JPH0259922B2 - - Google Patents
Info
- Publication number
- JPH0259922B2 JPH0259922B2 JP58015688A JP1568883A JPH0259922B2 JP H0259922 B2 JPH0259922 B2 JP H0259922B2 JP 58015688 A JP58015688 A JP 58015688A JP 1568883 A JP1568883 A JP 1568883A JP H0259922 B2 JPH0259922 B2 JP H0259922B2
- Authority
- JP
- Japan
- Prior art keywords
- steel plate
- light
- plate cell
- attached
- driving
- 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.)
- Expired - Lifetime
Links
- 229910000831 Steel Inorganic materials 0.000 claims description 40
- 239000010959 steel Substances 0.000 claims description 40
- 238000005259 measurement Methods 0.000 claims description 16
- 239000003550 marker Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000010276 construction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、打ち込み位置に設置された鋼板セル
および打ち込み途中の鋼板セルを測定対象物とし
てその位置を検知する方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for detecting the position of a steel plate cell installed at a driving position and a steel plate cell in the middle of driving as objects to be measured.
［従来の技術］
根入れ式鋼板セル工法は、従来から埋立地の護
岸等の工事に用いられており、施工線上に列設さ
れる水平断面が円形の鋼板セルを、円弧状の接続
部材を介して接続するようにしているため、工事
の精度が鋼板セルの打ち込み時における位置ずれ
や傾き等に大きく左右されるので、鋼板セルの打
ち込み位置への設置および打ち込みにあたつて
は、正確な位置、姿勢を保つように細心の注意が
必要である。[Prior art] The embedded steel plate cell construction method has traditionally been used for construction works such as revetments on reclaimed land, and involves connecting steel plate cells with a circular horizontal cross section, which are arranged in rows on the construction line, to arc-shaped connecting members. Since the connection is made through the steel plate cells, the accuracy of the construction work is greatly affected by the positional deviation and tilting of the steel plate cells, so it is important to ensure accurate installation and driving of the steel plate cells at the driving position Great care must be taken to maintain position and posture.
［発明が解決しようとする課題］
ところが、現状においては、鋼板セルの打ち込
み位置への設置時およびその打ち込み中に、測定
定点に設置したトランシツトを用いて随時三角測
量を行い、その結果を作業者にトランシーバ等を
用いて連絡しながら工事を進行させているので、
測量に手間取り、また連絡上に不手際が生じ易
く、その結果として、鋼板セル設置の精度が低下
しているのが実状である。[Problems to be Solved by the Invention] However, at present, triangulation is carried out at any time using a transit placed at a fixed measurement point when installing a steel plate cell at a driving position and during driving, and the results are shared with the operator. We are proceeding with the construction while communicating with the staff using transceivers, etc.
The reality is that surveying is time-consuming and communication errors tend to occur, resulting in a decline in the accuracy of steel plate cell installation.
［課題を解決するための手段］
本発明は、上記のような不都合の解消をはかる
ことを目的とするものであつて、測定対象物に装
着した灯標識と、該灯標識から光を受けてその位
置を計測する画像計測装置とを使用して測定対象
物の位置を検知するようにした位置検知方法にお
いて、前記画像計測装置を、複数の定点に設置
し、灯標識を、鋼板セルの接続用の継手に装着し
た複数の浮体それぞれに装着して、定点からの三
角測量によつて鋼板セルの位置を検知することに
より、鋼板セルの位置を常時正確に表示して、そ
れを直接作業者に伝達することができるように
し、打ち込み作業を高精度に、しかも円滑に行う
ことができる鋼板セルの位置検知方法を提供しよ
うとするものである。[Means for Solving the Problems] The present invention aims to eliminate the above-mentioned inconveniences, and is directed to a light mark attached to an object to be measured, and a lamp mark that receives light from the light mark. In a position detection method that detects the position of an object to be measured using an image measuring device that measures the position, the image measuring device is installed at a plurality of fixed points, and a light marker is connected to a steel plate cell. By attaching it to each of multiple floating bodies attached to a joint for use in the field and detecting the position of the steel plate cell by triangulation from a fixed point, the position of the steel plate cell can be displayed accurately at all times, and it can be directly displayed to the operator. It is an object of the present invention to provide a method for detecting the position of a steel plate cell, which can transmit information to the user and perform driving work with high precision and smoothly.
［実施例］
以下、本発明の構成を図面に示された一実施例
について説明する。[Example] Hereinafter, the configuration of the present invention will be described with reference to an example shown in the drawings.
