underwater structure and the joint space | interval in water simultaneously.

  According to the configuration of claim 4, the underwater structure can be moved by pulling the moving installation wire, and at this time, the underwater structure can be pressed by the anti-moving installation wire. The underwater structure can be prevented from swinging during movement.

  Moreover, according to the structure of Claim 5, after equip | installing an installation apparatus, the work on an installation caisson can be made unattended.

  Moreover, according to the structure of Claim 6, after connecting the wire for installation to the installation winch, the underwater structure top can be unmanned.

It is a whole top view showing Example 1 of the present invention. It is a whole side view same as the above. It is a perspective view same as the above. It is a side view around a joint. It is a figure which shows the display of a display same as the above. It is an enlarged view of the principal part of a display same as the above. It is a top view of an installation caisson same as the above. It is a top view explaining construction as same as the above. It is a front view of a unit type underwater shock absorbing material same as the above. It is explanatory drawing of an imaging device and a display part same as the above. It is a perspective view explaining construction as same as the above. It is a figure which shows the display of the display by a water level meter same as the above. It is a perspective view explaining construction as same as the above. It is a top view explaining the construction which shows Example 2 of this invention.

  Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below do not limit the contents of the present invention described in the claims. In addition, all of the configurations described below are not necessarily essential requirements of the present invention. In each of the embodiments, an underwater structure installation device and an installation method different from the conventional ones are used to obtain an unprecedented underwater structure installation device, and the underwater structure installation device and the installation method are respectively described. To do.

  Hereinafter, the installation apparatus and installation method of the underwater structure of this invention are demonstrated with reference to an accompanying drawing. 1 to 5 show Embodiment 1 of the present invention. As shown in FIG. 1, an installation caisson 1 that is an underwater structure is placed on a mound on the seabed along an existing breakwater 1A that is an existing underwater structure. A plurality of (three) total stations 2A, 2B, 2C are arranged on the top surface of the breakwater 1A, and a plurality (3) are provided on the top surface of the installation caisson 1 corresponding to these total stations 2A, 2B, 2C. ) Reflectors 3A, 3B, 3C are arranged. These reflectors 3A, 3B, 3C are target prisms. The installation caisson 1 will be described with the existing breakwater 1A as the front side.

  The total stations 2A, 2B, and 2C include a light emitting unit and a light receiving unit, irradiate a corresponding laser beam L (see FIG. 1) toward the corresponding reflectors 3A, 3B, and 3C, receive the reflected light, The distance from the light phase difference to the reflectors 3A, 3B, 3C is automatically measured. The total stations 2A, 2B, and 2C have a well-known automatic tracking function, and the reflectors 3A, 3B, and 3C include an infrared light emitting device for guidance, and guide the total stations 2A, 2B, and 2C with infrared rays. The total stations 2A, 2B, and 2C can automatically track the corresponding reflectors 3A, 3B, and 3C, and can collimate in real time by following the movement of the installation caisson 1. The three reflectors 3A, 3B, 3C are arranged so as not to be aligned on a plane.

  The three total stations 2A, 2B, and 2C collimate the corresponding reflectors 3A, 3B, and 3C from three directions, respectively, and the position coordinates of the reflectors 3A, 3B, and 3C that change from moment to moment, or each total station. The azimuth, vertical angle, and distance information from 2A, 2B, and 2C to the respective reflectors 3A, 3B, and 3C is obtained, and the information is transmitted to the computer 4 by wire or wireless at predetermined time intervals. The computer 4 displays various information of the installation caisson 1 on the display 6 of the display means 5 from the information obtained by the total stations 2A, 2B, 2C.

  In the sea where the installation caisson 1 is installed, an underwater camera 11 that images the lower part of the installation caisson 1 is disposed. The underwater camera 11 is provided with a light projecting unit made of a halogen lamp or the like, and the lower part of the underwater installation caisson 1 can be projected and imaged by the light projecting unit.

  In this example, a root block 12 is provided at the lower part of the existing breakwater 1A. A base 13 is provided on the overhanging portion of the base block 12 as the camera installation location, and the underwater camera 11 is mounted on the base 13. It is fixed and includes a part of the existing breakwater 1A and the installation caisson 1, and images the boundary (joint M) between the existing breakwater 1A and the installation caisson 1. In addition, the underwater cameras 11 are arranged on both the left and right sides of the joint M. The existing breakwater 1A or the installation caisson 1 is provided with vertical and horizontal scales 14 in the vicinity of the boundary and within the range captured by the underwater camera. As shown in FIG. 4, the scale 14 is formed by alternately coating different scales 14R, 14W of different colors, for example, red and white, and the caisson 1 and the breakwater with the vertical scale 14 as a reference. The height difference of 1A can be visually confirmed, and the joint interval between the caisson 1 and the breakwater 1A can be visually confirmed with the horizontal scale 14 as a reference. The underwater camera 11 may be provided on the footing of the existing breakwater 1A.

