Apparatus and measurement method for measuring the attitude of a pneumatic caisson

Abstract

This invention provides an attitude measurement device and method that can continuously and accurately measure the attitude of a caisson structure by combining an automatic tracking total station with GNSS in an attitude measurement device for the caisson structure. [Solution] The caisson body 4 has a target 7 provided on its outer surface, a first detection unit 8, a second detection unit 10, and a posture processing unit 17 which has a calculation unit 17b that calculates the posture state of the caisson body 4 by calculating first coordinate position data detected by the first detection unit 8 and transmitted to the calculation unit 17b, and second coordinate position data transmitted to the calculation unit 17b by the second detection unit 10. The system is configured to use the second coordinate position data to supplement the first coordinate position data when the first coordinate position data cannot be detected by the first detection unit 8, including during a predetermined time interval of the first detection unit 8.

Description

Technical Field

[0001] The present invention relates to an attitude measurement device and a measurement method for a pneumatic caisson that detects the attitude of a caisson body during construction in a pneumatic caisson constructed by sequentially sinking while excavating a plurality of annular bodies.

Background Art

[0002] The pneumatic caisson method is a method of excavating the ground in the lower working chamber and sinking the body constructed on the ground. Therefore, grasping the attitude of the caisson body during the sinking excavation period is a very important factor in ensuring the final construction accuracy.

[0003] Conventional methods for measuring the inclination of a pneumatic caisson include providing a display monitor for a caisson inclination measurement device that can be monitored on the ground, and an operator observing an inclinometer or the like that shows the inclination status of the caisson on the monitor, and operating a hydraulically operated jack that can be remotely controlled to correct the inclination of the caisson (Patent Document 1), or providing a target on the outer surface of the caisson body, detecting coordinate position data near the target using a three-dimensional laser scanner or an automatic tracking total station, etc., and a posture processing unit measuring the inclination status of the caisson body based on those data (Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, the method for measuring the inclination of a pneumatic caisson described in Patent Document 1 had the problem of requiring constant monitoring of the monitor during the work, thus tying the workers to the surveying work. Therefore, the method for measuring the inclination of a pneumatic caisson described in Patent Document 2 was devised to use an automatic tracking total station, which allows for real-time measurement of the caisson's posture without tying the workers to the surveying work.

[0006] However, even in the measurement method described in Patent Document 2, scaffolding and other obstacles may prevent sighting of the target installed on the caisson structure, or in order to perform real-time measurements using an automatic tracking total station, it is necessary to sight a reference point in addition to the target installed on the caisson structure. This reference point needs to be installed in a location that is not affected by the construction of the caisson, but depending on the site, it may become temporarily impossible to sight the point due to the movement of materials and equipment during construction, such as during excavation or preparation for construction.

[0007] In particular, in confined work sites, the locations where automatic tracking total stations can be installed and the locations where reference points can be set up are limited, which may lead to longer periods of time during construction when the target cannot be sighted.

[0008] Therefore, to solve these problems, we provide an attitude measurement device and measurement method that uses an attitude measurement device for the caisson structure that combines an automatic tracking total station and GNSS, so that workers are not tied down to surveying work and the attitude of the caisson structure can be measured accurately at all times, even when the automatic tracking total station cannot be used properly. [Means for solving the problem]

[0009] To solve the above problem, the invention according to claim 1 includes: a target provided at a first predetermined position on the outer surface of the caisson structure; a first detection unit located outside the caisson structure, which detects the first coordinate position data of the target at predetermined time intervals and transmits the first coordinate position data to a calculation unit; a second detection unit located at a second predetermined position near the top of a structure provided inside the caisson structure, which receives radio waves from multiple GNSS satellites, constantly detects the second coordinate position data and transmits the second coordinate position data to the calculation unit; and a device detected by the first detection unit and transmitted to the calculation unit. The device comprises a posture processing unit which calculates all or any of the inclination, translation, and rotation of the caisson body by calculating the first coordinate position data and the second coordinate position data transmitted to the calculation unit by the second detection unit, and is configured such that when the first coordinate position data cannot be detected by the first detection unit, including during the predetermined time interval of the first detection unit, the first detection unit uses the second coordinate position data, which is constantly transmitted by the second detection unit, to supplement the coordinate position data for the period when the first detection unit cannot detect the first coordinate position data.

