JP2024019811A - Support system for underwater work machine and support method - Google Patents

Abstract

To provide a support system for an underwater work machine and a support method capable of enlarging a work area of the underwater work machine and improving work efficiency of the underwater work machine.SOLUTION: A support method of an underwater work machine installs a power generator 3 and a drum device 6 on a floating body 2 floating on a water surface to connect a lower end part of a power cable 4a wound around the drum device 6 with the underwater work machine 20. The method also installs a plurality of reel devices 7 with spaces therebetween in a plan view on the floating body 2 to connect each of lower end parts 8a of string-like bodies 8 wound around the respective reel device 7 at a position apart from each other relating to the underwater work machine 20. Further, the method makes the floating body 2 track movement of the underwater work machine 20 not only by controlling tension of each of the string-like bodies 8 to be kept in a predetermined specific range but by tracking the floating body 2 through the string-like body 8 with the underwater work machine 20 in a state of control of keeping tension of the power cable 4a in a preset tolerance.SELECTED DRAWING: Figure 1

Description

The present invention relates to a support system and a support method for an underwater working machine, and more particularly to a support system and support for an underwater working machine that can expand the working area of the underwater working machine and improve the working efficiency of the underwater working machine. It is about the method.

Underwater construction work is being carried out using underwater work machines such as underwater backhoes that can travel on the bottom of the water. Conventionally, power is supplied to underwater working machines by connecting the underwater working machines with a power cable between a generator installed on the support vessel (crane ship) that puts the underwater working machines into the water ( For example, see Patent Document 1). The underwater work machine was connected to the stopped support ship via a power cable, and was performing underwater work in the water area surrounding the support ship.

In the past, the work area of underwater working machines was limited to a relatively narrow area near the support vessel because the risk of damage or breakage of the power cable increases when the power cable is extended underwater for a long time. When changing the work area of underwater working machines, it is necessary to move the support vessel each time, so work efficiency is relatively low, and there is room for improvement.

Japanese Patent Application Publication No. 11-304482

An object of the present invention is to provide a support system and a support method for an underwater working machine that can expand the working area of the underwater working machine and improve the working efficiency of the underwater working machine.

In order to achieve the above object, the support system for an underwater working machine of the present invention includes a floating body floating on water, a generator installed on the floating body, and a generator installed on the floating body. a power cable wound around the drum device and having a lower end connected to the underwater working machine; a plurality of reel devices installed on the floating body; and a power cable wound around each of the reel devices. and a cord-like body whose lower end is connected to the underwater working machine, and the electric power generated by the generator is transmitted to the underwater working machine via the drum device and the power cable. and a plurality of the reel devices are arranged with respect to the floating body at intervals from each other in a plan view, and the lower end portion of the string-like body is reeled out from each of the reel devices to the underwater working machine. They are connected to each other at positions spaced apart from each other in a plan view, and each reel device maintains the state in which the underwater working machine is in contact with the bottom of the water, and the underwater work machine is reeled out from each reel device. In order to maintain the string-like body in a tensioned state, control is performed to maintain the tension of the drawn-out string-like body within a predetermined range set in advance, and the string-like body is fed out from the drum device by the drum device. The floating body is towed by the underwater working machine via the string-like body under control such that the slack of the power cable is maintained within a preset allowable range. It is characterized in that it is configured to follow the movement of the underwater working machine.

A support method for an underwater working machine according to the present invention is a supporting method for an underwater working machine traveling on the bottom of the water, in which a generator and a drum device are installed on a floating body floating on water, and a power cable is wound around the drum device. The lower end of the unit is connected to the underwater working machine so that the electric power generated by the generator is transmitted to the underwater working machine via the drum device and the power cable, and the floating body is connected to the underwater working machine in a plan view. A plurality of reel devices are installed at intervals, and the lower ends of the string-like bodies wound around the respective reel devices are connected to the underwater working machine at positions spaced apart from each other. The feeding is performed so that each of the reel devices maintains the underwater working machine in a state in which it is grounded on the bottom of the water, and maintains the string-like body being fed out from each of the reel devices in a tense state. control to maintain the tension of the string-like body within a preset predetermined range, and control to maintain the slack of the power cable fed out from the drum device by the drum device within a preset allowable range. In this state, the floating body is towed by the underwater working machine via the string-like body, so that the floating body is moved to follow the movement of the underwater working machine.

According to the present invention, instead of installing a generator on a support ship (crane ship), the generator and a drum device are installed on a floating body floating on the water, and the lower end of the power cable fed out from the drum device is installed on a floating body floating on the water. By connecting to underwater working machines, it is possible to supply power to underwater working machines without relying on a support vessel. Furthermore, a plurality of reel devices were installed on the floating body at intervals from each other in plan view, and the lower ends of the strings wound around each reel device were spaced apart from each other with respect to the underwater working machine. The floating body is connected to the position, and the floating body is towed by an underwater working machine via multiple string-like bodies. At this time, the tension of the string-like bodies is adjusted in advance so that the underwater working machine remains in contact with the bottom of the water and the string-like bodies being fed out from each reel device are kept in a taut state (taut state). Control is performed to maintain the slack in the power cable fed out from the drum device within a preset allowable range. This makes it possible to tow the floating body in a well-balanced manner by the plurality of tensioned string-like bodies, and to move the floating body to stably track the movement of the underwater working machine with good response. Furthermore, it is possible to avoid applying a large tension to the power cable when towing the floating body, and it is also possible to more reliably avoid entanglement between each of the string-like bodies extending underwater and the power cable. Underwater working machines can perform underwater work in a wider area without relying on support vessels, and the work efficiency of underwater working machines can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram schematically illustrating an embodiment of an underwater working machine support system of the present invention in a side view. FIG. 2 is a view taken along arrow A in FIG. 1. FIG. FIG. 3 is a sectional view taken along line BB in FIG. 2; FIG. 2 is an explanatory diagram schematically illustrating, in a plan view, the positional relationship between a drum device and a reel device installed on a floating body, a lower end of a power cable connected to an underwater working machine, and a lower end of a string-like body. FIG. 2 is an explanatory diagram schematically illustrating, in a side view, a state in which the underwater working machine is lifted above the water bottom by the reel device and string-like body of the support system of FIG. 1 . Positions of the drum device and reel device installed on the floating body of another embodiment of the support system for an underwater working machine of the present invention, and the lower end of the power cable and the lower end of the string-like body connected to the underwater working machine FIG. 3 is an explanatory diagram schematically illustrating the relationship in plan view.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Below, a support system and support method for an underwater working machine according to the present invention will be described based on the embodiments shown in the drawings.