  Further, the computer 4 displays the plane position information, the left and right position information, the front and rear position information, and the like on the display 6 of the display means 5 based on the information from the total stations 2A, 2B, and 2C. Further, the computer 4 displays the reference point of the installation caisson 1 on the display. In this case, the pitching / rolling of the installation caisson 1 can be calculated by using the three total stations 2A, 2B, and 2C, and a link with other instruments such as an inclinometer is not required.

  Specifically, as shown in FIG. 5, the display 6 of the display means 5 includes a numerical display unit 21, a flat display unit 22, a left and right display unit 23, a front and rear display unit 24, and an image display of the underwater camera 11. Parts 25 and 26. The following display control is based on information from the total stations 2A, 2B, and 2C, and the computer 4 performs arithmetic processing and displays it on the display 6. The numerical display unit 21, the flat display unit 22, the left and right display units 23, The front and rear display unit 24 is rewritten a plurality of times per second.

  A reference plane contour 31 for displaying the plane installation position of the installation caisson 1 is fixedly displayed on the plane display unit 22 in advance, and this reference plane contour 31 is displayed by a broken line or the like. A work plane outline 32 indicating the position of the caisson 1 is displayed. In addition, a comparison display unit that displays a plurality of arbitrary points on the work plane outline 32 in comparison with the actual installation position is provided. In this example, the front left, front right, and rear left of the plane square installation caisson 1 are provided. , Contrast display portions 34A, 34B, 34C, 34D are provided for the rear right corner portions 33A, 33B, 33C, 33D. The comparison display section 34A corresponding to the front left corner section 33A has the front left corner position coordinates (X, Y, Z) of the installation position and the front left corner position coordinates (X ′, Y ′, Z) of the current position. ′) And the absolute value of the difference (X−X ′, Y−Y ′) between the X axis direction and the Y axis direction is displayed as numerical values 35X and 35Y, and the current values in the X axis direction and the Y axis direction are displayed respectively. Arrows 36X and 36Y in a direction to bring the position closer to the installation position are displayed, and numerical values 35X and 35Y of the absolute value of the difference are displayed along these arrows 36X and 36Y. And contrast display part 34A, 34B, 34C, 34D is provided in the corner | angular part of the plane display part 22 corresponding to each corner | angular part 33A, 33B, 33C, 33D of the caisson 1, respectively. Note that the coordinates of the front, rear, left and right corners 33A, 33B, 33C, and 33D are located at the same height of the caisson 1, and are set to, for example, the upper surface position and the lower surface position of the caisson 1. Furthermore, an angle 37 for rotating the installation caisson 1 at an angle in a plane and an arrow 38 indicating the direction of rotation in order to make the installation caisson 1 at the current position parallel to the installation position at the upper center of the flat display unit 22. It is displayed.

  Accordingly, in FIG. 6, for example, as shown in the comparison display portion 34A corresponding to the front left corner portion 33A, the front left corner portion 33A is set to 0. 0 in the direction indicated by the arrow 36X in the X axis direction (downward in the drawing). After moving 495 m and moving the front left corner 33A by 0.114 m in the direction indicated by the arrow 36Y in the Y-axis direction (downward in the figure), the front left corner 33A is moved to the front right corner position coordinates (X, It can be seen that Y) can be aligned.

  In addition, a reference left / right contour 41 for displaying the left / right installation position of the installation caisson 1 is fixedly displayed on the left / right display unit 23 in advance, and a work left / right contour 42 indicating an actual position is displayed on the reference left / right contour 41. The In addition, a comparison display unit that displays a plurality of arbitrary points on the work left and right outline 42 in comparison with the actual installation position is provided. In this example, the upper left and upper right corners 33A and 33B of the installation caisson 1 are provided. Contrast display portions 44L and 44R are provided. Specifically, in the case of the comparison display section 44L corresponding to the front left corner section 33A, the front left corner position coordinates (X, Y, Z) of the installation position and the upper left corner position coordinates (X ′ of the current position) , Y ′, Z ′), the absolute value of the difference (Z−Z ′) in the Z-axis direction is indicated by a numerical value 45Z, and arrows indicating directions in which the current position is brought closer to the installation position in the Z-axis direction. 46Z is displayed, and the numerical value 45Z of the absolute value of the difference is displayed along the arrow 46Z. Corresponding display portions 44L and 44R are provided on the left and right corner portions on the upper side of the left and right display portion 23 corresponding to the upper and left corner portions 33A and 33B of the caisson 1, respectively. In addition, at the upper center of the left and right display section 23, there are an angle 47 for turning the installation caisson 1 at the left and right to make the installation caisson 1 at the current position parallel to the installation position, and an arrow 48 indicating the turning direction. It is displayed.

  Incidentally, contrast display portions 44L 'and 44R' are provided for the lower left and lower right corner portions 33A 'and 33B' of the installation caisson 1, respectively.

  Therefore, in FIG. 5, for example, the upper left corner 33A is moved 1.390 m in the direction (downward in the figure) indicated by the arrow 46Z in the Z-axis direction displayed on the comparison display 44L, and the arrow in the Y-axis direction When the upper left corner 33A is moved 0.114 m in the direction indicated by 36Y (leftward in the figure), it can be seen that the front left corner 33A can be aligned with the front right corner position coordinates (Y, Z) of the installation position.

