Pneumatic caisson attitude measurement device and measurement method

Abstract

By combining an automatic tracking total station with GNSS and using it as a caisson body attitude measurement device, we provide an attitude measurement device and measurement method that can accurately measure the attitude of the caisson body at all times. [Solution] The system comprises a target 7 provided on the outer surface of the caisson body 4, a first detection unit 8, a second detection unit 10, and a posture processing unit 17 having a calculation unit 17b that calculates the posture state of the caisson body 4 by calculating the first coordinate position data detected by the first detection unit 8 and transmitted to the calculation unit 17b, and the second coordinate position data transmitted to the calculation unit 17b by the second detection unit 10, and is characterized in that it is configured to complement the first coordinate position data using the second 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 a pneumatic caisson attitude measurement device and method for detecting the attitude of a caisson body during construction in a pneumatic caisson, which is constructed by excavating and sequentially sinking multiple ring-shaped bodies. [Background technology]

[0002] The pneumatic caisson method involves excavating the ground in a workroom below while lowering the structure built above ground. Therefore, understanding the position of the caisson structure during the subsidence excavation period is a very important factor in ensuring the final construction accuracy.

[0003] Conventional methods for measuring the inclination of pneumatic caissons include a method in which a display monitor of a caisson inclination measurement device that can be monitored from the ground is installed, and workers observe an inclinometer or the like on the monitor that shows the inclination status of the caisson, and can correct the inclination of the caisson by operating a remotely controlled hydraulic jack (Patent Document 1), and a method in which a target is installed on the outer surface of the caisson body, and coordinate position data near the target is detected using a three-dimensional laser scanner or an automatic tracking total station, and a posture processing unit measures the inclination status of the caisson body based on this data (Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-256652 [Patent Document 2] JP 2018-168532 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the method for measuring the inclination of a pneumatic caisson described in Patent Document 1 requires constant monitoring of a monitor during operation, which poses a problem of tying up workers to surveying work. For this reason, the method for measuring the inclination of a pneumatic caisson described in Patent Document 2 uses an automatic tracking total station, enabling real-time measurement of the posture of the caisson body without tying up workers to surveying work.

[0006] However, even with the measurement method of Patent Document 2, there are cases where scaffolding or other obstacles make it impossible to sight the target installed on the caisson body, or when performing 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 body. This reference point needs to be installed in a location that will not be affected by the construction of the caisson, but depending on the site, it may be temporarily impossible to sight due to the movement of materials and equipment during construction such as excavation or construction preparation.

[0007] In particular, on narrow construction sites, the locations where automatic tracking total stations and reference points can be installed are limited, which can increase the frequency and duration of time when targets cannot be sighted during construction.

[0008] To solve these problems, we provide an attitude measurement device and measurement method that uses an automatic tracking total station and a caisson body attitude measurement device that combines GNSS, so that workers are not tied down to surveying work and can accurately measure the attitude of the caisson body at all times, even in situations where the automatic tracking total station cannot be used normally. [Means for solving the problem]

[0009] In order to solve this problem, the invention of claim 1 comprises a target provided at a first predetermined position on the outer surface of a caisson body, a first detection unit that is disposed outside the caisson body and detects 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 that is disposed at a second predetermined position near the top of a structure provided inside the caisson body and receives radio waves from a plurality of GNSS satellites, constantly detects second coordinate position data, and transmits the second coordinate position data to the calculation unit, and a detection unit that detects the second coordinate position data by the first detection unit and transmits the second coordinate position data to the calculation unit. and an attitude processing unit having an arithmetic unit that calculates the first coordinate position data obtained by the calculation unit and the second coordinate position data transmitted to the arithmetic unit by the second detection unit to calculate all or any of the inclination, parallel movement, and rotational movement of the caisson body, and is characterized in that, when the first detection unit cannot detect the first coordinate position data, including during the specified time interval of the first detection unit, the coordinate position data for the period during which the first detection unit cannot detect the first coordinate position data is complemented by the second coordinate position data that is constantly transmitted by the second detection unit.

[0010] The invention of claim 2 is characterized in that it comprises a settlement meter installed on the upper part of the caisson body, measuring the amount of settlement of the caisson body and transmitting the amount of settlement as a signal to the posture processing unit, and an inclinometer installed on the lower part of the caisson body, measuring the amount of inclination of the caisson body and transmitting the amount of inclination as a signal to the posture processing unit, and when the posture processing unit calculates all or any of the inclination, translation, and rotation of the caisson body, it is configured to calculate the inclination, translation, and rotation of the caisson body by using the first coordinate position data, the second coordinate position data, the amount of settlement, and the amount of inclination.

