JPH01314915A - Pontoon positioning method - Google Patents
Pontoon positioning methodInfo
- Publication number
- JPH01314915A JPH01314915A JP14752088A JP14752088A JPH01314915A JP H01314915 A JPH01314915 A JP H01314915A JP 14752088 A JP14752088 A JP 14752088A JP 14752088 A JP14752088 A JP 14752088A JP H01314915 A JPH01314915 A JP H01314915A
- Authority
- JP
- Japan
- Prior art keywords
- automatic tracking
- calculator
- transit
- reflecting mirror
- pontoon
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 12
- 230000003287 optical effect Effects 0.000 claims description 11
- 238000005259 measurement Methods 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
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Abstract
Description
【発明の詳細な説明】
（イ）技術分野
本発明は、海上における作λ船の位置決め方法に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION (a) Technical Field The present invention relates to a method for positioning a ship on the sea.
（ロ）従来技術
従来の海上における作業船の位置決め方法は、測定員に
より光波距離計やトランシット等の測量機器を使用して
行なっていたが、測量点からの視準や測量数値からの船
台位置計算等に長時間を要するため、時々刻々と変化し
てゆく作業船の位置を正確に把握することは困難であっ
た。(b) Prior art The conventional method of positioning a work boat on the sea was carried out by surveyors using surveying equipment such as a light wave distance meter or transit. Because calculations take a long time, it is difficult to accurately grasp the constantly changing position of the workboat.
そこで、最近自動追尾光波距離計を使用して自動測量を
行なう方法（特公昭５８−３０５２５号）が地盤改良船
に採用されているが、この方法は作業船の位置を測定す
るのに作業船側の光波距離計と基準点側の光源付望遠鏡
との距離だけを求めるので、どうしても作業船に３台の
光波距離計が必要となり、しかも光源付望遠鏡から投光
している光の発散角度に限度があり、この領域外では自
動追尾できない欠点があって、速度や移動距離が大きい
作業船例えば深浅測量船や磁気探査船。Therefore, recently, a method of automatically surveying using an automatic tracking light wave distance meter (Special Publication No. 58-30525) has been adopted for ground improvement ships. Since only the distance between the optical distance meter and the telescope with a light source on the reference point side is determined, three optical distance meters are required on the work boat, and there is a limit to the divergence angle of the light emitted from the telescope with a light source. There is a drawback that automatic tracking is not possible outside this area, and work vessels that have large speeds and travel distances, such as bathymetric survey vessels and magnetic exploration vessels.
浚渫船等では光の発散角度の領′域外に短時間で外れる
ため、光源付望遠鏡の視準を作業船に取付けた自動追尾
光波距離計に合せてそのつど修正する必要があった。更
にまた、この方法は光源付望遠鏡の電源としてバッテリ
ー等を使用するので、その交換を定期的に行なう必要も
ある等の問題もある。On dredging vessels and the like, the light can quickly move out of the range of the divergence angle, so it was necessary to adjust the collimation of the telescope with a light source each time to match the automatic tracking optical distance meter installed on the work boat. Furthermore, since this method uses a battery or the like as a power source for the telescope with a light source, there are other problems such as the need to periodically replace the battery.
（ハ）発明の開示
本発明は、上記のような面倒な操作や固定基準点に電源
が必要な光源付望遠鏡を使用する必要もなく、しかも使
用機器台数も減少させてわずか２台の測定機器のみで船
台位置を短時間に測定できる方法を提案するもので１本
発明によれば船台の位置決めを迅速かつ経済的に行なう
ことができるのである。(C) Disclosure of the Invention The present invention eliminates the need for the above-mentioned troublesome operations and the use of a telescope with a light source that requires a power supply at a fixed reference point, and furthermore, the number of instruments used is reduced to just two measuring instruments. According to the present invention, the position of a boat platform can be determined quickly and economically.
以下１本発明法の詳細を図にもとづいて説明する。The details of the first method of the present invention will be explained below based on the drawings.
本発明に使用する自動追尾光波距離計兼トランシットは
、該機器に敷設されているレーザー発光器によって反射
鏡へ向けてレーザー光を投射し、反射されたレーザーを
受光して反射鏡の位置をとらえて自動的に追尾し、その
移動により生ずる水平角と垂直角および距離を同時に測
定できるものである。The automatic tracking optical distance meter/transit used in the present invention projects a laser beam toward a reflecting mirror using a laser emitter installed in the device, receives the reflected laser, and determines the position of the reflecting mirror. It automatically tracks the object and simultaneously measures the horizontal and vertical angles and distance caused by its movement.