  Further, a reference front / rear contour 51 for displaying the front / rear installation position of the installation caisson 1 is fixedly displayed in advance on the front / rear display unit 24, and a work front / rear contour 52 indicating the actual position is displayed on the reference front / rear contour 51. The Further, comparison display portions 54F and 54B for displaying a plurality of arbitrary points on the front and rear contours 52 in comparison with the actual installation position are provided. In this example, the front and rear upper reference positions 53F and 53B of the installation caisson 1 are provided. Correspondingly, contrast display portions 54F and 54B are provided. Specifically, the comparison display unit 54F corresponding to the front upper reference position 53F compares the front upper reference point position coordinates of the installation position with the front upper reference point position coordinates of the current position, and calculates the absolute value of the difference as a numerical value. 55Z is displayed, and arrows 56Z in directions in which the current position is brought closer to the installation position in the Z-axis direction are displayed, and the absolute value 55Z of the difference is displayed along the arrow 56Z. Then, contrast display portions 54F and 54B are provided at the corners of the front and rear display portion 24 corresponding to the front upper and rear lower reference positions 53F and 53B of the caisson 1, respectively. Further, in the upper center of the front / rear display unit 24, there are an angle 57 for rotating the installation caisson 1 at the front and rear in order to make the installation caisson 1 at the current position parallel to the installation position, and an arrow 58 indicating the rotation direction. It is displayed.

  Incidentally, contrast display portions 54F 'and 54B' are provided corresponding to the front lower and rear lower reference positions 53F 'and 53B' of the installation caisson 1, respectively.

  Further, the numerical display unit 21 is configured by selecting or simultaneously selecting the flat display unit 22, the left and right display unit 23, and the comparison display units 34A, 34B, 34C, 34D, 44L, 44R, 54F, and 54B of the front and rear display unit 24. Is displayed.

  Furthermore, the images of the underwater cameras 11 and 11 on both sides are displayed on the upper and lower sides of the image display sections 25 and 26 of the display 6, respectively. From the images of the image display units 25 and 26, the caisson 1, 1A and the scale 14 in the water and the surrounding situation can be visually recognized, and the actual posture of the caisson 1, 1A lower part can be visually confirmed, and the underwater The joint spacing at can also be confirmed. In this case, even if the caisson 1 oscillates due to the influence of the waves, unlike the numerical data, the caisson 1 can be appropriately guided while confirming the movement by the image.

  As shown in FIGS. 1 and 4, a drawing wire 59 is disposed between the existing breakwater 1 </ b> A and the installation caisson 1, and a pair of drawing wires 59, 59 intersect between the existing breakwater 1 </ b> A and the installation caisson 1. The winch wire 59 is disposed in the direction, and a winch (not shown) capable of winding and feeding the wire 59 is provided on the pulling wire 59. In the figure, 59 is a hoist ship towing the installed caisson 1.

  Then, while the caisson 1 is laid down by pouring water into the caisson 1 by a regular method, the pulling wires 59 and 59 are operated to control the position and posture, and the installation position is settled. At this time, the supervisor can issue a work instruction based on the display information on the display 6, and can control the posture and position of the caisson 1. The display 6 can be controlled by the underwater camera 11 in the image display units 25 and 26 in addition to the numerical information. Unlike the numerical values, the posture and position of the caisson 1 can be intuitively controlled even when the caisson 1 swings under the influence of waves. In fact, in a waved situation, the displayed numerical value changes in small increments, while reliable guidance can be provided by the lower image.

  Hereinafter, in the installation of the installation caisson 1 as described above, a configuration for unmanned work on the installation caisson 1 will be described with reference to FIGS. 7 to 13. In addition, the same code | symbol is attached | subjected and demonstrated to the part which is common in FIGS. 1-6, and description of a common part is abbreviate | omitted.

  The installation caisson 1 is provided with outer walls 62, 62, 62, 62 on four sides of the bottom plate 61, and a plurality of partition walls 63, 63 are provided between the surrounding outer walls 62, 62, 62, 62 in the plane in the front-rear and left-right directions. Are placed in a grid pattern. In this example, four squares arranged on the left and right are arranged in four rows on the front and rear. In addition, a water passage portion (not shown) through which water can pass through the partition wall 63 is provided in the partition 65 composed of 2 × 2 × 4 in total, and four input portions 64, 64, 64, 64. . That is, in FIG. 7, two vertical and horizontal two by two sections 65 each including four insertion points 64, 64, 64, 64 are provided in the upper right, upper left, lower right, and lower left.

  In the vicinity of the caisson 1 installation position, the first to fourth installation wires 71, 72, 73, 74 are connected to the front and rear water bottoms on the left and right sides of the mound made of foundation rubble. Installation anchor blocks 71A, 72A, 73A, and 74A are provided.