第１図において、１は測定対象物の鋼板セルで
あつて、鋼板セル１はクレーン船２に懸吊されて
打ち込み位置へ運ばれ、かつその所定位置に設置
される。３は打込装置であつて、鋼板セル１の上
縁に装着して振動によつて打ち込み作用をする複
数のバイブロハンマー４を連動させたもので構成
されている。 In FIG. 1, reference numeral 1 denotes a steel plate cell to be measured, and the steel plate cell 1 is suspended by a crane ship 2, carried to a driving position, and installed at a predetermined position. Reference numeral 3 denotes a driving device, which is composed of a plurality of vibrohammers 4 which are attached to the upper edge of the steel plate cell 1 and are linked to each other to perform a driving action by vibration.
上記鋼板セル１は、第２図および第３図に示す
ように、その外周の所定位置に、該鋼板セル１と
隣接する鋼板セルとの接続部材と係合するため
に、水平断面がリツプ溝型で上下方向に延びる継
手５を有している。本発明の検知方法を実施する
ために、各継手５には棒状の浮体６が、周辺海面
等の昇降に従うように上下動自在に装着してあ
る。浮体６は継手５の長さに対応する長さの中空
体であつて、その上端には、灯標識７を備えたポ
ール８が取付けられている。灯標識７はランプ等
の発光体である。 As shown in FIGS. 2 and 3, the steel plate cell 1 has a lip groove in a horizontal cross section at a predetermined position on its outer periphery in order to engage with a connecting member between the steel plate cell 1 and an adjacent steel plate cell. It has a molded joint 5 extending in the vertical direction. In order to carry out the detection method of the present invention, a rod-shaped floating body 6 is attached to each joint 5 so as to be movable up and down in accordance with the rise and fall of the surrounding sea surface. The floating body 6 is a hollow body with a length corresponding to the length of the joint 5, and a pole 8 with a light indicator 7 is attached to its upper end. The light sign 7 is a light emitting body such as a lamp.
第３図及び第４図において、９，１０，１１は
浮体６のガイドローラであつて、れらのうち、ガ
イドローラ９，１０は継手５の前面およびその内
面に、ガイドローラ１１は継手５の両側面にそれ
ぞれ当接し、浮体６を上下動自在に支持してい
る。なお、灯標識７は左右一対の継手５，５の上
部にそれぞれ同様に装着されている。 In FIGS. 3 and 4, reference numerals 9, 10, and 11 are guide rollers for the floating body 6. Of these, the guide rollers 9 and 10 are attached to the front surface of the joint 5 and its inner surface, and the guide roller 11 is attached to the joint 5. The floating body 6 is supported so as to be movable up and down. Note that the light indicators 7 are similarly attached to the upper portions of the pair of left and right joints 5, 5, respectively.
一方、第２図において、上記のように打ち込み
位置に設置された鋼板セル１に対して、その灯標
識７を視準する位置（陸上または既設の鋼板セル
上）には、本出願人が先に開発した画像計測装置
（特願昭56−13948号）の４基が、１２，１３，１
４，１５として設置されて、測定定点となつてい
る。この画像計測装置１２，１３，１４，１５
は、第５図に示すように、レンズ１６、二次元固
体撮像素子（以下単に撮像素子という）１７およ
び計測回路部１８によつて構成されている。１９
は計測対象点となる光源で、撮像素子１７の画素
面に投影される光源１９の像の画素面上の座標
が、撮像素子１７と計測回路部１８の働きによつ
て検出されて、デジタル信号Ｓ１として外部のデ
ータ処理装置２０に送出される。 On the other hand, in FIG. 2, with respect to the steel plate cell 1 installed at the driving position as described above, the applicant was the first to locate the position (on land or on an existing steel plate cell) where the light mark 7 is to be sighted. Four units of the image measuring device developed in
4 and 15, and serve as fixed measurement points. This image measurement device 12, 13, 14, 15
As shown in FIG. 5, it is composed of a lens 16, a two-dimensional solid-state image sensor (hereinafter simply referred to as an image sensor) 17, and a measurement circuit section 18. 19
is a light source serving as a measurement target point, and the coordinates on the pixel surface of the image of the light source 19 projected onto the pixel surface of the image sensor 17 are detected by the functions of the image sensor 17 and the measurement circuit section 18, and a digital signal is obtained. It is sent to the external data processing device 20 as S1.
次に、第６図に示すように、これら４基の画像
計測装置１２，１３，１４，１５から送出される
デジタル信号は、クレーン船２内に設置したデー
タ処理装置２０に入力され、一括処理される。デ
ータ処理装置２０はコンピユータであり、その処
理結果すなわち灯標識７の位置情報は、デイスプ
レイ装置２１に表示される。なお、デイスプレイ
装置２１はクレーン船２の操船室等、作業者が直
接監視できる場所に設置される。 Next, as shown in FIG. 6, the digital signals sent out from these four image measuring devices 12, 13, 14, 15 are input to a data processing device 20 installed in the crane ship 2, and are collectively processed. be done. The data processing device 20 is a computer, and the processing results, ie, the position information of the light sign 7, are displayed on the display device 21. It should be noted that the display device 21 is installed in a location such as the maneuvering room of the crane ship 2 where it can be directly monitored by workers.