A support system 1 of the present invention illustrated in FIG. 1 supports an underwater working machine 20 traveling on an underwater WG. The underwater working machine 20 is a heavy machine (construction machine) that performs leveling of the underwater working group, excavation work, etc. underwater, and examples thereof include an underwater backhoe and an underwater bulldozer. Although the size and weight of the underwater working machine 20 are generally similar to heavy machinery used in construction on land, the underwater working machine 20 is operated by electric power. The weight of the underwater working machine 20 is about six tons to several tens of tons. The underwater working machine 20 is generally operated by a diver on board, but some underwater working machines 20 are operated remotely from a support boat or the like without having a diver on board. In this embodiment, a case where a diver boards and operates the underwater working machine 20 will be exemplified.

In the drawings of this application, the X direction is the front-back direction of the underwater working machine 20 (hereinafter referred to as the front-back direction Z) is shown. In this embodiment, an underwater backhoe is illustrated as the underwater working machine 20. The underwater working machine 20 has a vehicle body 21 and a pair of traveling devices (endless tracks) 22 arranged at intervals in the left-right direction Y. The underwater working machine 20 self-propels on the underwater WG by a pair of traveling devices 22 .

As illustrated in FIGS. 1 and 2, the support system 1 includes a floating body 2 floating on water, a generator 3 installed on the floating body 2, a drum device 6 installed on the floating body 2, and a winding around the drum device 6. The power cable 4a is rotated and has a lower end connected to the underwater working machine 20. The support system 1 further includes a plurality of reel devices 7 installed on the floating body 2, and a string-like body 8 that is wound around each reel device 7 and whose lower end 8a is connected to the underwater working machine 20. There is. The support system 1 of this embodiment further includes a position information acquisition device 9, a camera 10, a communication device 11, a communication cable 5a, a propulsion device 12, and a propulsion control section 13.

A generator 3, a drum device 6, a plurality of reel devices 7, a position information acquisition device 9, and a communication device 11 are each installed on the floating body 2. The camera 10, the propulsion unit 12, and the propulsion control unit 13 are each installed at the bottom of the floating body 2. In this embodiment, a communication cable 5a is integrated with a power cable 4a, and the integrated power cable 4a and communication cable 5a (hereinafter referred to as cables 4a and 5a) are wound around a drum device 6. The lower ends of the cables 4a and 5a let out from the drum device 6 are connected to the underwater working machine 20.

The floating body 2 is made of, for example, fiber reinforced plastic (FRP). In this embodiment, the floating body 2 is illustrated as having a substantially square shape when viewed from above, but the shape and size of the floating body 2 are determined by the sizes of the aforementioned equipment (generator 3, drum device 6, etc.) installed on the floating body 2. It can be determined as appropriate depending on the size and weight. It is preferable that the floating body 2 is smaller than a support ship (crane ship) that performs water transportation, loading work, and lifting work of the underwater working machine 20, and has a size that allows the support ship to lift and transport the underwater working machine 20.

The dimension of the floating body 2 in the longitudinal direction X is, for example, about 5 m to 15 m, and the dimension of the floating body 2 in the horizontal direction Y is, for example, about 2.5 m to 5 m. The weight of the floating body 2 is, for example, about 3 to 20 tons. The floating body 2 has a shape that can smoothly change the direction of movement forward, backward, left, and right on the water, specifically, a symmetrical shape such as a polygonal shape (square, rectangular, etc.), circular shape, or elliptical shape when viewed from above. It is preferable that there be.

The floating body 2 of this embodiment has a structure that protrudes above the installation surface on the outer periphery of the installation surface on which the generator 3, the drum device 6, the plurality of reel devices 7, the position information acquisition device 9, and the communication device 11 are installed. A peripheral portion is provided to prevent water from entering the installation surface portion. The floating body 2 can also be formed, for example, by combining a plurality of buoyancy members, a frame, and an installation base. As the floating body 2, for example, it is also possible to use the hull of a ready-made small boat.

The generator 3 is composed of a diesel generator, a gasoline generator, or the like capable of generating electric power (for example, about 100 to 400 kVA) for operating the underwater working machine 20. The length of the generator 3 is, for example, about 3 to 5 m, and the width is, for example, about 1 to 2 m. The weight of the generator 3 is, for example, about 2 to 6 tons.

The drum device 6 includes a drum section 6a around which cables 4a and 5a are wound, and a drum control section 6b that controls the rotational drive of the drum section 6a. The drum device 6 and the generator 3 are connected by a power cable 4b. The configuration is such that the power generated by the generator 3 is transmitted to the underwater working machine 20 via the power cable 4b, the drum device 6, and the power cable 4a.