  Further, in the vicinity of the caisson 1 installation position, left and right solid block blocks 75 and 76 which are anchor blocks for large rotation are arranged on the left and right on the mound made of rubble. Furthermore, in order to stabilize the lower side of the installation caisson 1 during installation, a large turning wire 77 is used. The large turning wire 77 has a fixed wire 78 having one end connected to one root-solid block block 75 and one end detachably connected to the other end of the fixed wire 78, and is attached to the lower side of the installation caisson 1. A caisson-side wire 79 to be disposed; and a hoist-side wire 80 that is detachably connected to the other end of the caisson-side wire 79 and is routed to the hoist vessel 60 by the other root-solid block block 76. 78, 79, 80 are connected by a connecting member 81 such as a shackle. In addition, the middle of the hoist side wire 80 is hooked on a pulley 76 </ b> A provided on the other root solid block block 76.

  Further, as shown in FIG. 9, a unit-type underwater cushioning material 83 is detachably disposed on the rear surface of the existing breakwater 1A or the front surface of the installation caisson 1. This unit-type underwater cushioning material 83 is provided with hard horizontal bars 84, 84... Made of reinforcing bars in upper and lower multistages, and horizontal bars 84A and 84A are provided above and below the lower block 12, and are provided in upper and lower multistages. .., 84A, 84A are connected by spacing members 85, 85A, 85A,... 85 arranged at intervals in the left-right direction. Consists of. Moreover, the cushioning material main body 86 arrange | positioned in the right-and-left end part side of the rear surface of the existing breakwater 1A or the front surface of the installation caisson 1 is provided in the space | interval holding | maintenance material 85 of both right and left sides. That is, a plurality of cushioning material bodies 86 are provided on the spacing member 85 at intervals in the vertical direction. Further, cushioning material bodies 86A and 86B are disposed on the upper and side portions of the left and right projecting portions of the block 12. The cushioning material main bodies 86, 86A, 86B are made by packing a cushioning member such as sand in a tube material such as a flexible hose. In addition, the cross-sectional areas of the cushioning material bodies 86, 86A, 86B are larger than the cross-sectional areas of the spacing members 85, 85A.

  And since the space | interval holding | maintenance material 85,85A arrange | positioned in the vertical direction and the buffer material main body 86,86A, 86B have flexibility, by winding up or collecting the unit-type underwater buffer material 83 in the vertical direction, , Can be stored and transported in a compact manner. In use, the unit-type underwater cushioning material 83 can be unfolded with the upper horizontal bar 84 fixed, and placed on the rear surface of the existing breakwater 1A or the front surface of the installation caisson 1. In addition, when arrange | positioning on the rear surface of the existing breakwater 1A, the upper end horizontal shaft 84 is fixed to the upper part of the existing breakwater 1A, and when arrange | positioning on the front surface of the installation caisson 1, the upper end horizontal shaft 84 is installed on the upper part of the installation caisson 1. To fix.

  The first to fourth cameras 91K, 92K, 93K, and 94K, which are imaging means for imaging the four winches 91, 92, 93, and 94, which are installation devices, are provided, and the first to fourth cameras 91K and 92K are provided. , 93K, 94K are provided on the installation caisson 1 at positions where the corresponding winches 91, 92, 93, 94 can be imaged. Further, on the front left and right sides of the installation caisson 1, fifth to sixth cameras 95K and 96K, which are imaging means for imaging the joint M between the existing breakwater 1A and the installation caisson 1, are provided on the installation caisson 1. . On the installation caisson 1, a seventh camera 97 </ b> K is provided as an imaging means for imaging the insertion point 64. The image data of the first to seventh cameras 91K, 92K, 93K, 94K are sent to the caisson side control means 7, sent from the caisson side control means 7 to the computer 4 by wireless means, and sent to the display 6. Is displayed.

  As shown in FIG. 10, the display 6 is divided into eight parts, and first to fourth display parts 91H, 92H, 93H, and 94H for displaying images of four winches 71, 72, 73, and 74 are provided. In addition, fifth to seventh display portions 95H, 96H, and 97H for displaying images of the fifth to seventh cameras 95K, 96K, and 97K are provided. The first to fourth display portions 91H, 92H, 93H, and 94H display images including the winding drums (not shown) of the winches 91, 92, 93, and 94, and the winding drums are installation wires. 71, 72, 73, 74 are taken up and fed out. The sixth and seventh cameras 96K and 97K capture the upper part of the joint from the top of the installation caisson 1.

  In addition, winches 91, 92, 93, 94 are electrically connected to the caisson side control means 7, the caisson side control means 7 is connected to the external control means 8 by radio, and the winch 91, 92, 93 and 94 can be operated remotely. In addition, the external control means 8 is arrange | positioned in places other than the installation caisson 1, for example, is arrange | positioned at the hoist ship 60. FIG. The caisson side control means 7 is provided on the installation caisson 1.

  Further, as shown in FIG. 8, the first to fourth installation anchor blocks 71A, 72A, 73A, 74A are located at the left front side, the left rear side, the right front side, and the right rear side with respect to the installation position of the caisson 1. Is located. Further, on the installation caisson 1, first to fourth winches 91, 92, 93, 94 are arranged on the front left side, the rear left side, the front right side, and the rear right side. The first and third winches 91 and 93 are fixed to the common base 95, and the second and fourth winches 92 and 94 are fixed to the common base 95.