［作 用］
本発明は、測定対象物の鋼板セル１に関して、
その位置検知装置を上記のように構成し、それを
使用して鋼板セルの位置を検知する方法である。
その方法を以下に説明する。測定対象物の鋼板セ
ル１には装着された灯標識７が、上下動自在の浮
体６に取付けられているので、鋼板セル１の打ち
込み位置への設置時およびその打ち込みの進行に
よる周囲の水位の変化にかかわらず、灯標識７は
水面上の一定位置に保持され、常に画像計測装置
１２，１３，１４，１５による計測が可能な高さ
の範囲内に存在する。[Function] Regarding the steel plate cell 1 of the measurement object, the present invention provides the following features:
This is a method of configuring the position detection device as described above and using it to detect the position of the steel plate cell.
The method will be explained below. Since the light indicator 7 attached to the steel plate cell 1 to be measured is attached to the floating body 6 which can move up and down, the surrounding water level can be monitored when the steel plate cell 1 is installed at the driving position and as the driving progresses. Regardless of the change, the light marker 7 is maintained at a constant position above the water surface and always exists within a height range that can be measured by the image measurement devices 12, 13, 14, and 15.
そして、第２図において、画像計測装置１２，
１３，１４，１５は、任意のｘ・ｙ座標系の所定
の位置に正しく設置され、それら各々の光軸の方
向も同座標系に対して所定の角度に正しく向けら
れているものとすれば、画像計測装置１２と１４
から送出される位置信号から、一方の灯標識７の
位置が、画像計測装置１３と１５から送出される
位置信号から、他方の灯標識７の位置が、三角測
量の計算式に基づいて求められる。この演算処理
は前述のとおりデータ処理装置２０によつて行わ
れるが、それに要する時間はきわめて短時間であ
るため、灯標識７の位置の計測はきわめて高速
に、例えば２秒に１回程度の頻度で反復され、デ
イスプレイ装置２１には、実用上は全く連続して
灯標識７の位置情報が表示される。また鋼板セル
１と左右一対の灯標識７との相互の位置関係は一
定であるから、左右の灯標識７のｘ・ｙ位置がそ
れぞれ決まれば、鋼板セル１の中央のｘ・ｙ位置
が求まることはもちろん、その指向方向も求ま
る。従つて、本発明の検知方法により、鋼板セル
１の平面的位置、方向は完全に計測され、デイス
プレイ装置２１に表示される。そして、デイスプ
レイ装置２１は、クレーン船２の操船室等、作業
者が直接監視できる位置に設けられるので、作業
者は鋼板セル１の状態を常に的確にとらえて、そ
れが適正な状態になるように調整しながら打ち込
みを行うことができる。 In FIG. 2, the image measuring device 12,
13, 14, and 15 are correctly installed at predetermined positions in an arbitrary x/y coordinate system, and the direction of their respective optical axes is also correctly oriented at a predetermined angle with respect to the same coordinate system. , image measurement devices 12 and 14
The position of one light marker 7 is determined from the position signal sent from the image measurement devices 13 and 15, and the position of the other light marker 7 is determined from the position signal sent from the image measuring devices 13 and 15 based on a triangulation formula. . This arithmetic processing is performed by the data processing device 20 as described above, but since the time required for it is extremely short, the position of the light sign 7 is measured at extremely high speed, for example, at a frequency of about once every two seconds. In practice, the position information of the light marker 7 is displayed on the display device 21 completely continuously. Furthermore, since the mutual positional relationship between the steel plate cell 1 and the pair of left and right light markers 7 is constant, if the x and y positions of the left and right light markers 7 are determined, the x and y positions of the center of the steel plate cell 1 can be determined. Of course, you can also find its direction. Therefore, by the detection method of the present invention, the planar position and direction of the steel plate cell 1 are completely measured and displayed on the display device 21. Since the display device 21 is installed in a location where the operator can directly monitor the operation room of the crane ship 2, the operator can always accurately grasp the state of the steel plate cell 1 and make sure that it is in the proper state. You can drive while making adjustments.