In this embodiment, cables 4a and 5a are fed out from the drum portion 6a toward the underwater working machine 20, and the lower ends of the cables 4a and 5a are connected to the underwater working machine 20. Although the case where the lower ends of the cables 4a, 5a are connected to the rear part of the vehicle body 21 of the underwater working machine 20 is illustrated, the connection position of the lower ends of the cables 4a, 5a to the underwater working machine 20 is different from that of the underwater working machine 20. It can be determined as appropriate depending on the specifications. In this embodiment, the floating body 2 is provided with a through hole 2a penetrating in the vertical direction Z, and the cables 4a and 5a let out from the drum part 6a are inserted through the through hole 2a and extend into the water. It has become.

The reel device 7 includes a reel portion 7a around which a string-like body 8 is wound, a tension detector 7b that detects the tension of the string-like body 8 unwound from the reel portion 7a, and detection data acquired by the tension detector 7b. The reel control section 7c controls the rotational drive of the reel section 7a based on the reel section 7a. The string-like body 8 is made of, for example, a wire rope, a resin rope, or the like. The material and thickness of the string-like body 8 can be determined as appropriate depending on the weight of the underwater working machine 20 and the like. It is preferable that the string-like body 8 is made of a material that is difficult to expand and contract. The tension detector 7b includes, for example, a load roller around which the string-like body 8 is wound, and a load detector (for example, a load cell) that detects the load generated on the load roller. The tension detector 7b of this embodiment is configured to be able to detect the direction in which the tension of the string-like body 8 reeled out from the reel portion 7a is applied.

As illustrated in FIGS. 2 to 4, a plurality of reel devices 7 are arranged with respect to the floating body 2 at intervals from each other in a plan view, and each reel device 7 is reeled out to the underwater working machine 20. The lower ends 8a of the string-like bodies 8 are connected to each other at positions spaced apart from each other in plan view. In this embodiment, two reel devices 7 are installed with an interval (separation distance D1) from each other in the left-right direction Y of the floating body 2. The lower end portions 8a of the two string-like bodies 8 are connected to each other at a distance (separation distance D2) from each other in the left-right direction Y of the vehicle body 21.

More specifically, the lower end 8a of the string-like body 8 reeled out from the reel device 7 disposed on the right side of the floating body 2 is connected to the right side of the upper surface of the car body 21 of the underwater working machine 20, and The lower end portion 8a of the string-like body 8 let out from the disposed reel device 7 is connected to the left side of the upper surface of the vehicle body 21 of the underwater working machine 20. When the string-like bodies 8 being reeled out from the respective reel devices 7 are in a tense state, the string-like bodies 8 are arranged so as not to become entangled with each other underwater. Furthermore, the relative arrangement of the plurality of reel devices 7 and the drum device 6, and the relative connection position of the lower end portion 8a of the string-like body 8 and the lower end portion of the cables 4a, 5a with respect to the underwater working machine 20. In this arrangement, each string-like body 8 is in a tense state, and the slack of the cables 4a, 5a let out from the drum device 6 is within a preset allowable range (a state in which the slack is small). The string-like body 8 and the cables 4a, 5a are arranged so that they do not become entangled with each other.

In this embodiment, a through hole 2b penetrating the floating body 2 in the vertical direction Z is provided for each reel device 7, and the string-like body 8 let out from the reel part 7a is inserted through the through hole 2b. It is designed to extend into the water. Note that the through holes 2a and 2b provided in the floating body 2 are not an essential structure, and for example, the drum part 6a and the reel part 7a may be arranged so as to protrude outside the floating body 2, and the through holes 2a and 2b may be provided outside the floating body 2 from the drum part 6a. It is also possible to adopt a configuration in which the cables 4a and 5a extend toward the water, or a configuration in which the string-like body 8 extends toward the water from the reel portion 7a on the outside of the floating body 2.

The separation distance D1 between the reel devices 7 (more specifically, the feeding positions of the string-like bodies 8 of the reel portions 7a) in plan view, and the separation distance between the lower end portions 8a of the string-like bodies 8 connected to the vehicle body 21 D2 can be determined as appropriate depending on the size of the underwater working machine 20, etc. Preferably, as illustrated in FIG. 3, the distance D1 between the reel devices 7 in plan view is set to be longer than the distance D2 between the lower ends 8a of the string-like bodies 8 connected to the vehicle body 21. . Then, the installation position of each reel device 7 and the lower end 8a of each string-like body 8 are adjusted so that each string-like body 8 extends outward from the lower end 8a to the payout position of the reel unit 7a. It is a good idea to set the connection position. The angle θ between the vertical direction Z and the extending direction of the string-like body 8 changes depending on the water depth in which the underwater working machine 20 is located, but the angle θ mentioned above is, for example, 0 degrees or more and 20 degrees or less, more preferably 5 degrees. It is preferable to set the installation position of each reel device 7 and the connection position of the lower end portion 8a of each string-like body 8 so that the angle is within the range of 15 degrees or less.

In this embodiment, the generator 3 and each reel device 7 are connected by a power cable (not shown), and the power generated by the generator 3 is transmitted to each reel device 7. Although illustrated later as another embodiment, the support system 1 of the present invention may have a configuration in which three or more sets of reel devices 7 and string-like bodies 8 are provided.

The position information acquisition device 9 acquires position information of the floating body 2. As the position information acquisition device 9, for example, a GNSS receiving device that acquires global positioning system information (GNSS) is used. The camera 10 is installed at the bottom of the floating body 2 with the photographing direction facing downward. The camera 10 photographs the underwater working machine 20 and its surrounding area. The camera 10 is preferably one that can take both still images and moving images, but the camera 10 may take only one of them, and a waterproof camera 10 is preferably used. A light source such as a light may also be provided with the camera 10. An acoustic camera, a 3D camera, etc. can also be used as the camera 10. For example, a sonar may be provided instead of the camera 10, or a sonar may be provided together with the camera 10.