[0010] The invention according to claim 2 is characterized in that a settlement meter is provided on the upper part of the caisson structure to measure the amount of settlement of the caisson structure and transmit the amount of settlement as a signal to the attitude processing unit, and an inclinometer is provided on the lower part of the caisson structure to measure the amount of inclination of the caisson structure and transmit the amount of inclination as a signal to the attitude processing unit, and when the attitude processing unit calculates all or any of the inclination, translation, and rotation of the caisson structure, it is configured to use the first coordinate position data, the second coordinate position data, the amount of settlement, and the amount of inclination to calculate the inclination, translation, and rotation of the caisson structure.

[0011] The invention according to claim 3 is characterized in that a pair of targets are provided on both sides of the outer part of the caisson structure and at substantially symmetrical positions with respect to the center of the caisson structure, and the first detection unit is provided at a position substantially opposite to each of the targets.

[0012] The invention according to claim 4 is characterized in that, when the first detection unit sights an object having a different reflective function than the target, it sets a threshold for the sighting distance in advance and excludes the coordinate position data of the object sighted outside the threshold.

[0013] The invention according to claim 5 is characterized in that the second predetermined position of the second detection unit is set to the upper part of the manlock and the upper part of the material lock of two outfitting equipment provided within the caisson structure.

[0014] The invention according to claim 6 is characterized in that, when an error occurs in the second coordinate position data of the second detection unit due to external factors such as wind, an external factor measurement unit is installed at a position separated from the caisson structure to measure the external factors, measurement data when the external factors do not occur and measurement data when the external factors do occur are transmitted to the calculation unit by a third detection unit of the external factor measurement unit, the calculation unit that receives this data compares the measurement data when the external factors do not occur and the measurement data when the external factors do occur, and corrects the error in the second coordinate position data using the difference between the comparisons as the error. [Effects of the Invention]

[0015] According to the present invention, if a first detection unit that detects the coordinate position data of a target at predetermined time intervals is unable to detect the target's coordinate position data, it is possible to use second coordinate position data, which is always detected by a second detection unit, to supplement the coordinate position data for the period when the first detection unit is unable to detect the first coordinate position data, thereby enabling the posture measurement of the caisson structure to be measured without omission.

[0016] According to another invention, when the attitude processing unit calculates all or any of the inclination, translation, and rotation of the caisson structure, it is possible to calculate the inclination, translation, and rotation of the caisson structure by using the first coordinate position data, the second coordinate position data, the settlement amount, and the inclination amount.

[0017] According to another invention, a pair of targets are provided on both sides of the outer part of the caisson structure and at substantially symmetrical positions with respect to the center of the caisson structure. The first detection unit is provided at a position opposite to each target, making it possible to measure the displacement of the opposing side walls and reducing errors caused by the finished structure of the laminated caisson structure.

[0018] According to another invention, the first detection unit is configured to pre-set a threshold for the target's sighting distance, and to exclude the coordinate position data of reflective objects sighted at this threshold from the caisson structure's attitude measurement. This eliminates noise from coordinate position data other than the measurement target, facilitating calculations and enabling the acquisition of a pure caisson structure attitude limited to the measurement target.

[0019] According to another invention, by setting the second predetermined position of the second detection unit to the upper part of the man lock and the material lock, respectively, the second detection unit can receive radio waves from the GNSS satellite without obstruction, and it becomes possible to detect the second coordinate position data without any omissions.

[0020] According to another invention, when a second detection unit attached to the upper part of a manhole or a material lock swings due to external factors such as wind and an error occurs in the coordinate position data of the second detection unit, an external factor measurement unit that measures external factors such as wind outside the caisson body is provided. In this case, the measurement data when no external factor occurs and the measurement data when an external factor occurs are transmitted to the calculation unit by the third detection unit of the external factor measurement unit. The calculation unit that receives these data compares the measurement data when no external factor occurs with the measurement data when an external factor occurs, and removes the error from the second coordinate position data using the difference obtained from the comparison as the error. This makes it possible to grasp the posture status of the caisson body using the second coordinate position data without error due to external factors.

