Rubble leveling device, rubble leveling system, and rubble leveling method

Abstract

To provide a rubble leveling device capable of improving rubble leveling accuracy by a weight lifted by a floating crane.SOLUTION: A rubble leveling device 100 comprises a sounding information acquisition unit 112 that acquires sounding information. The rubble leveling device 100 comprises a LiDAR information acquisition unit 113 that acquires LiDAR information acquired by a LiDAR device. The rubble leveling device 100 comprises a positioning oscillation information acquisition unit 114 that acquires positioning oscillation information indicating oscillation of a floating crane 10. The rubble leveling device 100 comprises a three-dimensional point group data generation unit 115 that generates three-dimensional point group data of a weight on the basis of the LiDAR information. The rubble leveling device 100 comprises a weight position calculation unit 116 that calculates position information of the weight on the basis of the three-dimensional point group data and the positioning oscillation information. Further, the rubble leveling device 100 comprises a topography model generation unit 117 that generates a topography model indicating an underwater state on the basis of the sounding information and the position information of the weight.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a rubble rock leveling device, a rubble rock leveling system, and a rubble rock leveling method. [Background technology]

[0002] Conventionally, in the leveling of foundation rubble in port construction, coastal construction, etc., a construction method has been proposed in which a weight lifted by a crane ship is allowed to fall freely to finish the foundation rubble to a specified height. Patent Document 1 discloses an underwater rubble leveling system that can measure the position of the weight that compacts the rubble. The underwater rubble leveling system disclosed in Patent Document 1 detects the height of the weight using a total station installed on land and measures the leveling height of the rubble. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-53164 Summary of the Invention [Problem to be solved by the invention]

[0004] In the underwater rubble mound leveling system disclosed in Patent Document 1, the height of the plumbing weight is detected by a total station installed on land. Therefore, for example, if the rubble mound foundation leveling location is far from land and the performance of the measuring equipment is poor, it is not possible to measure the rubble mound leveling height. Furthermore, if the crane barge is rocked by waves, the plumbing weight lifted by the crane barge also rocks, so when the plumbing weight height is detected by a total station installed on land, the detection accuracy decreases, which may result in a decrease in leveling accuracy.

[0005] The present invention has been made in view of the problems inherent in the prior art, and an object of the present invention is to provide a riprap leveling device that can improve the accuracy of riprap leveling using a weight lifted by a crane ship. [Means for solving the problem]

[0006] The riprap leveling device according to an embodiment of the present invention is a riprap leveling device for leveling riprap in water by dropping a weight 30 lifted by a crane provided on a crane ship into water, and includes a crane information acquisition unit that acquires information about the crane, such as crane position information indicating the position of the crane, via a GNSS antenna provided on the crane ship, a sounding information acquisition unit that acquires sounding information acquired by a multi-beam sounding device provided on the crane ship, and information acquired by a LiDAR device provided on the crane ship, such as information about the position of the weight The crane vessel is equipped with a LiDAR information acquisition unit that acquires LiDAR information that measures the position of the crane vessel, a positioning and motion information acquisition unit that acquires positioning and motion information that indicates the motion of the crane vessel from a positioning and motion meter installed on the crane vessel, a 3D point cloud data generation unit that generates 3D point cloud data of the weight based on the LiDAR information, a weight position calculation unit that calculates the position information of the weight based on the crane position information, the 3D point cloud data and the positioning and motion information, and a terrain model generation unit that generates a terrain model that indicates the underwater situation based on the bathymetry information and the weight position information.

[0007] Another aspect of the present invention is a rubble leveling system for leveling rubble in water by dropping a weight lifted by a crane ship into the water, and the system comprises the above-mentioned rubble leveling device, a LiDAR device, and a multi-beam echo sounder.