［発明の効果］
これを要するに、本発明は、測定対象物に装着
した灯標識と、該灯標識から光を受けてその位置
を計測する画像計測装置とを使用して測定対象物
の位置を検知するようにした位置検知方法におい
て、前記画像計測装置を、複数の定点に設置し、
灯標識を、鋼板セルの接続用の継手に装着した複
数の浮体それぞれに装着して、定点からの三角測
量によつて鋼板セルの位置を検知するように構成
したから、打ち込み位置に設置され、かつ打ち込
み中における鋼板セルの位置および方向を常時正
確に表示することができると共に、それを直接作
業者に伝達することができ、鋼板セルの打ち込み
作業を高精度に、しかも円滑に行うことができる
効果を奏するものである。[Effects of the Invention] In short, the present invention measures the position of the object to be measured using a light marker attached to the object and an image measuring device that receives light from the light marker and measures its position. In the position detection method, the image measurement device is installed at a plurality of fixed points,
Light markers were attached to each of a plurality of floating bodies attached to joints for connecting steel plate cells, and the position of the steel plate cells was detected by triangulation from a fixed point. In addition, the position and direction of the steel plate cell during driving can be displayed accurately at all times, and this information can be directly communicated to the operator, making it possible to perform the steel plate cell driving work with high precision and smoothly. It is effective.
図面は、本発明に係る鋼板セルの位置検知方法
を一実施例で説明するものであつて、第１図は打
ち込み位置に設置された鋼板セルの側面図、第２
図は同上平面図、第３図は鋼板セルの一部側面
図、第４図は同上平面図、第５図は画像計測装置
の概略構成図、第６図は同上装置およびデータ処
理装置等の関係を示すブロツクダイヤグラムであ
る。
１……鋼板セル、５……継手、６……浮体、７
……灯標識、８……ポール、９．１０，１１……
ガイドローラ、１２，１３，１４，１５……画像
計測装置、１６……レンズ、１７……二次元固体
撮像素子、１８……計測回路部、１９……光源、
２０……デー処理装置、２１……デイスプレイ装
置。
The drawings are for explaining the method for detecting the position of a steel sheet cell according to an embodiment of the present invention, in which FIG. 1 is a side view of the steel sheet cell installed at the driving position, and FIG.
The figure is a plan view of the same as above, FIG. 3 is a partial side view of the steel plate cell, FIG. 4 is a plan view of the same as above, FIG. 5 is a schematic configuration diagram of the image measuring device, and FIG. This is a block diagram showing the relationship. 1... Steel plate cell, 5... Joint, 6... Floating body, 7
...Light sign, 8...Paul, 9.10,11...
Guide roller, 12, 13, 14, 15... Image measurement device, 16... Lens, 17... Two-dimensional solid-state image sensor, 18... Measurement circuit section, 19... Light source,
20...Data processing device, 21...Display device.
Claims (1)
ら光を受けてその位置を計測する画像計測装置と
を使用して測定対象物の位置を検知するようにし
た位置検知方法において、前記画像計測装置を、
複数の定点に設置し、灯標識を、鋼板セルの接続
用の継手に装着した複数の浮体それぞれに装着し
て、定点からの三角測量によつて鋼板セルの位置
を検知するようにしたことを特徴とする鋼板セル
の位置検知方法。1. In a position detection method that detects the position of a measurement target using a light marker attached to the measurement target and an image measuring device that receives light from the light marker and measures its position, measurement equipment,
The location of the steel plate cells was detected by triangulation from the fixed points by installing them at multiple fixed points and attaching light markers to each of the multiple floating bodies attached to the joints for connecting the steel plate cells. Characteristic steel plate cell position detection method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1568883A JPS59142405A (en) | 1983-02-02 | 1983-02-02 | Position detector of steel plate cell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1568883A JPS59142405A (en) | 1983-02-02 | 1983-02-02 | Position detector of steel plate cell |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59142405A JPS59142405A (en) | 1984-08-15 |
| JPH0259922B2 true JPH0259922B2 (en) | 1990-12-13 |
Family
ID=11895692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1568883A Granted JPS59142405A (en) | 1983-02-02 | 1983-02-02 | Position detector of steel plate cell |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59142405A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62240871A (en) * | 1986-04-14 | 1987-10-21 | Fujitsu Ltd | Recognition for setting position of plate-like body |
| JPH02102406A (en) * | 1988-10-07 | 1990-04-16 | Takenaka Komuten Co Ltd | Level measuring device |
| JP4586632B2 (en) | 2005-05-25 | 2010-11-24 | いすゞ自動車株式会社 | Jet steam engine |
| JP3832496B1 (en) | 2005-05-25 | 2006-10-11 | いすゞ自動車株式会社 | Jet steam engine |
| JP2009162063A (en) | 2007-12-28 | 2009-07-23 | Isuzu Motors Ltd | Jet type vapor engine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57129079A (en) * | 1981-02-02 | 1982-08-10 | Shimizu Constr Co Ltd | Picture measuring device |
-
1983
- 1983-02-02 JP JP1568883A patent/JPS59142405A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57129079A (en) * | 1981-02-02 | 1982-08-10 | Shimizu Constr Co Ltd | Picture measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59142405A (en) | 1984-08-15 |
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