[0011] The invention of claim 3 is characterized in that the targets are provided in pairs on both sides of the outer part of the caisson body and at positions approximately symmetrical to the center position of the caisson body, and the first detection unit is configured to be provided in a position approximately opposite each of the targets.

[0012] The invention of claim 4 is characterized in that the first detection unit is configured to set a threshold for the collimation distance in advance when aiming at an object having a reflection function different from that of the target, and to exclude coordinate position data of an object aimed at outside the threshold.

[0013] The invention of claim 5 is characterized in that the second predetermined position of the second detection unit is configured to be set above the man lock and above the material lock of two pieces of equipment installed within the caisson body, respectively.

[0014] The invention of claim 6 is characterized in that, in the case where an error occurs in the second coordinate position data of the second detection unit due to an external factor such as wind, an external factor measuring unit that measures the external factor is installed at a position separated from the caisson body, and the measurement data when the external factor does not occur and the measurement data when the external factor does occur are transmitted to the calculation unit by the third detection unit of the external factor measuring unit, and the calculation unit that receives these data compares the measurement data when the external factor does not occur with the measurement data when the external factor does occur, and corrects the error in the second coordinate position data using the difference between the comparison as an error. [Effects of the Invention]

[0015] According to the present invention, when a first detection unit that detects the coordinate position data of a target at a predetermined time interval is unable to detect the coordinate position data of the target, the first detection unit uses the second coordinate position data that is constantly detected by the second detection unit to complement the coordinate position data for the period when the first detection unit is unable to detect the first coordinate position data, thereby making it possible to measure the posture of the caisson body without any omissions.

[0016] According to another invention, when the posture processing unit calculates all or any of the inclination, parallel movement, and rotational movement of the caisson body, it is possible to calculate the inclination, parallel movement, and rotational movement of the caisson body by using the first coordinate position data, the second coordinate position data, the amount of subsidence, and the amount of tilt.

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

[0018] According to another invention, the first detection unit is configured to set a threshold value for the target's aiming distance in advance, and to exclude the coordinate position data of objects with reflective functions aimed at this threshold value from the posture measurement of the caisson body, thereby removing noise from the coordinate position data other than the object being measured, making calculations easier and enabling the posture status of the caisson body limited to the object being measured to be grasped.

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

[0020] According to another invention, in the event that the second detection units attached to the top of the manlocks and material locks sway due to external factors such as wind, causing an error in the coordinate position data of the second detection units, by providing an external factor measurement unit that measures external factors such as wind outside the caisson body, the measurement data when no external factors occur 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, and the calculation unit that receives these data compares the measurement data when no external factors occur with the measurement data when an external factor occurs, and removes the error from the second coordinate position data, assuming the difference as an error, thereby making it possible to grasp the posture of the caisson body using the second coordinate position data that is free of errors due to external factors. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a longitudinal cross-sectional view showing a caisson body to which an attitude measurement device according to an embodiment of the present invention is attached. [Figure 2] FIG. 2 is a top view illustrating the position of the target placed on the caisson body according to an embodiment of the present invention. [Figure 3] FIG. 4 is a sequence diagram illustrating a process for calculating a posture state of the posture measurement device according to the embodiment of the present invention. [Figure 4] FIG. 10 is a flowchart illustrating a process 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. DETAILED DESCRIPTION OF THE INVENTION

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

[0023] FIG. 1 is a vertical cross-sectional view showing the front of a caisson body to which an attitude measurement device 1 according to an embodiment of the present invention is attached.

[0024] The caisson skeleton 4 on which the posture measurement device 1 of the embodiment of the present invention is installed is used in construction using the pneumatic caisson method. This pneumatic caisson method involves first constructing a caisson skeleton 4 made of, for example, reinforced concrete on the ground, with a work chamber 4a whose lower part is surrounded by a cutting edge 4b, and then using an excavator 3 to excavate the natural ground 2 within this work chamber 4a to sink the caisson skeleton 4. After that, layers of the caisson skeleton 4 are constructed one after another, and the structure is installed in a predetermined position. Therefore, it is important to grasp the posture of the layered structure as the caisson skeleton 4 forms a layered structure and sinks.