  7 and 8, the first to fourth installation wires 71, 72, 73 and 74 are connected to the first to fourth winches 91, 92, 93 and 94, respectively. As shown in FIG. 13, one end of the tension rope 118 is fixed to the outer wall 62 side of the installation caisson 1, and a pulley 118A is provided at the other end of the tension rope 118, and the first to fourth installations are installed on the pulley 118A. Wires 71, 72, 73, and 74 are hung, and the directions of the installation wires 71, 72, 73, and 74 are changed at this hung position.

  The installation caisson 1 is provided with first to fourth sensor-type water level meters 101, 102, 103, and 104, which are installation devices, for each of the sections 65. The data measured by the first to fourth sensor-type water level meters 101, 102, 103, 104 are sent to the caisson side control means 7, and sent from the caisson side control means 7 to the computer 4 by wireless means. Are displayed on the display 6.

  As shown in FIG. 12, the display 6 displays a bar graph display unit 105 that displays the water level of each of the sections 65, 65, 65, 65 as a bar graph on one side in the left-right direction, and corresponds to the bar graph. 1-4 section numbers 106 indicating the four sections 65, 65, 65, 65 are displayed, and on the other side in the left-right direction of the display 6, the section numbers 106 of 1-4 indicating the four sections, A numerical value display unit 107 for displaying the water level of the corresponding section 65 is provided. The unit of the numerical value display unit 107 is “m (meter)”.

  A scaffold 111 made of a metal mesh or the like is installed on the upper part of the installation caisson 1. A generator 112 is provided on the scaffold 111. Further, a water supply submersible pump 113 and a drainage submersible pump 114 are arranged in the installation caisson 1.

  Also, four water supply submersible pumps 113 are arranged on the bay outer side and the bay inner side (left and right) of the installation caisson 1, respectively. On the other hand, one drainage submersible pump 114 is arranged for each of the four charging points 64, 64, 64, 64. The reason why the number of submersible water pumps 113 for water supply is larger than that of submersible water pumps 114 for one section 65 is to speed up the installation time of the installation caisson 1 by supplying seawater to the charging point 64.

  The submersible pumps 113 and 114 are electrically connected to the caisson side control means 7, the caisson side control means 7 is connected to the external control means 8 by radio, and the submersible pumps 113 and 114 are remotely operated by the external control means 8. It is possible.

  As shown in FIG. 11, the installation caisson 1 is provided with a plurality of suspension members 116 for height adjustment. In this example, two suspension members 116 are provided. The suspension members 116 are made of rope material, and the upper end is the upper part of the installation caisson 1. The caisson side wire 79 is inserted and held in the ring portion 116W, and the connecting member 81 provided at the end of the caisson side wire 79 is temporarily fixed to the installation caisson 1. deep. And the height position of the caisson side wire 79 can be adjusted by the suspension member 116. In the figure, reference numeral 82 denotes a floating buoy connected to the end of the fixed side wire 78.

  Then, the following work is preferably performed before towing the installation caisson 1 near the installation position, and at least the work is completed before the caisson 1 described later is unmanned. In this case, it is preferable to work near the place where the installation caisson 1 is manufactured. The scaffold 111 is set and fixed on the upper part of the installation caisson 1. On the upper surface of this scaffold 111 or caisson 1, a generator 112, caisson-side control means 7, winches 91, 92, 93, 94, submersible water pump 113, drainage submersible pump 114, reflectors 3A, 3B, 3C, cameras 91K, 92K, 93K, 94K, 95K, 96K, 97K, and sensor type water level gauges 101 to 104 are arranged. Further, the generator 112 and the caisson side control means 7 are arranged on the center side of the installation caisson 1.

  Furthermore, winches 91, 92, 93, 94 which are installation devices, a submersible pump 113 for water supply, a submersible pump 114 for drainage, cameras 91K, 92K, 93K, 94K, 95K, 96K, 97K, sensor-type water level meters 101-104. Is electrically connected to the caisson side control means 7. This electrical connection may be made before starting the operation of laying the installation caisson 1 and before unmanning the caisson 1.

  Further, as described above, the caisson-side wire 79 is temporarily fixed to the installation caisson 1.

  It is preferable to perform the above before towing to the installation site. Moreover, before installing the installation caisson 1, the unit type underwater cushioning material 83 is disposed on the rear surface of the existing breakwater 1A.

  Then, the installation caisson 1 for which the above operation is completed is towed to the vicinity of the installation position by a towing ship (not shown).

  Thereafter, the first to fourth winches 91, 92, 93, 94 are connected to the first to fourth installation wires 71, 72, 73, 74 arranged in advance as described above, and the caisson floated on the water. 1 is fixed. One end of the caisson side wire 79 temporarily fixed to the caisson 1 is connected to the fixed side wire 79 by the connecting member 81, and the other end of the caisson side wire 79 is connected to the hoist side wire 80. As shown in FIG. 11, the caisson side wire 79 is arranged along the lower front side of the caisson 1, and corresponding to the caisson side wire 79, the front corners of the caisson 1 are made of a protective steel material or the like. A corner covering member 117 is disposed.