本発明法を実施するに際して用いられる上記自動追尾光
波距離計兼トランシットと自動追尾光波距離計の配置態
様を示したのが第１図であり、１は海上に浮かべた船台
、２は海上測量台または陸上に定められた固定基準基盤
である。Figure 1 shows the layout of the automatic tracking lightwave rangefinder/transit and the automatic tracking lightwave rangefinder used in carrying out the method of the present invention, where 1 is a ship's platform floating on the sea, and 2 is a marine survey platform. or a fixed reference base established on land.
船台ｌの左右端部の一方（図では左側）には自動追尾光
波距離計兼トランシット３が一台、また他方（図では右
側）には自動追尾光波距離計４が一台配設され、その視
準点として反射鏡５．６を固定基準基盤２に設置する。One automatic tracking optical distance meter/transit 3 is installed on one of the left and right ends of the platform l (on the left side in the figure), and one automatic tracking optical distance meter 4 is installed on the other side (on the right side in the figure). A reflecting mirror 5.6 is installed on the fixed reference base 2 as a sighting point.
そして、左側の自動追尾光波距離計兼トランシット３は
左側の反射鏡５を視準し、右側の自動追尾光波距離計４
は右側の反射鏡６を視準するようにする。Then, the left automatic tracking lightwave distance meter/transit 3 aims at the left reflector 5, and the right automatic tracking lightwave rangefinder 4
so that the right reflector 6 is collimated.
上記２台の光波距離計３．４は船台１上の計算機７に夫
々リード線９．ｌＯで接続されており、更に該計算機７
は表示部８に接続されている。The two light wave rangefinders 3.4 are connected to the computer 7 on the boat platform 1 with lead wires 9. It is connected by lO, and furthermore, the computer 7
is connected to the display section 8.
に記反射鏡５．６は、第２図に示すように光が入射した
同一方向へその光を反射する複数個のプリズム１１が円
筒状の板面に配置され、広範囲からの光を受光して反射
するように構成されている。As shown in Fig. 2, the reflecting mirror 5.6 has a plurality of prisms 11 arranged on a cylindrical plate surface to reflect light in the same direction in which the light is incident, and receives light from a wide range. It is configured to reflect light.
また、計算機７には後記の計算式が記憶されており、両
距離計３．４からのデータをインプットして所定の計算
がなされ１表示部８で計算機７からの算出値に基づいて
船台ｌの現位置を刻々グラフィックデイスプレィにより
表示するようになっている。In addition, the calculation formula described later is stored in the calculator 7, and data from both rangefinders 3.4 is inputted to perform predetermined calculations, and the display unit 8 displays the berth position based on the calculated value from the calculator 7. The current position of the vehicle is displayed on a graphic display every moment.
なお、上記光波距離計兼トランシット３と光波距離計４
の配置は、左右入れかえてもよいことは勿論である。In addition, the above-mentioned light wave distance meter/transit 3 and light wave distance meter 4
Of course, the arrangement of the left and right may be reversed.
（ニ）計算例 次に１本発明の計算例を第３図を参照して説明する。(d) Calculation example Next, a calculation example of the present invention will be explained with reference to FIG.
Ｅ記自動追尾光波距離計兼トランシット３で反射鏡５と
の距離９．１および該反射鏡５と船台ｌとの角度θを測
定し、他方の光波距離計４で反射鏡６との距離皇２を同
時に測定し、これらのデータをあらかじめ所定の計算式
を記憶させた計算機７にインプットしてＡとＢの位置（
従って船台ｌの位置）を計算する０図中！Ｌ４１文５．
Ｃ点（Ｘ＋、Ｙ＋）、Ｄ点（Ｘ２．Ｙ２）は事前測定に
より求めた数値である。E: Measure the distance 9.1 to the reflector 5 and the angle θ between the reflector 5 and the platform l using the automatic tracking lightwave distance meter/transit 3, and measure the distance 9.1 to the reflector 6 using the other lightwave rangefinder 4. 2 are measured at the same time, and these data are input into the calculator 7, which has a predetermined calculation formula memorized in advance, to calculate the positions of A and B (
Therefore, calculate the position of the slipway l) in Figure 0! L41 sentence 5.