[0025] As shown in FIG. 1, the caisson body 4 is formed in a ring shape, with a work chamber 4a formed at the bottom. This work chamber 4a is surrounded by a cutting edge section 4b and a ceiling slab 4c. Two circular shaft holes 4d are formed in the ceiling slab 4c for installing two pieces of equipment 5 and 6. These shaft holes 4d open into the work chamber 4a. The two pieces of equipment 5 and 6 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 to the ground, and a material shaft 6b extending from the material lock 6a toward the work chamber 4a.

[0026] 2 is a top view explanatory diagram showing the position of a target 7 placed on a caisson body 4 according to an embodiment of the present invention. As shown in FIG. 2, there are provided a target 7 provided to measure the displacement of the side wall of the caisson body 4, a first detection unit 8 provided at a position spaced apart from the target 7, and a reference point 9 for setting this first detection unit 8 at a predetermined position.

[0027] The target 7 serves as a mark that can be distinguished from the surface of the caisson body 4 when coordinate position data is detected by the first detection unit 8, which will be described later. This target 7 is provided on the outer side of the caisson body 4, as shown in Figures 1 and 2. When multiple targets 7 are provided on the caisson body 4, the targets 7 are arranged in pairs on both sides of the outer side of the caisson body 4, and at positions approximately symmetrical to the center position of the caisson body 4.

[0028] The 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 measurement of the target 7, the shift can be corrected by aiming at the reference point 9, making it possible to measure the target 7. It is desirable to provide two reference points 9. Although it is possible to measure the target 7 with just one reference point 9, providing two reference points 9 and using one of them to correct for changes in temperature, etc., allows the target 7 to be measured with greater accuracy.

[0029] The first detection units 8 are provided in positions substantially opposite each target 7. The targets 7 are provided within the sighting range of the first detection units 8, which measure the relative positions of the targets 7 from the reference point 9 to calculate their coordinates. The measured coordinate position data of the targets 7 is transmitted to the posture processing unit 17 (described later). In an embodiment of the present invention, an automatic tracking total station is used as the first detection unit 8. While two first detection units 8 are preferable from the perspective of measurement accuracy, a single first detection unit 8 is also acceptable. When a single first detection unit 8 is used, the posture of the caisson body 4 can be measured by providing two reference points 9 and two targets 7. Furthermore, while it is desirable to install the first detection units 8 in opposing positions, the installation position of the first detection units 8 may be limited depending on the site conditions. In this case, the first detection units 8 may be installed slightly offset from the opposing position.

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

[0031] 1, the second detection unit 10 is provided above the man lock 5a and the material lock 6a of the two equipment facilities 5, 6. The second detection unit 10 is composed of a receiving unit 10a that constantly receives radio waves transmitted from a plurality of GNSS (Global Navigation Satellite System) satellites 11, measures the time required for the radio waves to reach the second detection unit 10 after being simultaneously transmitted from the plurality of 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 (Rael-Time-Kinematic) positioning is used using multiple second detection units 10 and reference stations 12 installed at predetermined locations, and the coordinate position data of the second detection unit 10 transmitted from the second detection unit 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 identify the coordinate position of the second detection unit 10. Note that even with only one second detection unit 10, it is possible to measure the attitude of the caisson body 4. If multiple second detection units 10 are installed, it is possible to measure the rotational movement of the caisson body 4.

[0032] As shown in Figure 1, the external factor measurement unit 14 is composed of a dummy pole 14a located at a position separated from the caisson body 4 and a third detection unit 14b on top of this dummy pole 14a.

[0033] Since the second detection unit 10 is disposed on the man lock 5a or the material lock 6a, the second detection unit 10 may be subject to shaking due to the influence of wind, etc. This shaking may cause errors in the coordinate position data of the second detection unit 10.

[0034] To eliminate this error, the third detection unit 14b measures coordinate position data when the dummy pole 14a is swayed by an external factor. The third detection unit 14b sends the measured data when no external factor occurs and the measured data when an external factor occurs to the calculation unit. The calculation unit receives these data, compares the measured data when no external factor occurs with the measured data when an external factor occurs, and considers the difference between the two as an error to eliminate the error in the second coordinate position data.

[0035] As shown in Figure 1, the settlement meter 15 is provided on the top of the caisson body 4. This settlement meter 15 measures the amount of settlement of the caisson body 4 and transmits the measured amount of settlement as a signal to the posture processing unit 17 described later.