The propulsion device 12 is constituted by, for example, a thruster, a jet injector, or the like, and generates thrust to the floating body 2. The propulsion control unit 13 controls the propulsion device 12 . As illustrated in FIG. 2, in this embodiment, a propulsion device 12 whose direction of generating thrust is the longitudinal direction X of the floating body 2 is installed at the front left corner of the floating body 2, and A propulsion device 12 is provided that moves in the left-right direction Y. Further, at the rear right corner of the floating body 2, there are provided a thruster 12 whose thrust is generated in the longitudinal direction X of the floating body 2, and a thruster 12 whose thrust is generated in the left-right direction Y of the floating body 2. ing. The number and arrangement of propulsors 12 are not particularly limited, and various other configurations can be used. For example, it is also possible to provide a propulsion device 12 that can change the direction in which thrust is generated. In this embodiment, each propulsion device 12 is provided with a propulsion control section 13, but for example, a propulsion control section 13 that controls a plurality of propulsion devices 12 may be provided.

The communication device 11 performs data communication with the underwater working machine 20 via the communication cable 5a. The communication device 11 further performs data communication with an external management device provided on a support ship or the like by wireless communication. The communication device 11 and the drum device 6 are connected by a communication cable 5b, and data sent from the communication device 11 to the drum device 6 via the communication cable 5b is sent to the underwater working machine 20 via the communication cable 5a. It is configured. Further, the configuration is such that data transmitted from the underwater working machine 20 to the drum device 6 via the communication cable 5a is transmitted to the communication device 11 via the communication cable 5b.

The position information acquisition device 9 and the camera 10 are each communicably connected to a communication device 11 via a communication cable (not shown). Further, in this embodiment, each reel control section 7c is communicably connected to the drum control section 6b and each propulsion control section 13 via a communication cable (not shown).

In this embodiment, the position information acquisition device 9, the camera 10, the communication device 11, and the propulsion control unit 13 are connected to the generator 3 by power cables (not shown), and the electric power generated by the generator 3 is The configuration is such that power is transmitted to each facility. That is, in this embodiment, each piece of equipment and the underwater working machine 20 that constitute the support system 1 are configured to operate using electric power generated by the generator 3.

Next, a method of supporting underwater working machine 20 using this support system 1 will be described below.

The underwater work machine 20 and each equipment constituting the support system 1 are loaded onto the support ship (crane ship), and the support ship moves to the water area where construction is to be performed. Then, using the crane of the support ship in the construction target water area, the underwater working machine 20 is thrown into the water, and the floating body 2 and each equipment installed on the floating body 2 are made to float on the water. In the loading operation process of the underwater working machine 20, the length of the string-like body 8 let out from each reel device 7 and the length of the cables 4a, 5a let out from the drum device 6 are determined by adjusting the length of the string-like body 8 let out from each reel device 7 and the length of the cables 4a, 5a let out from the drum device 6 at the bottom WG where the underwater working machine 20 is grounded. The underwater working machine 20 is gradually submerged in the water in a state where the length is longer than the water depth, and the traveling device 22 of the underwater working machine 20 is grounded to the bottom WG. At the stage when the loading work process is completed, each string-like body 8 and cables 4a, 5a extending underwater are in a relaxed state, so that almost no tension is generated in each string-like body 8 and cables 4a, 5a. It is in a state where it is not.

Next, with the underwater working machine 20 stationary, the horizontal distance between the floating body 2 and the underwater working machine 20 is brought closer by winding up the string-like body 8 with each reel device 7 (reel part 7a). When the floating body 2 is located directly above the underwater working machine 20, the winding of the string-like body 8 is stopped. Then, the magnitude of the tension in the string-like body 8 when the floating body 2 is located directly above the underwater working machine 20 with the underwater work machine 20 grounded on the water bottom WG and the string-like body 8 under tension is calculated. The tension is detected by the tension detector 7b, and the detected data is recorded in the reel control section 7c.

Until the string-like body 8 becomes tense and the floating body 2 is located directly above the underwater working machine 20, the string-like body 8 is always in a state of tension. Since the distance between the floating body 2 and the underwater working machine 20 also becomes shorter, the magnitude of the tension in the string-like body 8 does not change rapidly. However, when the floating body 2 is located directly above the underwater working machine 20 and the length of the string-like body 8 that is fed out and the water depth at which the underwater working machine 20 is located approximately matches, when the string-like body 8 is further wound up, the underwater working machine Since the string 20 is pulled upward by the string 8, the tension generated in the string 8 increases rapidly.

Therefore, by detecting with the tension detector 7b that the tension of the string-like body 8 has started to increase rapidly, it is possible to know that the floating body 2 is located directly above the underwater working machine 20. . The tension detector 7b sends detection data of the magnitude of the tension in the string-like body 8 (the tension just before it increases rapidly) when the floating body 2 is positioned directly above the underwater working machine 20 to the reel control unit 7c. Then, the detection data is recorded in the reel control section 7c. Furthermore, the reel control unit 7c records the length of the string-like body 8 when the floating body 2 is positioned directly above the underwater working machine 20, and uses the data of the recorded length of the string-like body 8 to It is transmitted to the drum control section 6b.