Brief Description of the Drawings

[0021] [Figure 1] It is a longitudinal sectional view showing a caisson body equipped with a posture measurement device according to an embodiment of the present invention. [Figure 2] It is a top view showing the position of a target arranged on a caisson body according to an embodiment of the present invention. [Figure 3] It is a sequence diagram for calculating the posture status of a posture measurement device according to an embodiment of the present invention. [Figure 4] It is a flowchart for removing an error from coordinate position data when an error occurs in a receiving unit due to an external factor according to an embodiment of the present invention.

Modes for Carrying Out the Invention

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0023] FIG. 1 is a longitudinal sectional view showing the front of a caisson body equipped with a posture measurement device 1 according to an embodiment of the present invention.

[0024] The caisson structure 4 on which the posture measurement device 1 of the embodiment of the present invention is installed is used in the construction of the pneumatic caisson method. This pneumatic caisson method is a construction method in which, for example, a caisson structure 4 made of reinforced concrete is constructed in advance on the ground, with a working chamber 4a at the bottom surrounded by a cutting mouth portion 4b, and then the ground 2 is excavated using an excavator 3 within this working chamber 4a to sink the caisson structure 4, and then layers of the caisson structure 4 are constructed sequentially to install the structure in a predetermined position. Therefore, it is important to grasp the posture state of the laminated structure as the caisson structure 4 settles while it constitutes a laminated structure.

[0025] As shown in Figure 1, the caisson structure 4 is formed in an annular shape, with a work chamber 4a formed at its lower part. This work chamber 4a is enclosed by a cutting edge section 4b and a ceiling slab 4c. Two circular shaft holes 4d are formed in this ceiling slab 4c for installing two outfitting devices 5 and 6. These shaft holes 4d open into the work chamber 4a. The two outfitting devices 5 and 6 described above include a man lock 5a for workers to enter and exit the work chamber 4a from the ground, a man shaft 5b extending from the man lock 5a toward the work chamber 4a, a material lock 6a for transporting excavated soil from the work chamber 4a toward the ground, and a material shaft 6b extending from the material lock 6a toward the work chamber 4a.

[0026] Figure 2 is a top view diagram showing the position of a target 7 placed on a caisson structure 4 according to an embodiment of the present invention. As shown in Figure 2, the caisson structure 4 is provided with a target 7 for measuring the displacement of the side wall, a first detection unit 8 located at a distance from the target 7, and a reference point 9 for setting the first detection unit 8 to a predetermined position.

[0027] Target 7 serves as a marker that can be distinguished from the surface of the caisson structure 4 when the first detection unit 8, described later, detects coordinate position data. As shown in Figures 1 and 2, this target 7 is provided on the outer part of the caisson structure 4. When multiple targets 7 are provided on the caisson structure 4, the targets 7 are arranged in pairs on both sides of the outer part of the caisson structure 4 and at approximately symmetrical positions with respect to the center of the caisson structure 4.

[0028] Reference point 9 is provided to set the first detection unit 8 to a predetermined position. Furthermore, if the position of the first detection unit 8 shifts during the measurement of the target 7, the shift can be corrected by sighting the reference point 9, enabling measurement of the target 7. It is desirable to provide two reference points 9. Although it is possible to measure the target 7 with only one reference point 9, providing two reference points 9 and using one of them for correction of changes in temperature, etc., allows for more accurate measurement of the target 7.

[0029] The first detection unit 8 is positioned approximately opposite each target 7. The targets 7 are positioned within the range that the first detection unit 8 can sight, and the relative position from the reference point 9 is measured to calculate the coordinates of the targets 7. The measured coordinate position data of the targets 7 is then transmitted to the attitude processing unit 17, which will be described later. In this embodiment of the present invention, an automatic tracking total station is used as the first detection unit 8. While it is preferable to have two first detection units 8 from the viewpoint of measurement accuracy, it is also acceptable to have only one first detection unit 8. If there is only one first detection unit 8, the attitude state of the caisson structure 4 can be measured by providing two reference points 9 and two targets 7. Furthermore, while it is preferable to install the first detection unit 8 in an opposing position, the installation position of the first detection unit 8 may be limited depending on the site conditions. In this case, the first detection unit 8 may be installed slightly offset from the opposing position.