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

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

[0038] The calculation unit 17b of the posture processing unit 17 calculates the posture state of the caisson body 4 as posture data using coordinate position data transmitted from the first detection unit 8 and second detection unit 10, subsidence meter 15, inclinometer 16, 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 does occur, and considers the difference between the two as an error and removes that error from the second coordinate position data. The posture of the caisson body 4 refers to the inclination, translation, and rotation of the caisson body 4.

[0039] The posture data of the caisson body 4 is data that expresses the calculated inclination, parallel movement, and rotational movement of the caisson body 4 as numerical values ​​by the calculation unit 17b of the posture processing unit 17, by analyzing the subsidence depth, inclination angle, horizontal displacement, and rotational displacement of the caisson body 4 measured by the first detection unit 8 and second detection unit 10, subsidence meter 15, and inclinometer 16 controlled by the control unit 17a.

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

[0041] The position of the target 7 on the caisson body 4 is set in advance, and shape information such as the cutting edge height of the caisson body 4, the caisson body height, and the completed height of the caisson body 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 subsidence meter 15, and the inclinometer 16 are operated simultaneously, and measurement of the posture of the caisson body 4 begins simultaneously.

[0043] When measurement of the posture of the caisson body 4 begins, the two first detection units 8 each aim at a collimable target 7 at a predetermined time interval to measure the horizontal distance to the first detection units 8 and the horizontal and vertical angles of the first detection units 8. The measured horizontal distance from the first detection units 8 to the target 7 and the horizontal and vertical angles are sent to the posture processing unit 17 as coordinate position data of the target 7.

[0044] The second detector 10 constantly receives radio waves transmitted from a plurality of GNSS satellites 11, and the transmitter of the second detector 10 constantly transmits the coordinate position data of the second detector 10 to the attitude processor 17.

[0045] The subsidence meter 15 measures the amount of subsidence of the caisson body 4 and transmits the measured amount of subsidence to the posture processing unit 17 as subsidence data.

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

[0047] Using these sent data, the posture processing unit 17 calculates these data in the calculation unit 17b as follows, calculates the posture data of the caisson body 4, and displays the posture state of the caisson body 4 on the display unit 17c via the control unit 17a, allowing the worker to check the posture state of the caisson body 4.

[0048] A method for calculating the posture state of the caisson body 4 by the posture processing unit 17 will be described with reference to FIG.

[0049] Figure 3 is a sequence diagram in which the posture processing unit 17 calculates the posture status of the caisson body 4. As shown in Figure 3, the posture status of the caisson body 4 is displayed in real time on the display unit 17c of the posture processing unit 17 almost simultaneously when each device starts measuring, and the worker can check the posture status of the caisson body 4 by monitoring the display unit 17c.

[0050] First, when measurement begins, the calculation unit 17b calculates the posture data of the caisson body 4 using the coordinate position data of the target 7 detected at a predetermined time interval by the first detection unit 8, which has high measurement accuracy, and the data measured by the subsidence meter 15 and the inclinometer 16, and the posture state of the caisson body 4 is displayed in real time on the display unit 17c, which is controlled by the control unit 17a of the posture processing unit 17.

[0051] Next, after detecting the coordinate position data of the target 7 for a predetermined time, the first detection unit 8 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 the predetermined time, it transmits a signal to the control unit 17a of the attitude processing unit 17 indicating that the first detection unit 8 will no longer be able to measure the coordinate position data of the target 7.

[0052] Thereafter, the control unit 17a of the posture 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 posture data of the caisson body 4 while the first detection unit 8 does not detect the coordinate position data of the target 7, using the coordinate position data of the second detection unit 10 and the data measured from the subsidence meter 15 and the inclinometer 16, and uses this posture data of the caisson body 4 to complement the posture data of the caisson body 4 while the coordinate position data of the target 7 is not detected, and displays the posture state of the caisson body on the display unit 17c.

[0053] Next, when the first detection unit 8 detects the coordinate position data of the target 7 at the next predetermined time interval, the first detection unit 8 is unable to aim at the target 7 due to a scaffolding or the like, and is therefore unable to detect the coordinate position data of the target 7.

[0054] When this happens, the first detection unit 8 transmits a signal to the control unit 17a of the attitude processing unit 17 to the effect that it will no longer be possible to measure the coordinate position data of the target 7. Thereafter, the control unit 17a of the attitude processing unit 17, which receives this signal, uses the coordinate position data of the second detection unit 10, which is constantly measured by the GNSS satellites 11, to cause the calculation unit 17b to calculate the attitude data of the caisson body 4 while the first detection unit 8 is not detecting the coordinate position data of the target 7, using the coordinate position data of the second detection unit 10 and the data measured from the subsidence meter 15 and the inclinometer 16, and uses this attitude data of the caisson body 4 to complement the attitude data of the caisson body 4 while the coordinate position data of the target 7 is not detected, and displays the attitude state of the caisson body 4 on the display unit 17c.