The drum control unit 6b controls the length of the cable to be let out from the drum part 6a based on the data of the length of the string 8 to be let out when the floating body 2 is located directly above the underwater working machine 20, which is input from the reel control part 7c. Control is performed to adjust the lengths of the cables 4a, 5a so that the slack of the cables 4a, 5a falls within a preset allowable range. The allowable range of slack in the cables 4a, 5a can be set as appropriate depending on the depth of the underwater work WG where the underwater working machine 20 performs work, but for example, the slack may be increased for the length at which the cables 4a, 5a are fed out under tension. The additional length is set within a range of 1 m or more and 5 m or less, more preferably 1.5 m or more and 4 m or less, and still more preferably 2 m or more and 3 m or less.

That is, if the cables 4a, 5a are in a tense state and a strong tension is applied to the cables 4a, 5a, there is a high risk that the cables 4a, 5a will break, and if the cables 4a, 5a become excessively slack, the cables 4a, 5a will be The risk of getting caught in the body 8 increases. Therefore, in order to avoid such a problem, the slack of the cables 4a, 5a is kept within an allowable range. With the above, the preparation work for starting underwater work using the underwater work machine 20 is completed.

When performing underwater work with the underwater working machine 20, each reel control unit 7c maintains the state in which the underwater working machine 20 is in contact with the underwater bottom WG, and the string-like body 8 is unwound from each reel unit 7a. Control is performed to maintain the tension of the string-like body 8 being fed out from the reel portion 7a within a predetermined range so as to maintain the tension in the tensioned state. Further, the drum control section 6b performs control to maintain the slack of the cables 4a, 5a fed out from the drum section 6a within a preset allowable range. Then, while the control by the reel device 7 and the control by the drum device 6 described above are continued in parallel, the floating body 2 is pulled by the underwater working machine 20 via the string-like body 8 in a tensioned state. 2 is moved to follow the movement of the underwater working machine 20.

In addition, in the figure, the case where the entire length of the string-like body 8 paid out from the reel part 7a is linear is illustrated, but when the water depth where the underwater work machine 20 is located is deep, the string-like body Even if the string 8 is in a tensioned state, the entire length of the string 8 that is let out from the reel 7a is not necessarily straight, and the string 8 that is being let out is affected by water current, etc. A part of 8 may be curved to some extent. Therefore, the state in which the string-like body 8 is tensioned according to the present invention is not limited to the case where the entire length of the string-like body 8 that is let out from the reel portion 7a is linear; This also includes cases where it is in a curved state.

To explain in more detail, in the control by each reel device 7, the tension of the string-like body 8 being let out from the reel portion 7a is sequentially detected by the tension detector 7b. Then, the reel control section 7c calculates the magnitude of the tension applied to the string-like object 8 being fed out from the reel section 7a, based on the detection data of the tension of the string-like object 8 inputted from the tension detector 7b. For example, 90% or more and 150% or less, more preferably 100% or more and 150% of the tension when the floating body 2 is positioned directly above the underwater working machine 20 during the preparatory work (for example, the tension immediately before a sudden large increase). Thereafter, more preferably, control is performed to sequentially adjust the length of the string-like body 8 let out from the reel portion 7a so as to maintain it within a predetermined range of 100% or more and 130% or less. The reel control unit 7c further sequentially transmits data on the length of the string-like body 8 to be fed out to the drum control unit 6b. Note that the predetermined range of the tension of the string-like body 8 described above can be set by conducting tests, simulations, etc. in advance.

The drum control section 6b controls the slack of the cables 4a and 5a fed out from the drum section 6a to be within a preset tolerance range based on the data on the length of the string-like body 8 inputted from the reel control section 7c. , control is performed to sequentially adjust the length of the cables 4a, 5a that are fed out from the drum portion 6a. The conditions for the allowable range of slack in the cables 4a, 5a when performing underwater work with the underwater work machine 20 are the same as the conditions for the allowable range in the preparatory work described above.

That is, for example, when the underwater working machine 20 travels downhill or the like and the distance between the underwater working machine 20 and the floating body 2 in the vertical direction Z increases, the reel control unit 7c controls the length of the string-like body 8. By controlling the length of the string-like body 8 to be increased so as to maintain the tension within a predetermined range, the length of the string-like body 8 is maintained in a tensed state, and the string-like body 8 is not excessively stretched. Avoid applying excessive tension. Then, based on the amount of change in the length of the string-like body 8, the drum control section 6b controls the cable 4a so that the slack of the cables 4a, 5a, which are fed out from the drum section 6a, is maintained within a preset allowable range. , 5a is extended.

On the other hand, when the underwater working machine 20 travels uphill or the like and the distance between the underwater working machine 20 and the floating body 2 in the vertical direction Z is shortened, the reel control unit 7c controls the tension of the string-like body 8. The length of the string-like body 8 is controlled to be shortened so that the length of the string-like body 8 is maintained within a predetermined range, thereby maintaining the string-like body 8 in a tense state. Then, based on the amount of change in the length of the string-like body 8, the drum control section 6b controls the cable 4a so that the slack of the cables 4a, 5a, which are fed out from the drum section 6a, is maintained within a preset allowable range. , 5a is controlled to shorten the unwinding length.

In this embodiment, each tension detector 7b sequentially detects the direction in which tension is applied to the string-like body 8, and sequentially inputs the detected data to each propulsion control section 13. In this embodiment, detection data is transmitted from each tension detector 7b to each propulsion control unit 13 via the communication device 11. For example, from each tension detector 7b to each propulsion control unit It is also possible to adopt a configuration in which the detection data is input directly to 13.