[0030] The automatic tracking total station is a measuring device that combines an optical distance meter, which measures distance by irradiating light onto a target point 7 at predetermined time intervals and electronically analyzing the reflected light, with an electronic transit for angle measurement. The automatic tracking function pre-records the position of the target 7 and the position of a reference point that defines the reference position when tracking the target 7. This makes it possible to track the target 7 by sighting the target 7 and the reference point within the field of view of the automatic tracking total station, and to detect the coordinate position of the target 7 as coordinate position data. In the first detection unit 8 of the embodiment of the present invention, if an object with a different reflective function than the target 7 is sighted, the object's coordinate position data is excluded from the calculation of the attitude state of the caisson body 4 based on a preset sighting distance threshold if the object is outside the threshold.

[0031] As shown in Figure 1, the second detection unit 10 is installed on top of the manlock 5a and material lock 6a of the two outfitting equipment 5 and 6, respectively. This second detection unit 10 consists of a receiving unit 10a that constantly receives radio waves transmitted from multiple GNSS (Global Navigation Satellite System) satellites 11, measures the time it takes for the radio waves to reach the second detection unit 10 after they are simultaneously transmitted from multiple GNSS satellites 11, and identifies the coordinate position of the second detection unit 10, and a transmitting unit 10b that transmits the coordinate position data of the second detection unit 10 received by the receiving unit 10a to the attitude processing unit 17 via the server 13. In this embodiment, so-called RTK (Real-Time-Kinematic) positioning is used with a plurality of second detection units 10 and a reference station 12 located at a predetermined position. The coordinate position data of the second detection units 10 transmitted from the second detection units 10 to the attitude processing unit 17 via the server 13 and the coordinate position data of the reference station 12 transmitted from the reference station 12 to the attitude processing unit 17 via the server 13 are analyzed to determine the coordinate position of the second detection unit 10. Note that even with just one second detection unit 10, it is possible to measure the attitude of the caisson structure 4. When multiple second detection units 10 are provided, it becomes possible to measure the rotational movement of the caisson structure 4.

[0032] As shown in Figure 1, the external factor measurement unit 14 consists of a dummy pole 14a located at a position separated from the caisson structure 4, and a third detection unit 14b located on the upper part of the dummy pole 14a.

[0033] Since the second detection unit 10 is located on the man lock 5a and material lock 6a, it may be subjected to vibrations due to wind or other factors. These vibrations may cause errors in the coordinate position data of the second detection unit 10.

[0034] To eliminate this error, the coordinate position data of the third detection unit 14b is measured when the dummy pole 14a is shaken by an external factor. The measurement data measured by this third detection unit 14b, both when the external factor does not occur and when the external factor does occur, is transmitted to the calculation unit. The calculation unit, upon receiving this data, compares the measurement data when the external factor does not occur and the measurement data when the external factor does occur, and removes the error in the second coordinate position data by taking the difference between the two as the error.

[0035] As shown in Figure 1, the settlement meter 15 is installed on the upper part of the caisson structure 4. This settlement meter 15 measures the amount of settlement of the caisson structure 4 and transmits the measured amount of settlement as a signal to the attitude processing unit 17, which will be described later.

[0036] As shown in Figure 1, the inclinometer 16 is installed on the side of the shaft hole 4d inside the man shaft 5b of the caisson structure 4. This inclinometer 16 measures the amount of inclination of the caisson structure 4 and transmits the measured amount of inclination as a signal to the attitude processing unit 17, which will be described later.