  Then, confirm that all installation equipment and cameras are available. Further, after driving the generator 112, the worker retreats from the installation caisson 1.

  After the worker retreats from the installation caisson 1, the winches 91, 92, 93, 94 are operated by remote operation by the external control means 8, and the large turning wire 77 is operated by the hoist ship 60, so that the installation caisson 1 is installed. It moves to the vicinity (FIG. 8). In this case, the swing of the underwater portion of the installation caisson 1 is suppressed by adjusting the tension of the large turning wire 77. It should be noted that the first and third installation wires 71 and 73 are wound up, and the second and fourth installation wires 72 and 74 are fed out correspondingly, so that the existing breakwater 1A side is moved from the position shown in FIG. The installation caisson 1 can be moved. The first to fourth winches 91, 92, 93, 94 can be imaged by the first to fourth cameras 91K, 92K, 93K, 94K, and the driving state can be confirmed on the display 6.

  And after moving to the installation position vicinity, primary water injection is performed. In this primary water injection, the water supply submersible pump 113 is driven by remote control of the external control means 8 to inject seawater or the like into the installation caisson 1, and the bottom surface of the bottom plate 61 of the installation caisson 1 and the installation surface such as on the mound. Water is poured until the distance becomes 1 to 1.5 m.

  In this case, as shown in FIGS. 5 and 6, the amount of water injection can be intuitively confirmed by displaying on the display 6, and the water level difference in the partition 65 is within a predetermined value of 1 m during the water injection. A plurality of submersible pumps 113, 113, 113, 113 are operated. Further, the amount of water injected into the section 65 can be confirmed by the seventh camera 97K. The fifth to seventh cameras 95K, 96K, and 97K can be turned by remote operation, and can be enlarged and reduced, and the fifth to seventh cameras 95K, 9K, and 97K can be remotely operated to The display 6 can confirm the installed state of the caisson 1 such as the driving state of the pumps 113 and 114 and the sensor type water level gauge.

  Further, as described above, when the installation caisson 1 is moved, plane position information, left and right position information, front and rear position information, and the like are displayed on the display 6 of the display means 5 based on information from the total stations 2A, 2B, and 2C. The orientation and position of the installation caisson 1 are managed and guided while being confirmed on the display 6. Further, when the installation caisson 1 is brought close to the existing breakwater 1A, the unit type underwater cushioning material 83 is provided on the existing breakwater 1A, so that damage due to contact between the two can be prevented.

  After the primary water injection, the installation caisson 1 is moved to the installation position, and then secondary water injection is performed. The normal lines and joint spacings are adjusted and maintained by the remotely operated winches 91, 92, 93, 94 until the installation caisson 1 reaches the bottom while pouring water, and the joints in the underwater part are images of the underwater camera 11 as described above. Can be used to confirm. On the other hand, from the upper side of the installation caisson 1, the image of the joints obtained by the fifth to sixth cameras 95K and 96K can be confirmed on the display 6. Note that the unit-type underwater cushioning material 83 may be removed after the bottoming.

  When the installation caisson 1 reaches the bottom by passing water, tertiary water injection is performed, and a predetermined amount of water is injected into the installation caisson 1. After this, check the installation status. After confirmation, the installation equipment will be removed, and the submersible pump, generator, winch, scaffolding, camera, etc. will be removed sequentially.

  Thus, in this embodiment, corresponding to claim 1, the total stations 2A, 2B, 2C having the automatic tracking function and the total stations 2A, 2B, Reflectors 3A, 3B, 3C provided corresponding to 2C and reflectors 3A, 3B, 3C obtained by collimating the reflectors 3A, 3B, 3C corresponding to the plurality of total stations 2A, 2B, 2C, The computer 4 as an analysis means for calculating the position of the caisson 1 from the position of 3C, the display means 5 for displaying the position of the installation caisson 1 calculated by the computer 4, and an installation winch 91 as an installation device for installing the installation caisson 1 , 92, 93, 94 and cameras 91K, 92K, 93K, 9 as imaging means for imaging the installation winches 91, 92, 93, 94. K, the operation of the installation winches 91, 92, 93, 94 can be remotely monitored by the images of the cameras 91K, 92K, 93K, 94K, while the attitude of the installation caisson 1 is confirmed by the display means 5 The installation caisson 1 can be accurately guided and installed, and unmanned operation on the installation caisson 1 can be achieved.

  In this way, in this embodiment, in accordance with the second aspect, the installation equipment includes a submersible water pump 113 serving as a water supply pump, a submersible water pump 114 serving as a drainage pump, and installation winches 91, 92, 93, 94, the caisson 1 can be unmanned when the caisson 1 is installed.

  In this way, in this embodiment, corresponding to claim 3, the underwater camera 11 is arranged at the installation position of the installation caisson 1, which is an underwater structure, and an image captured by the underwater camera 11 is displayed on the display means 5. Thus, the installation can be performed while simultaneously confirming the posture of the installation caisson 1 and the joint spacing in water.