[0008] Another aspect of the present invention is a riprap leveling method that is executed by a computer and that levels underwater riprap by dropping into water a weight lifted by a crane mounted on a crane ship, and that includes obtaining information about the crane, such as crane position information indicating the position of the crane, via a GNSS antenna mounted on the crane ship; obtaining bathymetry information obtained by a multi-beam echo sounder mounted on the crane ship; obtaining LiDAR information that measures the position of the weight, such as information obtained by a LiDAR device mounted on the crane ship; obtaining positioning and vibration information indicating the vibration of the crane ship from a positioning and vibration meter mounted on the crane ship; generating three-dimensional point cloud data of the weight based on the LiDAR information; calculating position information of the weight based on the crane position information, the three-dimensional point cloud data, and the positioning and vibration information; and generating a terrain model showing the underwater situation based on the bathymetry information and the position information of the weight. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a rubble leveling device that can improve the rubble leveling accuracy using a weight lifted by a crane ship. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the configuration of a rubble leveling system according to this embodiment. [Figure 2A] FIG. 1 is a diagram for explaining the process of riprap leveling by the riprap leveling system according to this embodiment. [Figure 2B] FIG. 1 is a diagram for explaining the process of riprap leveling by the riprap leveling system according to this embodiment. [Figure 2C] FIG. 1 is a diagram for explaining the process of riprap leveling by the riprap leveling system according to this embodiment. [Figure 3A] FIG. 10 is a diagram for explaining a weight used in the rubble leveling system according to the present embodiment. [Figure 3B] FIG. 10 is a diagram for explaining a weight used in the rubble leveling system according to the present embodiment. [Figure 4]1 is a block diagram showing the configuration of a rubble leveling device 100 according to the present embodiment. FIG. [Figure 5] 1 is a block diagram showing the functional configuration of a riprap leveling device 100 according to an embodiment of the present invention. FIG. [Figure 6] 1 is a flowchart showing an example of processing of the riprap leveling device 100 according to the present embodiment. [Figure 7] 1 is a diagram showing an example of a terrain model generated by the riprap leveling device 100 according to the present embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] The riprap leveling device 100 and the riprap leveling system 1 according to this embodiment will be described in detail below with reference to the drawings. Note that the dimensional proportions in the drawings are exaggerated for the sake of explanation and may differ from the actual proportions.

[0012] (Configuration of Rubble Leveling System 1) 1 is a diagram showing the configuration of a riprap leveling system 1 according to this embodiment. In the riprap leveling system 1, a crane 20 that hoists a weight 30 for leveling the riprap is mounted on a crane ship 10.

[0013] The crane barge 10 is equipped with a riprap leveling device 100 that drops a weight 30 lifted by the crane barge 10 into the water to level the riprap in the water. The crane barge 10 also has a LiDAR device 200 that measures the position of the weight 30 dropped into the water. The crane barge 10 is also equipped with a multi-beam echo sounder 300 that can measure the status of the riprap leveling in the water. The crane barge 10 is also equipped with a positioning motion meter 400 (see FIG. 4) that can measure the motion of the crane barge 10 due to waves and wind.

[0014] The riprap leveling system 1 according to this embodiment measures the state of riprap leveling based on the position (height) of the weight 30 dropped into the water, and generates topographical data that reflects the state of riprap leveling measured by the multi-beam echo sounder 300 and the state of riprap leveling due to the position of the weight 30. This allows the user to grasp not only the state of riprap leveling that can be observed by the multi-beam echo sounder 300, but also the state of riprap leveling based on the position of the weight 30, enabling more accurate work in riprap leveling.

[0015] 2A to 2C are diagrams for explaining the process of riprap leveling by the riprap leveling system 1 according to this embodiment. Note that the example shown in Figs. 2A to 2C shows the work of leveling riprap foundations on the seabed ground.

[0016] First, in the example shown in FIG. 2A, the riprap leveling system 1 measures the seabed ground before work using a multi-beam echo sounder 300. Next, as shown in FIG. 2B, the riprap leveling system 1 lowers a weight 30 to the seabed ground to level the foundation riprap. Next, as shown in FIG. 2C, the riprap leveling system 1 measures the weight target 31 (see FIGS. 3A and 3B) of the weight 30 using a LiDAR device 200, calculates the bottom end of the weight (the height of the riprap leveling) from the height of the weight target 31, and displays it on a monitor (not shown). Thereafter, the construction manager (user) checks the monitor, and if the weight 30 has been lowered to the specified height, moves the weight 30 to the next riprap location, and the work shown in FIGS. 2A to 2C is repeated.