[0037] As shown in Figure 1, the attitude processing unit 17 includes a control unit 17a that controls the first detection unit 8 and the second detection unit 10, the settlement gauge 15, the inclinometer 16, the server 13, etc.; a calculation unit 17b that calculates the attitude state of the caisson body 4 by processing the coordinate position data of the target 7, the coordinate position data of the second detection unit 10, the settlement amount, and the inclinometer amount transmitted from the devices controlled by the control unit 17a; a display unit 17c that displays the attitude state of the caisson body 4 calculated by the calculation unit 17b; and a recording unit 17d that records the coordinate data etc. received by the control unit 17a and the attitude data of the caisson body 4 calculated by the calculation unit 17b.

[0038] The calculation unit 17b of the attitude processing unit 17 calculates the attitude state of the caisson structure 4 as attitude data using coordinate position data transmitted from the first detection unit 8 and the second detection unit 10, the settlement gauge 15, the inclinometer 16, the server 13, etc., which are controlled by the control unit 17a. Furthermore, when an external factor such as wind is detected by the third detection unit 14b, the calculation unit 17b compares the measurement data when the external factor detected by the third detection unit 14b does not occur with the measurement data when the external factor occurs, and removes the difference between the two as an error from the second coordinate position data. The attitude of the caisson structure 4 refers to the tilt, translation, and rotation of the caisson structure 4.

[0039] The attitude data of the caisson structure 4 is data that numerically represents the tilt, translation, and rotation of the caisson structure 4, calculated by the calculation unit 17b of the attitude processing unit 17, which analyzes the settlement depth, inclination angle, horizontal displacement, and rotational displacement of the caisson structure 4 measured by the first detection unit 8 and second detection unit 10, settlement gauge 15, and inclinometer 16, all controlled by the control unit 17a.

[0040] Next, a method for measuring the posture of the caisson structure 4 using the posture measurement device 1 in this embodiment will be described.

[0041] In advance, the position of the target 7 on the caisson structure 4 is set, and shape information such as the cutting edge height, caisson structure height, and completed caisson structure height of the caisson structure 4 is input to the posture processing unit 17.

[0042] Once this input is complete, the first detection unit 8, the second detection unit 10, the settlement gauge 15, and the inclinometer 16 are activated simultaneously, and the measurement of the posture of the caisson structure 4 begins at the same time.

[0043] When measurement of the attitude of the caisson body 4 begins, the two first detection units 8 sight a target 7 that can be sighted at predetermined time intervals to measure the horizontal distance, horizontal angle, and vertical angle of the first detection unit 8. The measured horizontal distance and horizontal and vertical angles from the first detection unit 8 to the target 7 are transmitted to the attitude processing unit 17 as coordinate position data of the target 7.

[0044] The second detection unit 10 constantly receives radio waves transmitted from multiple GNSS satellites 11, and the transmission unit of the second detection unit 10 constantly transmits the coordinate position data of the second detection unit 10 to the attitude processing unit 17.

[0045] The settlement meter 15 measures the settlement amount of the caisson structure 4 and transmits the measured settlement amount as settlement data to the attitude processing unit 17.

[0046] The inclinometer 16 measures the amount of inclination of the caisson structure 4 and transmits the measured amount of inclination as inclination data to the attitude processing unit 17.

[0047] Using the transmitted data, the attitude processing unit 17 has the calculation unit 17b perform calculations on this data as follows to calculate the attitude data of the caisson structure 4, and the control unit 17a displays the attitude status of the caisson structure 4 on the display unit 17c, allowing the worker to confirm the attitude status of the caisson structure 4.

[0048] The method for calculating the posture status of the caisson body 4 by the posture processing unit 17 will be explained using Figure 3.

[0049] Figure 3 is a sequence diagram showing how the posture processing unit 17 calculates the posture status of the caisson structure 4. As shown in Figure 3, the posture status of the caisson structure 4 is displayed in real time on the display unit 17c of the posture processing unit 17 almost simultaneously with each device starting measurement, and the operator can check the posture status of the caisson structure 4 by monitoring the display unit 17c.

[0050] First, once measurement begins, the calculation unit 17b calculates the attitude data of the caisson structure 4 using the coordinate position data of the target 7 detected at predetermined time intervals by the first detection unit 8, which has high measurement accuracy, and the data measured by the settlement gauge 15 and the inclinometer 16. The attitude status of the caisson structure 4 is then displayed in real time on the display unit 17c, which is controlled by the control unit 17a of the attitude processing unit 17.