The direction of the tension applied to the string-like body 8 changes depending on the relative orientation of the floating body to the underwater working machine 20 in plan view. Therefore, in this embodiment, each propulsion control unit 13 moves the floating body 2 toward the progress of the underwater working machine 20 based on the detection data of the direction in which the tension of the string-like body 8 is applied, which is acquired by the tension detector 7b. Control is performed to generate thrust by the propulsion device 12 so as to propel the vehicle in the same direction. Specifically, for example, as illustrated in FIG. 4, when the underwater working machine 20 moves while turning to the right in a plan view, a propulsion device that generates thrust in a direction to rotate the floating body 2 to the right in a plan view. 12 is driven by the propulsion control section 13. In FIG. 4, the direction of movement of the underwater working machine 20 is shown by a white arrow, and the direction of thrust by the propulsion device 12 is shown by a black arrow.

The position information acquisition device 9 sequentially acquires the position information of the floating body 2 and transmits the acquired position information to an external management device via the communication device 11. The camera 10 photographs the underwater working machine 20 and its surrounding area from above the underwater working machine 20, and transmits the acquired photographic data to an external management device via the communication device 11.

As described above, according to the present invention, instead of installing the generator 3 on the support ship, the generator 3 and the drum device 6 are installed on the floating body 2 floating on the water, and the power source fed out from the drum device 6 is By connecting the lower end of the cable 4a to the underwater working machine 20, power can be supplied to the underwater working machine 20 without depending on the support vessel. Furthermore, a plurality of reel devices 7 are installed on the floating body 2 at intervals from each other in a plan view, and the lower end portion 8a of the string-like body 8 wound around each reel device 7 is connected to the underwater working machine 20. They are connected at a distance from each other. When the floating body 2 is towed by the underwater working machine 20 via the plurality of string-like bodies 8, each reel device 7 maintains the state in which the underwater working machine 20 is in contact with the water bottom WG. Control is performed to maintain the tension of the string-like body 8 within a predetermined range set in advance so as to maintain the string-like body 8 being fed out from the reel device 7 in a tensioned state. Further, the drum device 6 performs control to maintain the slack of the cables 4a, 5a fed out from the drum device 6 within a preset allowable range.

As a result, the floating body 2 is pulled in a well-balanced manner by the plurality of cord-like bodies 8, while the respective cord-like bodies 8 and the cables 4a, 5a are prevented from becoming entangled in the water, and the floating body 2 is moved by the underwater working machine 20. This enables stable tracking movement with good response to changes in direction of travel and turns. Since the underwater working machine 20 can perform underwater work in a wider area without relying on a support vessel, the working efficiency of the underwater working machine 20 can be improved.

To explain in more detail, in order to move the floating body 2 to follow the direction of movement or turn of the underwater working machine 20, it is necessary to tow the floating body 2 by at least two or more string-like bodies 8 spaced apart from each other. Therefore, a plurality of string-like bodies 8 and cables 4a, 5a are extended underwater between the floating body 2 and the underwater working machine 20. If the string-like body 8 being let out from the reel device 7 is loose, or if the cables 4a and 5a being let out from the drum device 6 are greatly slackened, the underwater working machine 20 may be in motion or stopped. At times, the string-like body 8 and the cables 4a, 5a are shaken greatly.

Further, if the string-like body 8 being let out from the reel portion 7a is in a loose state, when the underwater working machine 20 changes its traveling direction, the underwater working machine 20 will move from the underwater working machine 20 to the floating body 2. Since the force in the direction is not transmitted effectively, the time lag from when the underwater working machine 20 changes its traveling direction until the orientation of the floating body 2 changes to the traveling direction of the underwater working machine 20 becomes large. In such a situation, there is a high risk that the string-like bodies 8 or the string-like bodies 8 and the cables 4a, 5a will become entangled in the water.

In contrast, in the present invention, by performing control to maintain the string-like bodies 8 that are being fed out from each reel device 7 in a tensioned state, the direction in which the underwater working machine 20 moves from the underwater working machine 20 to the floating body 2 is controlled. can effectively convey the power of Furthermore, by performing control to maintain the slack of the cables 4a, 5a let out from the drum device 6 within a preset allowable range, it is possible to avoid applying large tension to the cables 4a, 5a when towing the floating body 2, and It is also possible to significantly reduce the risk that the shaped bodies 8 or the string-like bodies 8 and the cables 4a, 5a become entangled. Therefore, this support system 1 has an extremely excellent configuration for moving the floating body 2 to follow the movement of the underwater working machine 20 stably and with good response.

Furthermore, by controlling the string-like bodies 8 that are reeled out from each reel device 7 to maintain tension, the horizontal deviation between the underwater working machine 20 and the floating body 2 can be reduced, so the position information acquisition device 9 By acquiring the position information of the floating body 2, it becomes possible to grasp the position of the underwater working machine 20 with very high accuracy. Further, from the length of the string-like body 8 that is fed out by the reel device 7, the water depth at which the underwater working machine 20 is located can be determined. Therefore, by combining the water depth data and the position information data acquired by the position information acquisition device 9, it becomes possible to accurately grasp the three-dimensional position information of the underwater working machine 20.

As in this embodiment, if the separation distance D1 between the reel devices 7 in plan view is set longer than the separation distance D2 between the lower ends 8a of the string-like bodies 8 connected to the vehicle body 21, the underwater working machine 20 Force in the direction in which the underwater working machine 20 moves can be more effectively transmitted from the floating body 2 to the floating body 2. Therefore, it is advantageous to move the floating body 2 to follow the movement of the underwater working machine 20 stably and with good response. As illustrated in FIG. 3, the angle θ between the vertical direction Z and the extending direction of the string-like body 8 is set within a range of 0 degrees or more and 20 degrees or less, more preferably 5 degrees or more and 15 degrees or less. If the installation position of each reel device 7 and the connection position of the lower end portion 8a of each string-like body 8 are set, it will be more advantageous to achieve the above-mentioned effects.