  In this way, in this embodiment, corresponding to claim 4, one end is fixed to the movement front side outside the installation caisson 1 which is an underwater structure, and the other end is connected to the installation caisson 1. Since it is provided with wires 71 and 73 and anti-moving installation wires 72 and 74 with one end fixed to the rear side of the movement of the installation caisson 1 and the other end connected to the installation caisson 1, the installation for movement The installation caissons 1 can be moved by pulling the wires 71 and 73. At this time, the installation caissons 1 can be pressed by the anti-moving installation wires 72 and 74, so that the installation caissons 1 swing when moving. Can be prevented.

  If a large turning wire 77 that engages with the lower part of the installation caisson 1 and can be pulled in the anti-movement direction by the hoist ship 60 as a pulling means is used, the installation caisson 1 is pulled by pulling the installation wires 71 and 73 for movement. At this time, since the up and down of the installation caisson 1 can be pressed by the anti-moving installation wires 72 and 74 and the large turning wire 77, the lower part of the installation caisson 1 is swung at the time of movement. Can be prevented.

  In this way, in this embodiment, corresponding to claim 5, after installing the installation winches 91, 92, 93, 94 as the installation equipment on the installation caisson 1 as the underwater structure, that is, the installation winches 91, 92, After connecting the installation wires 71, 72, 73, 74 to 93, 94, the installation caisson 1 is made unattended, and the installation winches 91, 92, 92 are obtained from the images obtained by the cameras 91K, 92K, 93K, 94K as imaging means. Since the installation caisson 1 is installed while checking 93 and 94, after the installation equipment is installed, the installation caisson 1 can be unmanned.

  In this way, in this embodiment, corresponding to the sixth aspect, the installation equipment is the installation winches 91, 92, 93, 94, and other than the installation wires 71, 72, 73, 74 having one end fixed. The ends are connected to installation winches 71, 72, 73, 74, and the water supply submersible pump 113, which is a water supply pump, the drainage submersible pump 114, which is a drainage pump, and the installation winches 71, 72, 73, 74 can be remotely operated. After that, since the installation caisson 1 is unmanned, after the installation wires 71, 72, 73, 74 are connected to the installation winches 71, 72, 73, 74, the installation caisson 1 can be unmanned.

  Further, as an effect on the embodiment, since the unit-type underwater cushioning material 83 is detachably disposed on the rear surface of the existing breakwater 1A or the front surface of the installation caisson 1, the contact between the existing breakwater 1A and the caisson 1 or the caissons is achieved. Damage can be prevented. Further, since the unit-type underwater cushioning material 83 can be rolled up and can be collected so as to bundle the horizontal rods 84 and 84A, transportation and attachment are facilitated. Further, since images including the winding drums of the winches 91, 92, 93, 94 are displayed on the first to fourth display portions 91H, 92H, 93H, 94H, the winches 91, 92, 93, 94 are driven. The state can be easily confirmed. Further, when the installation caisson 1 is moved, the swing of the underwater portion of the installation caisson 1 can be suppressed by operating the tension of the large turning wire 77 wound around the lower part of the installation caisson 1. The operation of the tension of the large turning wire 77 is performed by the hoist 60, and the large turning wire 77 is fed out so as to match the moving caisson 1 which is moved by the operation of the installation winches 71, 72, 73, 74. Is called. 8, winches 91 and 93 that move the installation caisson 1 to the installation position side by winding from the position shown in FIG. 8, and the installation caisson 1 can be moved to the installation position side by unwinding, and at the top of the installation caisson 1 The winches 92 and 94 that apply tension opposite to the moving direction and the hoisting ship 60 that allows the installation caisson 1 to move to the installation position side by drawing out and apply tension opposite to the moving direction to the lower part of the installation caisson 1 are used. Therefore, the installation caisson 1 can be moved stably. The hoist ship 60 has a device for winding and feeding the large turning wire 77.

  Hereinafter, as an effect of the embodiment, in this embodiment, the total stations 2A, 2B, 2C having the automatic tracking function and the total stations 2A, 2B are installed in the aerial part of the installation caisson 1 which is an underwater structure to be installed. , 2C and reflectors 3A, 3B, 3C obtained by collimating the reflectors 3A, 3B, 3C corresponding to the total stations 2A, 2B, 2C. , 3C from the position of the caisson 1, the computer 4 as an analysis means, an underwater camera 11 that is placed in the water and images the lower part of the caisson 1, the position of the installation caisson 1 calculated by the computer 4, and the underwater camera 11 Display means 5 for displaying an image picked up by the above, so that the posture of the caisson 1 and the joint spacing in water can be checked at the same time. Reluctant installation can be performed, it can be installed by inducing caisson 1 accurately.

  Further, in this embodiment, since the three total stations 2A, 2B, 2C are provided, the pitching / rolling of the caisson 1 can be calculated by using the three total stations 2A, 2B, 2C. Therefore, there is no need to link with other instruments such as an inclinometer.

  Further, in this embodiment, since the underwater cameras 11 and 11 are arranged on both sides of the installation position of the caisson 1 that is an underwater structure, the installation can be performed by confirming the joint interval from both sides.