[0017] 3A and 3B are diagrams for explaining the plumb bob 30 used in the riprap leveling system 1 according to this embodiment. As shown in Fig. 3A and 3B, the plumb bob 30 is provided with a plumb bob target 31, and the plumb bob target 31 measured by the LiDAR device 200 is displayed as three-dimensional point cloud data, and the height of the plumb bob 30 is measured.

[0018] Next, the configuration of the riprap leveling device 100 used in the riprap leveling system 1 according to this embodiment will be described.

[0019] (Configuration of rubble leveling device 100) Fig. 4 is a block diagram showing the configuration of the riprap stone leveling device 100 according to this embodiment. As shown in Fig. 4, the riprap stone leveling device 100 may be configured as a system including a general-purpose computer including a control unit 110 (CPU), a storage unit 120 (memory), an input / output IF 130 (Interface), and a communication IF 140. In this case, a computer program for causing the computer to function as the riprap stone leveling device 100 may be installed in the computer. By executing the computer program, the computer functions as a plurality of information processing circuits provided in the riprap stone leveling device 100.

[0020] In this embodiment, an example is shown in which software is used to realize the multiple information processing functions of the riprap stone leveling device 100. The riprap stone leveling device 100 functions as multiple information processing circuits provided in the riprap stone leveling device 100 by executing a computer program.

[0021] Alternatively, the rubble leveling device 100 may be configured with dedicated hardware for executing each information processing function, and the information processing function may be configured using a system LSI (Large Scale Integration) or the like.

[0022] Alternatively, a system may be configured with multiple information processing functions implemented by separate hardware. For example, the riprap leveling device 100 may be provided with a computer, a pan-tilt device that processes information acquired by the LiDAR device 200, and a processor that processes sounding information measured by the multi-beam depth sounder 300.

[0023] The control unit 110 operates based on a program (not shown) stored in the storage unit 120, and executes each function of the riprap leveling device 100. The program is not limited to being stored in the storage unit 120, and may be stored in a ROM (not shown) or the like within the riprap leveling device 100, for example.

[0024] As shown in FIG. 5, the storage unit 120 stores information stored in a crane information DB 121 (Data Base), a measurement information DB 122, and a terrain model information DB 123 in the storage unit 120 as data.

[0025] Furthermore, as described above, the storage unit 120 may store programs for each function executed by the control unit 110. The information and programs stored in the storage unit 120 may be configured as physically or logically separated areas within a single storage device. Alternatively, the storage units 120 for each data may be configured to be provided in multiple physically different storage devices.

[0026] The input / output IF 130 is an interface for transmitting and receiving data between the riprap leveling device 100 and the outside. The input / output IF 130 may also be an interface for transmitting and receiving information to and from a user (construction manager). The input / output IF 130 includes, for example, an input IF and an output IF (not shown).

[0027] For example, the input / output IF130 may transmit and receive data between a crane data control unit 21 that processes data related to the crane 20, a multi-beam depth sounder 300, a positioning motion meter 400, and / or a GNSS antenna 500, as shown in FIG. 4.

[0028] The crane data control unit 21 manages and processes data such as the boom angle, bearing angle, and weight wire length of the crane 20, for example.

[0029] The multi-beam echo sounder 300 is a device that emits sound waves in a fan shape toward the seabed from a transducer mounted on the bottom of the crane barge 10 and captures the reflected sound waves, making it possible to grasp the seabed topography over a wide area. The multi-beam echo sounder 300 according to this embodiment is configured as a general multi-beam echo sounder.

[0030] The positioning and stabilization meter 400 is configured with an inertial measurement unit (IMU) and detects three-dimensional inertial motion (translational motion in three orthogonal axial directions and rotational motion). Specifically, the positioning and stabilization meter 400 includes an acceleration sensor [m / s 2 ] can detect translational motion, and the angular velocity (gyro) sensor [deg / sec] can detect rotational motion.

[0031] The GNSS antenna 500 uses the GNSS (Global Navigation Satellite System) to acquire position information of the crane 20. The position information of the crane 20 acquired by the GNSS antenna 500 includes three-dimensional position information that adds vertical position information (height information) to horizontal position information.

[0032] Furthermore, the input IF in the input / output IF 130 has an interface function for inputting various information by the user (construction manager), and information may be input from outside the riprap leveling apparatus 100. Information is input to the input IF by the user via, for example, a keyboard, a mouse, a touch panel, a trackball, or a voice recognition device connected to the riprap leveling apparatus 100. Furthermore, the input IF can input information as a data input terminal for inputting data from an external storage device (not shown) or the like.