If the configuration includes the communication device 11 and the communication cable 5a, it becomes possible to perform data communication between the underwater working machine 20 and an external management device provided on a support vessel or the like. Specifically, for example, by transmitting data such as construction plans and drawings from an external management device to the communication device 11, it is also possible to display the data on a monitor installed in the underwater working machine 20. become. In addition, by transmitting the operation data (information on moving direction and moving speed) of the underwater working machine 20 to an external management device via the communication device 11, the working status of the underwater working machine 20 can be monitored from the external management device. Be able to understand. For example, when using an underwater working machine 20 without an operator on board, it becomes possible to remotely control the underwater working machine 20 by inputting operation data from an external management device to the communication device 11.

Furthermore, when a camera 10 for photographing the underwater working machine 20 is installed on the floating body 2, the photographic data acquired by the camera 10 is transmitted to an external management device via the communication device 11, and the underwater working machine 20 is It becomes possible to check the working status of the working machine 20 through images and videos.

If the floating body 2 is provided with a propulsion device 12 and a propulsion control section 13, and the propulsion device 12 is controlled by the propulsion control section 13 based on the relative orientation of the floating body 2 with respect to the underwater working machine 20 in plan view, the floating body By generating thrust by the propeller 12 so as to propel the floating body 2 in the same direction as the traveling direction of the underwater working machine 20, it becomes possible to change the direction of the floating body 2 more quickly and with high precision. Therefore, it becomes even more advantageous to move the floating body 2 to follow the movement of the underwater working machine 20 with good response.

In this embodiment, the relative orientation of the floating body 2 with respect to the underwater working machine 20 in a plan view is grasped based on the detection data of the orientation in which the tension of the string-like body 8 is applied, which is obtained by the tension detector 7b. Although illustrated, the relative orientation of the floating body 2 with respect to the underwater working machine 20 in plan view can also be grasped by other methods. The relative orientation of the floating body 2 with respect to the underwater working machine 20 in a plan view can also be ascertained from the operation data of the underwater working machine 20, for example. In this case, for example, the configuration is such that the operation data of the underwater working machine 20 is transmitted to the propulsion control section 13 via the communication device 11, and the propulsion control section 13 controls the propulsion device 12 based on the operation data. do. Based on the moving direction and moving speed of the underwater working machine 20 that can be grasped from the operation data of the underwater working machine 20, the propulsion control unit 13 controls the direction and magnitude of the thrust generated by the propulsion device 12. 2 can be tracked and moved by the underwater working machine 20 with good response.

The support system 1 can preset the tension of the string-like body 8 by the reel device 7 by inputting instruction data from an external management device or underwater working machine 20 to the reel device 7 via the communication device 11, for example. It is also possible to adopt a configuration that allows switching between an automatic control mode in which the reel device 7 is maintained within a predetermined range and an operation mode in which the automatic control is canceled and the reel device 7 is manually operated.

Since the underwater working machine 20 is heavy, when the underwater working machine 20 runs on soft ground, the traveling device 22 of the underwater working machine 20 sinks into the soil, and the underwater working machine 20 It may be difficult to move. In such a case, as illustrated in FIG. 5, the reel device 7 is switched to the operation mode, and the reel device 7 moves the string-like body until the underwater working machine 20 is suspended above the water bottom WG. Wind up 8. This makes it possible to eliminate the situation in which the traveling device 22 of the underwater working machine 20 sinks into the water bottom WG. After that, the string-like body 8 is let out by the reel device 7, the underwater working machine 20 is grounded on the underwater working group, and the reel device 7 is switched to the automatic control mode, and the underwater work by the underwater working machine 20 is resumed. Such a configuration provides greater convenience as a system for supporting the underwater working machine 20.

Further, for example, the reel device 7 is switched to the operation mode, the string-like body 8 is wound up by the reel device 7, and the underwater working machine 20 is suspended above the water bottom WG. Then, the propulsion device 12 generates thrust to make the floating body 2 move by itself, and the underwater working machine 20 is towed by the floating body 2 via the string-like body 8, thereby changing the position where the underwater working machine 20 is grounded. Alternatively, it is also possible to move the underwater working machine 20 to a lifting position. In addition, when the underwater working machine 20 is retrieved on the support boat after underwater work, the string-like body 8 is wound up by the reel device 7, and the underwater working machine 20 is raised to the vicinity of the floating body 2. It is also possible to lift and retrieve the underwater work machine 20 using a crane on a support ship.

As in another embodiment illustrated in FIG. 6, the support system 1 can also be configured to have three or more sets of reel devices 7 and string-like bodies 8. In the case of a configuration having three or more string-like bodies 8, similarly, the respective reel devices 7 are installed on the floating body 2 at intervals from each other in plan view, and the string-like bodies 8 are wound around the respective reel devices 7. The lower ends 8a of the string-like bodies 8 are connected to the underwater working machine 20 at positions spaced apart from each other. The relative arrangement of each reel device 7 and drum device 6, and the relative arrangement of the connection position of the lower end portion 8a of the string-like body 8 and the connection position of the lower end portions of the cables 4a and 5a with respect to the underwater working machine 20. The string-like bodies 8 and the cables 4a, 5a are arranged so that they do not become entangled with each other.