  Further, in this embodiment, since the scale 14 is provided in the lower part of the caisson 1 that is the underwater structure or in the vicinity of the installation position, the installation can be performed while checking the position and the joint spacing with the scale 14.

  Furthermore, as an effect on the embodiment, the existing breakwater 1A or the installation caisson 1 is provided with a scale 14 in the vertical direction and / or the horizontal direction within the range imaged by the underwater camera in the vicinity of the boundary. The height difference between the caisson 1 and the breakwater 1A can be visually confirmed using the vertical scale 14 as a reference, and the joint interval between the caisson 1 and the breakwater 1A can be visually confirmed using the horizontal scale 14 as a reference. Can do. In addition, the comparison display units 34A, 34B, 34C, 34D and the like include, for example, the front left corner position coordinates (X, Y, Z) as the reference point of the installation position and the front left corner position coordinates as the reference point of the current position, for example. The XYZ direction arrows are displayed in the direction of guiding to the installation position, and the numerical values to be moved together with the arrows are described. Therefore, the installation is performed by moving in the direction of the arrows by the movement amount corresponding to the numerical values. Work can be performed easily.

  FIG. 14 shows Embodiment 2 of the present invention. In this example, the first to fourth installation anchor blocks 71A, 72A, 73A, 74A are located on the left rear side and the left front side with respect to the installation position of the caisson 1. , Right rear, right front. On the installation caisson 1, first to fourth winches 91, 92, 93, 94 are arranged on the front left side, the rear left side, the front right side, and the rear right side. When the first to fourth installation wires 71, 72, 73, 74 are connected to the first to fourth winches 91, 92, 93, 94, the first and second installation wires are installed outside the port (left side). The wires 71 and 72 are arranged so as to cross each other, and the first and second installation wires 73 and 74 are arranged so as to cross each other on the inner side (right side) of the port.

  In this example, the second and fourth installation wires 72 and 74 are moving-side installation winches, and when the wires are wound by the second and fourth winches 92 and 94, the installation caisson 1 is installed. In this movement, the wires are fed out by the second and fourth winches 92 and 94 on the non-moving side.

  Thus, also in the present embodiment, the same operations and effects as in the first embodiment are obtained.

  The present invention is not limited to this embodiment, and various modifications can be made within the scope of the gist of the present invention. For example, in the embodiment, the caisson has been described as an example, but the present invention can be used to install various underwater structures such as a submerged box. Various types of installation equipment can be used.

1 Installation caisson (underwater structure)
1A Existing breakwater 2 Total station 3 Reflector 4 Computer (analysis means)
5 Display means 6 Display 11 Underwater camera 12 Block 60 Hoist ship (tensioning means)
71 1st installation wire 72 2nd installation wire 73 3rd installation wire 74 4th installation wire 91 1st winch (installation equipment)
92 Second winch (installation equipment)
93 Third winch (installation equipment)
94 4th winch (installation equipment)
91K first camera (imaging means)
92K second camera (imaging means)
93K third camera (imaging means)
94K fourth camera (imaging means)
95K fifth camera (imaging means)
96K sixth camera (imaging means)
97K seventh camera (imaging means)
101 First sensor type water level gauge (installation equipment)
102 Second sensor-type water level gauge (installation equipment)
103 Third sensor-type water level gauge (installation equipment)
104 Fourth sensor-type water level gauge (installation equipment)
113 Water supply submersible pumps (water supply pumps and installation equipment)
114 Drainage submersible pumps (drainage pumps and installation equipment)
M joint

Claims (6)

Multiple total stations with automatic tracking function,
A reflector provided corresponding to the total station in the aerial part of the underwater structure to be installed;
Analyzing means for calculating the position of the underwater structure from the position of the reflector obtained by collimating the reflector corresponding to the plurality of total stations;
Display means for displaying the position of the underwater structure calculated by the analyzing means;
An installation device for installing the underwater structure;
Imaging means for imaging the installation equipment;
A device for installing an underwater structure, comprising: 2. The apparatus for installing an underwater structure according to claim 1, wherein the installation equipment is a water supply pump, a drainage pump, and an installation winch. The underwater structure installation apparatus according to claim 1, wherein an underwater camera is disposed at an installation position of the underwater structure, and an image captured by the underwater camera is displayed on the display unit. One end is fixed to the front side of the movement outside the underwater structure, and the other end of the wire is connected to the underwater structure.
One end is fixed to the rear side of the movement outside the underwater structure, and the other end is connected to the underwater structure, and an anti-moving installation wire is provided. The installation apparatus of the underwater structure as described in a term. After the installation equipment is mounted on the underwater structure, the underwater structure is unmanned, and the underwater structure is installed while checking the installation equipment from an image obtained by the imaging means. The installation method of the underwater structure of any one of Claims 1-4. The installation device is an installation winch, and the other end of the installation wire fixed at one end is connected to the installation winch so that the water supply pump, the drainage pump and the installation winch can be remotely operated, and then the underwater structure. 6. The method for installing an underwater structure according to claim 5, wherein the top is unmanned.