[0033] Furthermore, the output IF in the input / output IF 130 can display measurement information and terrain model information (described later) on a display device (not shown) such as a monitor connected to the riprap leveling device 100. The display device is, for example, a display device, a projector device, or the like.

[0034] The communication IF 140 is, for example, an interface for enabling mutual communication between the riprap leveling device 100 and the LiDAR device 200. In this embodiment, the control information from the riprap leveling device 100 to the LiDAR device 200 may be transmitted by wired communication or wireless communication via the communication IF 140. Alternatively, the LiDAR device 200 and the riprap leveling device 100 may be connected by wire via the above-mentioned input / output IF 130, and the riprap leveling device 100 may control the LiDAR device 200 via the wire.

[0035] The LiDAR device 200 is a measuring device that uses laser light. The LiDAR device 200 uses laser light, which has a higher luminous flux density and a shorter wavelength than radio waves, and can detect the position and shape of an object with high accuracy.

[0036] (Functional configuration of rubble leveling device 100) Fig. 5 is a block diagram showing the functional configuration of the riprap leveling device 100 according to this embodiment. As shown in Fig. 5, the control unit 110 has, as its functions, a crane information acquisition unit 111, a bathymetry information acquisition unit 112, a LiDAR information acquisition unit 113, and a positioning vibration information acquisition unit 114. The control unit 110 also has, as its functions, a 3D point cloud data generation unit 115, a plumb bob position calculation unit 116, and a terrain model generation unit 117.

[0037] The crane information acquisition unit 111 acquires information about the crane 20, such as crane position information indicating the position of the crane 20, via the GNSS antenna 500 provided on the crane ship 10. The crane information acquisition unit 111 may also acquire crane information about the crane 20 provided on the crane ship 10, such as information about the length of the weight wire connecting the crane 20 and the weight 30. The crane information acquisition unit 111 stores the acquired crane position information and / or crane information in the crane information DB 121.

[0038] The bathymetry information acquisition unit 112 acquires bathymetry information acquired by the multi-beam bathymetry instrument 300 installed on the crane ship 10. The bathymetry information acquisition unit 112 also stores the acquired bathymetry information in the measurement information DB 122.

[0039] The LiDAR information acquisition unit 113 acquires LiDAR information that is information acquired by the LiDAR device 200 provided on the crane ship 10 and that measures the position of the weight 30. In addition, the LiDAR information acquisition unit 113 stores the acquired LiDAR information in the measurement information DB 122.

[0040] The positioning vibration information acquisition unit 114 acquires positioning vibration information indicating the vibration of the crane ship 10 from the positioning vibration meter 400 provided on the crane ship 10. This positioning vibration information indicating the vibration of the crane ship 10 may include information indicating the degree of vibration of the crane ship 10 in the vertical direction. In addition, the positioning vibration information acquisition unit 114 stores the acquired positioning vibration information in the measurement information DB 122.

[0041] Based on the LiDAR information, the three-dimensional point cloud data generation unit 115 generates three-dimensional point cloud data of the weight 30. The three-dimensional point cloud data generation unit 115 also stores the generated three-dimensional point cloud data in the measurement information DB 122.

[0042] The weight position calculation unit 116 calculates the position information of the weight 30 based on the crane position information stored in the crane information DB 121 and the three-dimensional point cloud data and positioning vibration information stored in the measurement information DB 122. Specifically, the weight position calculation unit 116 calculates the position information of the weight 30 by reflecting the positioning vibration information indicating the position of the weight 30 and the degree of vibration in the vertical direction based on the three-dimensional point cloud data in the height information of the crane included in the crane position information.

[0043] The terrain model generation unit 117 generates a terrain model that indicates the underwater situation based on the bathymetry information and the position information of the weight 30. The terrain model generation unit 117 also stores the generated terrain model in the terrain model information DB 123.

[0044] Figure 7 is a diagram showing an example of a topographical model generated by the topographical model generating unit 117 displayed on a display device such as a monitor. The diagram on the left side of Figure 7 shows the crane vessel 10 and the topographical model displayed from above in the vertical direction. The diagram on the right side of Figure 7 shows the crane vessel 10 and the topographical model displayed as a perspective view.