[0055] In this way, when the first detection unit 8 is unable to measure the coordinate position data of the target 7, the coordinate position data of the second detection unit 10 measured by the GNSS satellite 11, which is constantly measuring, is used to supplement 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, and the attitude status of the caisson body 4 can be confirmed without interruption to attitude measurement.

[0056] According to the posture status of the caisson body 4 displayed on the display unit 17c of the posture processing unit 17, excavation is carried out by the excavator 3 in accordance with the planned finished shape of the caisson body 4, and the posture of the caisson body 4 is adjusted.

[0057] Next, we will explain how to remove errors when the third detection unit 14b is shaken by external factors such as wind and the coordinate position data of the second detection unit 10 contains errors. Because the second detection unit 10 is attached to the top of the man lock 5a and the material lock 6a, it is prone to shaken by external factors such as wind, which can easily cause errors in the coordinate position data of the second detection unit 10.

[0058] FIG. 4 is a flowchart showing a method for removing an error when an error occurs in the second detection unit 10 due to an external factor such as wind.

[0059] As explained above, the dummy pole 14a of the external factor measuring unit 14 is installed outside the caisson body 4, and the third detection unit 14b is installed on top of this dummy pole 14a. When the second detection unit 10 and the third detection unit 14b measure the coordinate position data, the measured data is transmitted to the calculation unit 17b of the posture 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 posture processing unit 17 compares the measurement data when no external factors occur, detected by the third detection unit 14b, with the measurement data when an external factor occurs, and considers the difference between the two as an error to eliminate the error in the second coordinate position data. The coordinate position data of the second detection unit 10 that has undergone this processing is used to calculate the posture data of the caisson body 4. Note that, as a result of comparing the measurement data when no external factors occur, detected by the third detection unit 14b, with the measurement data when an external factor occurs, if the calculation unit 17b determines that there is no error between the measurement data when no external factors occur, detected by the third detection unit 14b, and the measurement data when an external factor occurs, the coordinate position data of the second detection unit 10 is used to calculate the posture data of the caisson body 4.

[0061] According to the present invention, when the first detection unit 8, which detects the coordinate position data of the target 7 at a predetermined time interval, is unable to detect the coordinate position data of the target 7, it is possible to use the second coordinate position data constantly detected by the second detection unit 10 to complement the coordinate position data for the period when the first detection unit 8 is unable to detect the first coordinate position data, thereby making it possible to measure the posture of the caisson body 4 without any omissions.

[0062] According to another invention, when the posture processing unit 17 calculates all or any of the inclination, parallel movement, and rotational movement of the caisson body 4, it is possible to calculate the inclination, parallel movement, and rotational movement of the caisson body 4 by using the first coordinate position data, the second coordinate position data, the amount of subsidence, and the amount of tilt.

[0063] According to another invention, a pair of targets 7 are provided on both sides of the outer part of the caisson body 4, at positions approximately symmetrical to the center position of the caisson body 4, and the first detection unit 8 is provided at a position approximately opposite each target 7, making it possible to measure the displacement of the approximately opposite side walls, and making it possible to reduce errors caused by the finished shape of the structure of the stacked caisson body 4.

[0064] According to another invention, the first detection unit 8 is configured to set a threshold value in advance for the collimation distance of the target 7, and to exclude the coordinate position data of objects with reflective functions collimated at this threshold value from the posture measurement of the caisson body 4.This makes it possible to remove noise from the coordinate position data other than the object to be measured, making calculations easier and making it possible to grasp the posture status of the caisson body 4 purely limited to the object to be measured.

[0065] According to another invention, by setting the second predetermined position of the second detection unit 10 above 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 any obstacles, making it possible to detect the second coordinate position data without any omissions.

[0066] According to another invention, in the event that the second detection units attached to the top of the manlocks and material locks sway due to external factors such as wind, causing an error in the coordinate position data of the second detection units, by providing an external factor measurement unit that measures external factors such as wind outside the caisson body, the measurement data when no external factors occur 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, and the calculation unit that receives these data compares the measurement data when no external factors occur with the measurement data when an external factor occurs, and removes the error from the second coordinate position data, assuming the difference as an error, thereby making it possible to grasp the posture of the caisson body using the second coordinate position data that is free of errors due to external factors.