[0051] Next, when the first detection unit 8 detects the coordinate position data of the target 7 for a predetermined time, it stops detecting the coordinate position data of the target 7 until the next predetermined time interval. When the first detection unit 8 stops detecting the coordinate position data of the target 7 for a predetermined time, it sends a signal to the control unit 17a of the attitude processing unit 17 indicating that it is no longer possible to measure the coordinate position data of the target 7.

[0052] Subsequently, the control unit 17a of the attitude processing unit 17, which receives the signal, uses the coordinate position data of the second detection unit 10, which is constantly measured by the GNSS satellite 11, to cause the calculation unit 17b to calculate the attitude data of the caisson body 4 using the coordinate position data of the second detection unit 10 and the data measured from the settlement gauge 15 and inclinometer 16, which is used to determine the attitude state of the caisson body 4 during the period when the first detection unit 8 does not detect the coordinate position data of the target 7. Using this attitude data of the caisson body 4, the control unit 17a complements the attitude data of the caisson body 4 during the period when the coordinate position data of the target 7 is not detected, and displays the attitude state of the caisson body on the display unit 17c.

[0053] Next, if the first detection unit 8 is detecting the coordinate position data of the target 7 at the following predetermined time interval, the first detection unit 8 may become unable to sight the target 7 due to scaffolding or the like, and the coordinate position data of the target 7 may no longer be detected.

[0054] In this case, the first detection unit 8 transmits a signal to the control unit 17a of the attitude processing unit 17 indicating that it is not possible to measure the coordinate position data of the target 7. Subsequently, the control unit 17a of the attitude processing unit 17, having received this signal, uses the coordinate position data of the second detection unit 10, which is constantly measured by the GNSS satellite 11, to cause the calculation unit 17b to calculate the attitude data of the caisson body 4 using the coordinate position data of the second detection unit 10 and the data measured from the settlement gauge 15 and inclinometer 16, which represent the attitude state of the caisson body 4 during the period when the first detection unit 8 could not detect the coordinate position data of the target 7. Using this attitude data of the caisson body 4, the calculation unit 17b then supplements the attitude data of the caisson body 4 during the period when the coordinate position data of the target 7 could not be detected, and displays the attitude state of the caisson body 4 on the display unit 17c.

[0055] In this way, if the first detection unit 8 becomes unable to measure the coordinate position data of the target 7, the attitude data of the caisson body 4 during the period when the first detection unit 8 was unable to measure the coordinate position data of the target 7 is used with the coordinate position data of the second detection unit 10, which is measured by the GNSS satellite 11 that is constantly monitoring, thereby confirming the attitude status of the caisson body 4 without interruption in attitude measurement.

[0056] According to the orientation status of the caisson structure 4 displayed on the display unit 17c of the orientation processing unit 17, the excavator 3 is used to excavate in accordance with the planned shape of the caisson structure 4, thereby adjusting the orientation of the caisson structure 4.

[0057] Next, we will explain how to remove errors when the third detection unit 14b is shaken or otherwise affected by external factors such as wind, and errors are introduced into the coordinate position data of the second detection unit 10. Since the second detection unit 10 is attached to the top of the man lock 5a and material lock 6a, it is prone to shaking or other effects due to external factors such as wind, which can easily cause errors in the coordinate position data of the second detection unit 10.

[0058] Figure 4 is a flowchart showing a method for removing errors when the second detection unit 10 produces errors due to external factors such as wind.

[0059] As described above, the dummy pole 14a of the external factors measurement unit 14 is installed on the outside of the caisson structure 4, and the third detection unit 14b is installed on the upper part of this dummy pole 14a. When the coordinate position data of the second detection unit 10 and the third detection unit 14b are measured, the measured data is transmitted to the calculation unit 17b of the attitude processing unit 17 by the transmission unit 10b of the second detection unit 10 and the transmission unit of the third detection unit 14b.