[0045] The user (construction manager) can check the terrain model stored in the terrain model information DB 123 via a monitor, thereby being able to accurately check the status of the rubble leveling work in real time.

[0046] (Outline of the processing flow of the rubble leveling device 100) Next, the flow of processing in the riprap rock leveling device 100 will be shown using the flowchart shown in Fig. 6. The series of operations of the riprap rock leveling device 100 shown in the flowchart in Fig. 6 starts when the riprap rock leveling device 100 is started, and ends when work is completed. The processing in the flowchart shown in Fig. 6 also ends when the power is turned off or an interrupt occurs to end the processing. In addition, in the explanation of the flowchart below, the same content as that described in the explanation of the riprap rock leveling system 1 and the riprap rock leveling device 100 above will be omitted or simplified.

[0047] In step S601, the crane information acquisition unit 111 acquires information about the crane 20, that is, crane position information indicating the position of the crane 20, via the GNSS antenna 500 provided on the crane ship 10. The crane information acquisition unit 111 may also acquire crane information, that is, information about the crane 20 provided on the crane ship 10, including information about the length of the weight wire connecting the crane 20 and the weight 30. The crane information acquisition unit 111 stores the acquired crane position information and / or crane information in the crane information DB 121. Thereafter, the processing proceeds to step S602.

[0048] In step S602, the bathymetry information acquisition unit 112 acquires bathymetry information acquired by the multi-beam bathymetry instrument 300 installed on the crane ship 10. The bathymetry information acquisition unit 112 also stores the acquired bathymetry information in the measurement information DB 122. After that, the process proceeds to step S603.

[0049] In step S603, the LiDAR information acquisition unit 113 acquires LiDAR information that is information acquired by the LiDAR device 200 provided on the crane ship 10 and that measures the position of the weight 30. The LiDAR information acquisition unit 113 also stores the acquired LiDAR information in the measurement information DB 122. Thereafter, the process proceeds to step S604.

[0050] In step S604, the positioning vibration information acquisition unit 114 acquires positioning vibration information indicating the vibration of the crane vessel 10 from the positioning vibration meter 400 provided on the crane vessel 10. The positioning vibration information acquisition unit 114 also stores the acquired positioning vibration information in the measurement information DB 122. After that, the process proceeds to step S605.

[0051] In step S605, the three-dimensional point cloud data generation unit 115 generates three-dimensional point cloud data of the weight 30 based on the LiDAR information. The three-dimensional point cloud data generation unit 115 also stores the generated three-dimensional point cloud data in the measurement information DB 122. Thereafter, the process proceeds to step S606.

[0052] In step S606, the weight position calculation unit 116 calculates the position information of the weight 30 based on the crane position information stored in the crane information DB 121 and the three-dimensional point cloud data and positioning vibration information stored in the measurement information DB 122. Specifically, the weight position calculation unit 116 calculates the position information of the weight 30 by reflecting the positioning vibration information indicating the position of the weight 30 and the degree of vertical vibration based on the three-dimensional point cloud data on the height information of the crane included in the crane position information. Thereafter, the processing proceeds to step S607.

[0053] In step S607, the terrain model generation unit 117 generates a terrain model showing the underwater situation based on the bathymetry information and the position information of the weight 30. The terrain model generation unit 117 also stores the generated terrain model in the terrain model information DB 123.

[0054] Figure 7 is a diagram showing an example of a topographical model generated by the topographical model generating unit 117 displayed on a display device such as a monitor. The diagram on the left side of Figure 7 shows the crane vessel 10 and the topographical model displayed from above in the vertical direction. The diagram on the right side of Figure 7 shows the crane vessel 10 and the topographical model displayed as a perspective view.

[0055] The user (construction manager) can check the terrain model stored in the terrain model information DB 123 via a monitor, thereby being able to accurately check the status of the rubble leveling work in real time.