Point C (X+, Y+) and point D (X2.Y2) are numerical values determined by preliminary measurements.
第３図において、
Ｃ（Ｘ＋ 、Ｖ＋）＝反射鏡５伎置の座標Ｄ （ｘｚ
、Ｖ２）＝反射鏡６伎置の座標Ａ （Ｘ３．Ｙ３）
＝自動追尾光波距離計兼トランシット３の位置座標
Ｂ （Ｘａ 、 ｙａ）＝自動追尾光波距離計４の位置
座標
見１ 、見２＝測定距離
０＝測定角度
見４＝反射鏡５．６間距離
文５＝自動追尾光波距離計兼トランシット３と自動追尾
光波距離計４設置間距離
であり１文３および角度αは次の（１）式と（２）式に
より算出できる。In Figure 3, C (X+, V+) = coordinates D (xz
, V2) = Coordinates A of the 6th position of the reflecting mirror (X3.Y3)
= Position coordinates of the automatic tracking light wave distance meter/transit 3 B (Xa, ya) = Position coordinates of the automatic tracking light wave distance meter 4 View 1, View 2 = Measurement distance 0 = Measurement angle View 4 = Distance between reflectors 5.6 Sentence 5 = distance between the automatic tracking lightwave distance meter/transit 3 and the automatic tracking lightwave distance meter 4 installation, and 1st sentence 3 and the angle α can be calculated using the following equations (1) and (2).
・・・φ・・・・φ・・・・（１）
ｆｌ ３２ ＋ ｆｌ 、 ２ ｊｌ ２２２
×見５ ×文。・・・φ・・・φ・・・(1) fl 32 + fl, 2 jl 222
× See 5 × Text.
上記数値からＡ点（ｘａ、ｙ３）とＢ点（Ｘａ ｒ ｙ
ａ ）は次式によって求めることができる。From the above numerical values, point A (xa, y3) and point B (Xa ry
a) can be determined by the following equation.
Ｘａ ＝ｘ、十見３×ｃｏｓα−！Ｌ５・・・・（３）
ｙ３＝ｙＩ＋！；Ｌ３Ｘｓｉｎα・・・・Φ・・（４）
Ｘ４＝Ｘｌ ＋Ｑ３ＣＯ３（Ｘ””””（５）Ｙａ＝７
＋ 十文２ ｓｉｎαψ・・・―−・・（６）このよう
にして、船台１の位置（Ａ 、 Ｂ）が求められ、これ
にもとづいて上記表示部８にＡ及びＢの座標即ち船台ｌ
の現在位置が表示されるのである。Xa = x, Tomi 3 x cos α-! L5...(3)
y3=yI+! ;L3Xsinα...Φ...(4)
X4=Xl +Q3CO3(X””””(5)Ya=7
+ Jubun 2 sin αψ (6) In this way, the position (A, B) of the boat platform 1 is obtained, and based on this, the coordinates of A and B, that is, the boat platform l are displayed on the display section 8.
The current location of is displayed.
（ホ）発明の効果
本発明法によれば、操船者は１人で表示部８に表示され
た座標を見て船台１の現在位置を迅速に知ることができ
１次の予定位置への位置決め等が筒中に行なえるのであ
る。(e) Effects of the Invention According to the method of the present invention, a single operator can quickly determine the current position of the platform 1 by looking at the coordinates displayed on the display unit 8, and can position it to the primary planned position. etc. can be done in the cylinder.
しかも、本発明法はたった２台の自動追尾型光波距離計
で位置測定を行なうことができるので、３台以上の自動
追尾型光波距離計を使用する従来法に比べて大幅に機器
コストが低減される。Moreover, since the method of the present invention can perform position measurement using only two automatic tracking type optical distance meters, the equipment cost is significantly reduced compared to the conventional method that uses three or more automatic tracking type optical distance meters. be done.