In this embodiment, one reel device 7 is installed on the right side and one on the left side of the floating body 2 in plan view, and another reel device 7 is installed in the center of the floating body 2 behind the two reel devices 7. It is installed. Then, the lower end 8a of the string-like body 8, which is being let out from the reel device 7 installed on the right side of the floating body 2, is connected to the right side of the car body 21 of the underwater working machine 20, and the string-like body 8 is let out from the reel device 7, which is installed on the left side of the floating body 2. The lower end 8a of the string-like body 8 is connected to the left side of the vehicle body 21. The lower end 8a of the string-like body 8 that is let out from the reel device 7 installed at the center of the floating body 2 behind the two reel devices 7 is connected to the center of the rear part of the vehicle body 21. The drum device 6 is installed at a position laterally separated from the reel device 7 installed at the center of the rear of the floating body 2, and the lower ends of the cables 4a, 5a fed out from the drum device 6 are connected to the center of the rear of the vehicle body 21. It is connected at a position spaced laterally from the string-like body 8 connected to.

As in this embodiment, when three or more sets of reel devices 7 and string-like bodies 8 are provided, the floating body 2 can be towed with better balance, and the underwater working machine 20 can be moved from the underwater working machine 20 to the floating body 2. Force can be transmitted in the forward direction more effectively. Therefore, it becomes even more advantageous to move the floating body 2 to stably track the movement of the underwater working machine 20 with good response.

Note that the position information acquisition device 9, the camera 10, the communication device 11, the propulsion device 12, and the propulsion control unit 13 are not essential components of the support system 1, and can be provided arbitrarily. Furthermore, each piece of equipment constituting the support system 1 can be configured to operate using a battery or the like provided in each piece of equipment, for example.

In addition, the number and arrangement of drum devices 6 and reel devices 7 installed with respect to the floating body 2, the connection positions of the lower ends of the cables 4a and 5a with respect to the underwater working machine 20, and the connection position of the lower end portion 8a of the string-like body 8 are determined according to the above-mentioned implementation. It is not limited to the form, and various other configurations can be made. For example, when viewed from above, reel devices 7 are installed at the front and rear of the center of the floating body 2, respectively, and the lower end of the string-like body 8 that is reeled out from the reel device 7 installed at the front center of the floating body 2 is used for underwater work. It is connected to the central front part of the car body 21 of the machine 20, and the lower end of the string-like body 8 that is reeled out from the reel device 7 installed at the central rear part of the floating body 2 is connected to the central rear part of the car body 21. You can also do that.

1 Support system 2 Floating bodies 2a, 2b Through hole 3 Generators 4a, 4b Power cables 5a, 5b Communication cable 6 Drum device 6a Drum section 6b Drum control section 7 Reel device 7a Reel section 7b Tension detector 7c Reel control section 8 String-like Body 8a Lower end 9 Position information acquisition device 10 Camera 11 Communication device 12 Propulsion unit 13 Propulsion control unit 20 Underwater working machine 21 Vehicle body 22 Traveling device WG Underwater

Claims (5)

In the support system for underwater working machines that travel on the bottom of the water,
a floating body floating on water, a generator installed on the floating body, a drum device installed on the floating body, and a power cable wound around the drum device and having a lower end connected to the underwater working machine; comprising a plurality of reel devices installed on the floating body, and a string-like body that is wound around each of the reel devices and whose lower end is connected to the underwater working machine,
The electric power generated by the generator is transmitted to the underwater working machine via the drum device and the power cable,
A plurality of the reel devices are arranged with respect to the floating body at intervals from each other in a plan view, and the lower ends of the string-like bodies reeled out from the respective reel devices to the underwater working machine are connected to each other. They are connected at mutually spaced positions in plan view.
Each of the reel devices maintains the underwater working machine in a state where it is grounded on the bottom of the water, and the string-like body that is paid out from each of the reel devices is maintained in a taut state. Control is performed to maintain the tension of the string-shaped body within a preset predetermined range, and at the same time, the slack of the power cable fed out from the drum device is maintained within a preset allowable range by the drum device. The floating body is characterized by a configuration in which the floating body is moved to follow the movement of the underwater working machine by being towed by the underwater working machine via the string-like body in a controlled state. Support system for underwater working machines. The support system for an underwater working machine according to claim 1, wherein the separation distance between the reel devices in a plan view is longer than the separation distance between the lower ends of the string-like bodies in a plan view. The floating body includes a propulsion device provided on the floating body, and a propulsion control unit that controls the propulsion device, and the propulsion control unit controls the propulsion device based on the relative orientation of the floating body with respect to the underwater working machine in plan view. The support system for an underwater working machine according to claim 1 or 2, wherein the support system for an underwater working machine is controlled. The support system for an underwater working machine according to claim 1 or 2, further comprising a camera installed on the floating body to photograph the underwater working machine. In a method of supporting underwater working machines that travel on the bottom of the water,
A generator and a drum device are installed on a floating body floating on water, and the lower end of a power cable wound around the drum device is connected to the underwater working machine, so that the electric power generated by the generator is transmitted to the underwater working machine. Power is transmitted to the underwater working machine via the drum device and the power cable, and a plurality of reel devices are installed on the floating body at intervals from each other in a plan view, and the winding is wound around each of the reel devices. The lower ends of the string-like bodies are connected to the underwater working machine at positions spaced apart from each other,
Each of the reel devices maintains the underwater working machine in a state in which it is grounded on the bottom of the water, and the string-like body that is being fed out from each of the reel devices is kept in a tensioned state. Control was performed to maintain the tension of the string-like body within a preset predetermined range, and control was also performed to maintain the slack of the power cable fed out from the drum device by the drum device within a preset allowable range. A method for supporting an underwater working machine, characterized in that the underwater working machine moves the floating body to follow the movement of the underwater working machine by towing the floating body by the underwater working machine via the string-like body.

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