[0056] As described above, the riprap leveling apparatus 100 according to this embodiment is a riprap leveling apparatus 100 that levels riprap in the water by dropping into water the weight 30 lifted by the crane 20 provided on the crane barge 10. The riprap leveling apparatus 100 includes a crane information acquisition unit 111 that acquires information about the crane 20, such as crane position information indicating the position of the crane, via a GNSS antenna 500 provided on the crane barge 10. The riprap leveling apparatus 100 also includes a bathymetry information acquisition unit 112 that acquires bathymetry information acquired by a multi-beam bathymetry device 300 provided on the crane barge 10. The riprap leveling apparatus 100 also includes a LiDAR information acquisition unit 113 that acquires LiDAR information that measures the position of the weight 30, such as information acquired by a LiDAR device 200 provided on the crane barge 10. The riprap leveling equipment 100 also includes a positioning and motion information acquisition unit 114 that acquires positioning and motion information indicating the motion of the crane barge 10 from a positioning and motion meter 400 provided on the crane barge 10. The riprap leveling equipment 100 also includes a 3D point cloud data generation unit 115 that generates 3D point cloud data of the weight boll 30 based on the LiDAR information. The riprap leveling equipment 100 also includes a weight position calculation unit 116 that calculates the position information of the weight boll 30 based on the crane position information, the 3D point cloud data, and the positioning and motion information. The riprap leveling equipment 100 also includes a terrain model generation unit 117 that generates a terrain model that indicates the underwater situation based on the sounding information and the position information of the weight boll 30.

[0057] This allows the rubble leveling device 100 to grasp not only the rubble leveling situation that can be observed by the multi-beam depth sounder 300, but also the rubble leveling situation based on the position of the weight 30, enabling more precise rubble leveling work.

[0058] (Other embodiments) Although the embodiments have been described in detail with reference to the drawings, the present embodiments are not limited to the contents described in the above embodiments. Furthermore, the components described above include those that can be easily imagined by a person skilled in the art and those that are substantially the same. Furthermore, the configurations described above can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the configurations can be made without departing from the spirit of the embodiments.

[0059] In the riprap leveling equipment 100 according to the above embodiment, the weight position calculation unit 116 may apply the degree of vertical shaking indicated by the positioning shaking information to the three-dimensional point cloud data to calculate the position information of the weight 30. This enables the riprap leveling equipment 100 to calculate the position information of the weight 30 taking into account information on the shaking of the crane barge 10, thereby making it possible to further improve the accuracy of the riprap leveling work.

[0060] The riprap leveling apparatus 100 may further include a weather information acquisition unit that acquires wind speed and / or wave height. Furthermore, the weight position calculation unit 116 may correct the position information of the weight 30 based on the wind speed and / or wave height and the size of the crane barge 10 previously stored in the memory unit 120. For example, the degree of pitching of the crane barge 10 changes depending on the wind speed and wave height, and this pitching degree is also related to the size of the crane barge 10. Therefore, by having the weight position calculation unit 116 correct the position information of the weight 30 based on the wind speed and / or wave height and the size of the crane barge 10 previously stored in the memory unit 120, it becomes possible to calculate the position of the weight 30 more accurately.

[0061] The riprap leveling device 100 may further include a tide level information acquisition unit that acquires tide level height data from the reference surface. The weight position calculation unit 116 may calculate the position information of the weight 30 based on the three-dimensional point cloud data, the positioning vibration information, and the tide level height data. This enables the riprap leveling device 100 to calculate the position information of the weight 30 taking into account the tide level height data, thereby further improving the accuracy of the riprap leveling work.

[0062] Furthermore, a computer program (riprap leveling program) that causes a computer to execute the processing (riprap leveling method) in the riprap leveling device 100 described above, and a computer-readable recording medium on which the program is recorded, are included within the scope of this embodiment. Here, any type of computer-readable recording medium may be used. Furthermore, the computer program is not limited to one recorded on the recording medium, and may be one transmitted via a telecommunications line, a wireless or wired communication line, a network such as the Internet, or the like.

[0063] (Actions, effects, etc.) The effects of this embodiment will be described below.