[0060] The calculation unit 17b of the attitude processing unit 17 compares the measurement data when the external factors detected by the third detection unit 14b do not occur with the measurement data when the external factors do occur, and removes the error in the second coordinate position data by taking the difference between the two as the error. The coordinate position data of the second detection unit 10 after this processing is used to calculate the attitude data of the caisson body 4. If, as a result of comparing the measurement data when the external factors detected by the third detection unit 14b do not occur with the measurement data when the external factors do occur, the calculation unit 17b determines that there is no error between the measurement data when the external factors detected by the third detection unit 14b do not occur and the measurement data when the external factors do occur, then the coordinate position data of the second detection unit 10 is used to calculate the attitude data of the caisson body 4.

[0061] According to the present invention, if the first detection unit 8, which detects the coordinate position data of the target 7 at predetermined time intervals, is unable to detect the coordinate position data of the target 7, it is possible to use the second coordinate position data, which is always detected by the second detection unit 10, to supplement the coordinate position data for the period when the first detection unit 8 is unable to detect the first coordinate position data, thereby enabling the posture measurement of the caisson body 4 to be measured without omission.

[0062] According to another invention, when the attitude processing unit 17 calculates all or any of the inclination, translation, and rotation of the caisson body 4, it is possible to calculate the inclination, translation, and rotation of the caisson body 4 by using the first coordinate position data, the second coordinate position data, the settlement amount, and the inclination amount.

[0063] According to another invention, a pair of targets 7 are provided on both sides of the outer part of the caisson structure 4 and at substantially symmetrical positions with respect to the center of the caisson structure 4, and the first detection unit 8 is provided at a position substantially opposite to each target 7, thereby enabling measurement of the displacement of substantially opposite side walls and reducing errors caused by the finished structure of the laminated structure of the caisson structure 4.

[0064] According to another invention, the first detection unit 8 is configured to have a threshold value set in advance for the sighting distance of the target 7, and to exclude the coordinate position data of reflective objects sighted at this threshold value from the attitude measurement of the caisson body 4. This makes it possible to remove noise from coordinate position data other than the measurement target, facilitating calculations and enabling the acquisition of a pure attitude state of the caisson body 4 limited to the measurement target.

[0065] According to another invention, by setting the second predetermined position of the second detection unit 10 to the upper part of the man lock 5a and the material lock 6a, respectively, the second detection unit 10 can receive radio waves from the GNSS satellite 11 without obstructions, and can detect the second coordinate position data without any omissions.

[0066] According to another invention, if the second detection unit attached to the top of the manlock or materiallock is shaken by external factors such as wind, and an error occurs in the coordinate position data of the second detection unit, an external factor measurement unit is provided on the outside of the caisson structure to measure external factors such as wind. The measurement data when no external factors occur and the measurement data when external factors occur are transmitted to the calculation unit by the third detection unit of the external factor measurement unit. The calculation unit that receives this data compares the measurement data when no external factors occur and the measurement data when external factors occur, and removes the difference between the two as an error from the second coordinate position data. This makes it possible to understand the attitude of the caisson structure using second coordinate position data that is free from errors caused by external factors.

[0067] It should be noted that the embodiments of the present invention are not limited to the configuration described above. In the embodiment of the present invention, two targets 7 are arranged so as to be substantially opposite each other toward the center of the caisson body 4. However, multiple targets 7 may be arranged along the outer surface of the caisson body 4, and each target 7 may be formed to be paired with a target 7 substantially opposite to it toward the center of the caisson body 4 from the location where it is placed. Furthermore, although an automatic tracking total station was used in this embodiment, the attitude state of the caisson body 4 may be measured using a three-dimensional motion measurement (motion capture) or the like, which automatically measures the coordinate position data of the targets. In addition, if the external factor measurement unit 14 cannot be installed, or if the system is not significantly affected by wind, the error in the second coordinate position data generated by the second detection unit 10 may be removed by time series analysis such as a moving average or a Kalman filter. Furthermore, if a certain wind speed occurs, the error that occurs in the second coordinate position data, and the measurement data measured by the external factor measurement unit 14 used to remove this error, can be used to train artificial intelligence. By using artificial intelligence to correct the second coordinate position data when an external factor occurs and an error occurs, so that the second detection unit 10 matches the second coordinate position data used to complement the first coordinate position data when no external factor occurs, it may be possible to measure the attitude of the caisson body 4 with greater accuracy. [Explanation of Symbols]