[0067] The present invention is not limited to the above-described configuration. In the embodiment of the present invention, two targets 7 are arranged so as to face 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 paired with a target 7 that faces the caisson body 4 from its own position toward the center of the caisson body 4. In addition, although the present embodiment is described using an automatic tracking total station, the posture of the caisson body 4 may be measured using three-dimensional motion measurement (motion capture) that automatically measures the coordinate position data of the targets. In addition, in cases where the external factor measurement unit 14 cannot be installed or the caisson body 4 is not significantly affected by wind, etc., errors in the second coordinate position data generated by the second detection unit 10 may be removed by time series analysis such as moving averages and Kalman filters. In addition, the error that occurs in the second coordinate position data when a certain wind speed occurs and the measurement data measured by the external factor measurement unit 14 used to eliminate this error can be machine-learned by artificial intelligence, and the second detection unit 10 can correct the second coordinate position data when an external factor occurs and an error occurs so that it matches the second coordinate position data used to complement the first coordinate position data when no external factor occurs, thereby making it possible to measure the posture of the caisson body 4 more accurately. [Explanation of symbols]

[0068] 1. Posture measurement device 2. Ground 3. Excavator 4 Caisson body 4a work room 4b Blade mouth part 4c Ceiling slab 4d shaft hole 5. Outfitting 5a Man Rock 5b Mannschaft 6. Outfitting 6a Material Rock 6b Material shaft 7. Target 8 First detection unit 9 Reference points 10 Second detection unit 10a Receiver 10b Transmitter 11 satellites 12 Reference station 13 Server 14 External Factor Measurement Section 14a Dummy Pole 14b Third detection unit 15 Subsidence gauge 16 Inclinometer 17 Attitude processing unit 17a Control section 17b Arithmetic section 17c Display section 17d Storage section

Claims

1. a target provided at a first predetermined position on the outer surface of the caisson body; a first detection unit disposed outside the caisson body, which detects 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 that is provided at a second predetermined position near the top of the structure provided inside the caisson body, receives radio waves from a plurality of GNSS satellites, constantly detects second coordinate position data, and transmits the second coordinate position data to the calculation unit; 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. The calculation unit calculates all or any of the tilt, parallel movement, and rotational movement of the caisson body. A pneumatic caisson attitude measurement device characterized in that, when the first detection unit cannot detect the first coordinate position data, including during the specified time interval of the first detection unit, the device is configured to complement the coordinate position data for the period during which the first detection unit cannot detect the first coordinate position data using the second coordinate position data constantly transmitted by the second detection unit.

2. a settlement meter provided on the upper part of the caisson body, measuring the amount of settlement of the caisson body and transmitting the amount of settlement as a signal to the posture processing unit; An inclinometer is provided at the bottom of the caisson body, measures the inclination amount of the caisson body, and transmits the inclination amount as a signal to the posture processing unit; The pneumatic caisson posture measuring device described in claim 1 is configured to calculate the inclination, parallel movement, and rotational movement of the caisson body by using the first coordinate position data, the second coordinate position data, the amount of settlement, and the amount of tilt when the posture processing unit calculates all or any of the inclination, parallel movement, and rotational movement of the caisson body.

3. The targets are provided in pairs on both sides of the outer side of the caisson body and at positions approximately symmetrical to the center position of the caisson body, 2. The pneumatic caisson attitude measurement device according to claim 1, wherein the first detection unit is configured to be provided at a position substantially opposite each of the targets.

4. The pneumatic caisson attitude measurement device described in claim 1, characterized in that the first detection unit is configured to set a threshold for the collimation distance in advance when aiming at an object having a reflection function different from that of the target, and to exclude the coordinate position data of an object aimed at outside the threshold.

5. The pneumatic caisson attitude measurement device described in claim 1, characterized in that the second predetermined position of the second detection unit is configured to be set respectively above the manlock and above the material lock of two equipment facilities installed within the caisson body.

6. A pneumatic caisson attitude measuring device as described in claim 5, characterized in that in the event that 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 that measures the external factor is installed at a position separated from the caisson body, and the measurement data when the external factor does not occur and the measurement data when the external factor does occur are transmitted to the calculation unit by the third detection unit of the external factor measuring unit, and the calculation unit that receives these data compares the measurement data when the external factor does not occur with the measurement data when the external factor does occur, and corrects the error in the second coordinate position data using the difference between the comparison as an error.

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