[0064] (1) The riprap leveling apparatus 100 according to the first aspect of this embodiment is a riprap leveling apparatus 100 that levels riprap in the water by dropping a weight 30 lifted by a crane 20 provided on a crane barge 10 into the water. The riprap leveling apparatus 100 includes a crane information acquisition unit 111 that acquires information about the crane 20, such as crane position information indicating the position of the crane, via a GNSS antenna 500 provided on the crane barge 10. The riprap leveling apparatus 100 also includes a bathymetry information acquisition unit 112 that acquires bathymetry information acquired by a multi-beam bathymetry device 300 provided on the crane barge 10. The riprap leveling apparatus 100 also includes a LiDAR information acquisition unit 113 that acquires LiDAR information that measures the position of the weight 30, such as information acquired by a LiDAR device 200 provided on the crane barge 10. The riprap leveling equipment 100 also includes a positioning and motion information acquisition unit 114 that acquires positioning and motion information indicating the motion of the crane barge 10 from a positioning and motion meter 400 provided on the crane barge 10. The riprap leveling equipment 100 also includes a 3D point cloud data generation unit 115 that generates 3D point cloud data of the weight boll 30 based on the LiDAR information. The riprap leveling equipment 100 also includes a weight position calculation unit 116 that calculates the position information of the weight boll 30 based on the crane position information, the 3D point cloud data, and the positioning and motion information. The riprap leveling equipment 100 also includes a terrain model generation unit 117 that generates a terrain model that indicates the underwater situation based on the sounding information and the position information of the weight boll 30.

[0065] With this configuration, the rubble leveling device 100 can grasp not only the rubble leveling situation that can be observed by the multi-beam depth sounder 300, but also the rubble leveling situation based on the position of the weight 30, enabling more precise rubble leveling work.

[0066] (2) The plumb bob position calculation unit 116 of the rubble leveling device 100 according to the second aspect of this embodiment may apply the degree of vertical shaking indicated by the positioning shaking information to the three-dimensional point cloud data to calculate the position information of the plumb bob 30.

[0067] With this configuration, the rubble leveling device 100 can calculate the position information of the weight 30 taking into account information regarding the swaying of the crane ship 10, thereby further improving the accuracy of the rubble leveling work.

[0068] (3) The rubble leveling apparatus 100 according to the third aspect of this embodiment may further include a weather information acquisition unit that acquires wind speed and / or wave height. Furthermore, the weight position calculation unit 116 may correct the position information of the weight 30 based on the wind speed and / or wave height and the size of the crane ship 10 stored in advance in the memory unit 120.

[0069] With this configuration, the rubble leveling device 100 is able to calculate the position of the plumb bob 30 more accurately by the plumb bob position calculation unit 116 correcting the position information of the plumb bob 30 based on the wind speed and / or wave height and the size of the crane ship 10.

[0070] (4) The rubble leveling device 100 according to the fourth aspect of this embodiment may further include a tide level information acquisition unit that acquires tide level height data from the reference surface. The plumb bob position calculation unit 116 may calculate the position information of the plumb bob 30 based on the three-dimensional point cloud data, the positioning vibration information, and the tide level height data.

[0071] With this configuration, the riprap leveling device 100 can calculate the position information of the weight 30 taking into account the tide level data, thereby further improving the accuracy of the riprap leveling work.

[0072] (5) The riprap leveling system 1 according to the fifth aspect of this embodiment is a riprap leveling system 1 for leveling riprap in the water by dropping a weight 30 lifted by a crane 20 provided on a crane ship 10 into the water. The riprap leveling system 1 includes the riprap leveling device 100 described above, a LiDAR device 200, and a multi-beam echo sounder 300.

[0073] With this configuration, the rubble leveling system 1 can grasp not only the rubble leveling situation that can be observed by the multi-beam depth sounder 300, but also the rubble leveling situation based on the position of the weight 30, enabling more precise rubble leveling work.

[0074] (6) A riprap leveling method according to a sixth aspect of this embodiment is a riprap leveling method executed by a computer, for leveling riprap in water by dropping a weight 30 lifted by a crane 20 provided on a crane barge 10 into water. The riprap leveling method acquires information about the crane, such as crane position information indicating the position of the crane, via a GNSS antenna provided on the crane barge. The riprap leveling method also acquires sounding information acquired by a multi-beam echo sounder 300 provided on the crane barge 10. The riprap leveling method also acquires LiDAR information measuring the position of the weight 30, such as information acquired by a LiDAR device 200 provided on the crane barge 10. The riprap leveling method also acquires positioning motion information indicating the motion of the crane barge 10 from a positioning motion meter 400 provided on the crane barge 10. The riprap leveling method also generates three-dimensional point cloud data of the weight 30 based on the LiDAR information. The riprap leveling method also calculates the position information of the weight 30 based on the crane position information, the three-dimensional point cloud data, and the positioning motion information. Furthermore, the riprap leveling method generates a topographical model showing the underwater situation based on the sounding information and the position information of the weight 30.