[0068] 1. Posture measurement device 2. Natural terrain 3. Excavator 4. Caisson structure 4a work room 4b Blade mouth part 4c Ceiling slab 4d shaft hole 5. Outfitting Equipment 5a Manrock 5b Mannschaft 6. Outfitting Equipment 6a Material Lock 6b Material Shaft 7 Targets 8 First detection unit 9 Reference points 10 Second detection unit 10a Receiver 10b Transmitter 11 satellites 12 Reference station 13 Servers 14 External Factor Measurement Unit 14a Dummy pole 14b Third detection unit 15 Subsidence gauge 16 Inclinometer 17 Posture Processing Unit 17a Control Unit 17b Arithmetic unit 17c Display section 17d Storage section

Claims

1. A target provided at a first predetermined position on the outer surface of the caisson structure, and a first detection unit positioned outside the caisson structure, which detects the first coordinate position data of the target at predetermined time intervals and transmits the first coordinate position data to a calculation unit, A second detection unit is provided at a second predetermined position near the top of a structure located inside the caisson body, which receives radio waves from multiple GNSS satellites, continuously detects second coordinate position data, and transmits the second coordinate position data to the calculation unit. The system includes a posture processing unit which calculates all or any of the inclination, translation, and rotation of the caisson body by calculating the first coordinate position data detected by the first detection unit and transmitted to the calculation unit, and the second coordinate position data transmitted to the calculation unit by the second detection unit, A pneumatic caisson attitude measurement device characterized in that, when the first coordinate position data cannot be detected by the first detection unit, including during the predetermined time interval of the first detection unit, the first detection unit is configured to use the second coordinate position data, which is constantly transmitted by the second detection unit, to supplement the coordinate position data for the period when the first detection unit cannot detect the first coordinate position data.

2. A settlement meter is provided on the upper part of the caisson structure to measure the amount of settlement of the caisson structure and transmit the amount of settlement as a signal to the attitude processing unit, An inclinometer is provided at the lower part of the caisson structure, which measures the amount of inclination of the caisson structure and transmits the amount of inclination as a signal to the attitude processing unit. The pneumatic caisson attitude measuring device according to claim 1, characterized in that when the attitude processing unit calculates all or any of the inclination, translation, and rotation of the caisson body, it uses the first coordinate position data, the second coordinate position data, the settlement amount, and the inclination amount to calculate the inclination, translation, and rotation of the caisson body.

3. The aforementioned targets are provided in pairs on both sides of the outer portion of the caisson structure and at substantially symmetrical positions with respect to the center of the caisson structure. The attitude measuring device for a pneumatic caisson according to claim 1, characterized in that the first detection unit is provided at a position substantially opposite to each of the targets.

4. The pneumatic caisson attitude measuring device according to claim 1, characterized in that the first detection unit is configured to set a threshold for the sighting distance in advance when an object having a different reflective function than the target is sighted, and to exclude the coordinate position data of the object sighted outside the threshold.

5. The attitude measuring device for a pneumatic caisson according to claim 1, characterized in that the second predetermined position of the second detection unit is set to the upper part of the manlock and the upper part of the material lock of two outfitting equipment provided inside the caisson structure, respectively.

6. The pneumatic caisson attitude measuring device according to claim 5, characterized in that, when an error occurs in the second coordinate position data of the second detection unit due to external factors such as wind, an external factor measuring unit is installed at a position separated from the caisson body to measure the external factors, measurement data when the external factors do not occur and measurement data when the external factors do occur are transmitted to the calculation unit by a third detection unit of the external factor measuring unit, the calculation unit that receives this data compares the measurement data when the external factors do not occur and the measurement data when the external factors do occur, and corrects the error in the second coordinate position data as the difference between the comparisons.

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