また、本発明法は光波距離計から反射鏡に向けて投光す
るだけであって、従来法のように反射鏡に光源付き望遠
鏡を設ける必要がないので、反射鏡側に電源は不要とな
り、この点からも非常に経済的で管理も容易となる等、
種々の利点を有する。In addition, the method of the present invention only projects light from the optical distance meter toward the reflecting mirror, and there is no need to provide a telescope with a light source on the reflecting mirror as in the conventional method, so there is no need for a power source on the reflecting mirror. From this point of view, it is very economical and easy to manage.
It has various advantages.
第１図は本発明法に使用する測定機器の配置態様図、第
２図は反射鏡の構成図、第３図は本発明法の訓穢原理図
である。
符号説明
ｌ−船台 ２−測量台または陸上の基準基盤３−自動追
尾光波距離計兼トランジット４−自動追尾光波距離計
５．６−反射鏡７−計算機 ８−計算機表示部
９．１０−リード線 １１−プリズム
特 許 出 願 人 国上総合建設株式会社同
株式会社橘高工学研究所第１図
第２図FIG. 1 is a diagram of the arrangement of measuring instruments used in the method of the present invention, FIG. 2 is a configuration diagram of a reflecting mirror, and FIG. 3 is a diagram of the principle of purification of the method of the present invention. Code Description 1 - Ship platform 2 - Survey platform or land reference base 3 - Automatic tracking light wave distance meter and transit 4 - Automatic tracking light wave distance meter
5.6-Reflector 7-Calculator 8-Computer display section 9.10-Lead wire 11-Prism patent Applicant Kokugami Sogo Construction Co., Ltd.
Tachibana High School of Engineering Co., Ltd. Figure 1 Figure 2
Claims (1)
トランシットを、また他方には一台の自動追尾光波距離
計を配設し、その視準を受ける固定基準点２個所に反射
鏡を配置し、上記自動追尾光波距離計兼トランシットは
これと同側の反射鏡を視準し、上記自動追尾光波距離計
は他方の反射鏡を視準して、それぞれの２点間距離およ
び船台との角度を同時測定し、該測定データを所定の計
算式を記憶させた計算機に入力することにより、船台の
現在位置を表示部に表示させるようにしたことを特徴と
する船台位置決め方法。One automatic tracking optical distance meter/transit is installed on one side of the left and right ends of the cradle, and one automatic tracking optical distance meter is installed on the other side, and the beam is reflected at two fixed reference points that receive the collimation. A mirror is placed, and the automatic tracking lightwave rangefinder/transit sights the reflector on the same side as this, and the automatic tracking lightwave rangefinder sights the other reflector, and calculates the distance between each two points. A method for positioning a boat platform, characterized in that the current position of the boat platform is displayed on a display unit by simultaneously measuring the angle with the boat platform and inputting the measured data into a computer storing a predetermined calculation formula.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14752088A JPH01314915A (en) | 1988-06-15 | 1988-06-15 | Pontoon positioning method |
| US07/460,109 US5098185A (en) | 1988-06-15 | 1989-06-15 | Automatic tracking type measuring apparatus |
| DE68927155T DE68927155T2 (en) | 1988-06-15 | 1989-06-15 | MEASURING DEVICE WITH AUTOMATIC TRACKING |
| PCT/JP1989/000597 WO1989012836A1 (en) | 1988-06-15 | 1989-06-15 | Automatic tracking type surveying apparatus |
| EP89907273A EP0374265B1 (en) | 1988-06-15 | 1989-06-15 | Automatic tracking type surveying apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14752088A JPH01314915A (en) | 1988-06-15 | 1988-06-15 | Pontoon positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01314915A true JPH01314915A (en) | 1989-12-20 |
Family
ID=15432185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14752088A Pending JPH01314915A (en) | 1988-06-15 | 1988-06-15 | Pontoon positioning method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01314915A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2322728A3 (en) * | 2009-11-13 | 2011-06-01 | Baggerwerken Decloedt en Zoon N.V. | Backhoe dredger for dredging soil material under water |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5575610A (en) * | 1978-12-01 | 1980-06-07 | Toyo Kensetsu Kk | Direction method for floating body |
-
1988
- 1988-06-15 JP JP14752088A patent/JPH01314915A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5575610A (en) * | 1978-12-01 | 1980-06-07 | Toyo Kensetsu Kk | Direction method for floating body |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2322728A3 (en) * | 2009-11-13 | 2011-06-01 | Baggerwerken Decloedt en Zoon N.V. | Backhoe dredger for dredging soil material under water |
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