[0075] With this configuration, the rubble leveling method can grasp not only the rubble leveling situation that can be observed with the multi-beam depth sounder 300, but also the rubble leveling situation based on the position of the weight 30, enabling more precise rubble leveling work. [Explanation of symbols]

[0076] 1 Rubble leveling system 10 Hoist ship 20 Hoist 21 Hoist data control section 30 weight 31 Weight target 100 Rubble leveling device 110 control section 111 Hoist information acquisition section 112 Sounding information acquisition section 113 LiDAR information acquisition section 114 Positioning vibration information acquisition unit 115 3D point cloud data generation unit 116 Weight position calculation section 117 Terrain model generation unit 120 Storage section 121 Hoist information DB 122 Measurement Information DB 123 Terrain Model Information DB 130 Input / Output Interface 140 Communication Interface 200 LiDAR devices 300 Multi-beam echo sounder 400 Positioning and Stabilometer 500 GNSS antenna

Claims

1. A rubble rock leveling device for leveling rubble in the water by dropping a weight lifted by a crane installed on a crane ship into the water, a crane information acquisition unit that acquires information about the crane, which is crane position information indicating the position of the crane, via a GNSS antenna provided on the crane ship; a sounding information acquisition unit that acquires sounding information acquired by a multi-beam sounder installed on the crane ship; a LiDAR information acquisition unit that acquires LiDAR information that measures the position of the weight, the LiDAR information being information acquired by a LiDAR device installed on the crane ship; a positioning and vibration information acquisition unit that acquires positioning and vibration information indicating the vibration of the crane vessel from a positioning and vibration meter provided on the crane vessel; a three-dimensional point cloud data generator that generates three-dimensional point cloud data of the weight based on the LiDAR information; a weight position calculation unit that calculates position information of the weight based on the crane position information, the three-dimensional point cloud data, and the positioning vibration information; a topographical model generating unit that generates a topographical model representing an underwater situation based on the sounding information and the position information of the weight; A rubble leveling device equipped with:

2. 2. The rubble leveling device according to claim 1, wherein the weight position calculation unit applies the degree of vertical shaking indicated by the positioning shaking information to the three-dimensional point cloud data to calculate the position information of the weight.

3. Further provided is a weather information acquisition unit that acquires wind speed and / or wave height, 3. The riprap leveling device according to claim 2, wherein the weight position calculation unit corrects the weight position information based on the wind speed and / or wave height and the size of the crane ship stored in advance in a memory unit.

4. Further provided is a tide level information acquisition unit for acquiring tide level height data from a reference surface, The rubble leveling device according to claim 1 , wherein the weight position calculation unit calculates the position information of the weight based on the three-dimensional point cloud data, the positioning motion information, and the tide height data.

5. A rubble rock leveling system for leveling rubble in water by dropping a weight lifted by a crane ship into the water, A rubble leveling device according to any one of claims 1 to 4; a LiDAR device; and Multi-beam echo sounder and A rubble leveling system equipped with

6. A riprap leveling method executed by a computer for leveling riprap in water by dropping a weight lifted by a crane provided on a crane ship into water, the method comprising: Acquire information about the crane, which is crane position information indicating the position of the crane, via a GNSS antenna provided on the crane ship; Acquire sounding information acquired by a multi-beam sounder installed on the crane ship; acquiring LiDAR information that measures the position of the weight, the LiDAR information being information acquired by a LiDAR device installed on the crane ship; acquiring positioning and motion information indicating the motion of the crane ship from a positioning and motion meter provided on the crane ship; generating three-dimensional point cloud data of the weight based on the LiDAR information; calculating position information of the weight based on the crane position information, the three-dimensional point cloud data, and the positioning vibration information; A rubble leveling method that generates a topographical model showing underwater conditions based on the sounding information and the position information of the weight.

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