JP6243958B2 - Work ship - Google Patents

Description

  The present invention relates to a technique for leveling rubble in water.

  In harbor construction, a rubble mound is formed by throwing rubble into the floor formed by excavating the underwater ground, and the surface of the formed rubble mound (hereinafter referred to as “underwater leveling surface”) is leveled with a tamper. Thus, the height of the rubble mound is made uniform and the strength of the rubble mound is increased.

  In addition, on the rubble mound whose height has been made uniform by tampering, for example, caissons are continuously installed, and inside the caissons, cracking stones are backed to form a backstone layer, Landfill is carried out by putting earth and sand into the inner sea area surrounded by mounds, caissons, and lining stone layers.

  As a method for leveling the surface of the above-mentioned rubble mound, for example, there is one called a vertical rolling type. In the vertical rolling type surface leveling, the leveling of the underwater leveling surface is carried out by dropping a weight directly suspended by a hoist arranged on the work boat onto the leveling surface of the water. As a patent document disclosing a technique related to vertical rolling type surface leveling, for example, there is Patent Document 1.

  Another method for leveling the rubble mound is, for example, an underwater vibro method. In the underwater vibro type surface leveling, a vibrator equipped with a vibrator is suspended on an underwater leveling surface by a hoist arranged on a work boat, and the leveling of the underwater leveling surface is performed by the vibrator. For example, Patent Document 2 discloses a technique that discloses a technique related to underwater vibro-type surface leveling.

Japanese Patent Laid-Open No. 11-280072 JP-A-9-88065

  In the case of the above-described vertical rolling method, if the weight is dropped near the existing structure, the existing structure may be damaged, and the water leveling surface close to the existing structure cannot be leveled. In addition, in the case of the above-described underwater vibro method, the vibro part suspended on the underwater leveling surface has a frame around the vibrator for holding the vibrator on the underwater leveling surface. The frame will interfere with the existing structure if you try to level the near water leveling surface. Therefore, even in the case of the underwater vibro method, the underwater leveling surface close to the existing structure cannot be leveled.

  Further, in both cases of the vertical rolling type and the underwater vibro type, it is necessary to lift or suspend the weight or the vibro part by a hoist. Therefore, for example, when trying to level the underwater leveling surface under the bridge, the hoist jib interferes with the bridge. Therefore, when using these methods, the water leveling surface under the bridge cannot be leveled.

  A method other than leveling the underwater leveling surface near an existing structure that cannot be leveled by the vertical rolling type and underwater vibro type, or under the bridge by moving the rubble manually, etc. There is no. Underwater leveling work by divers is low in work efficiency and dangerous.

  In view of the above circumstances, the present invention provides a work boat capable of leveling an underwater leveling surface close to an existing structure and an underwater leveling surface under a bridge with high efficiency and safety compared to the prior art. For the purpose.

In order to achieve the above object, the present invention provides a hull that floats on the surface of a water, and an apparatus that travels on the hull in an endless track, the upper revolving body, and the upper revolving body that rotates about a horizontal axis. Vibration is transmitted from a vibration mechanism that is connected to the boom so as to reach underwater in a state of extending in the traveling direction of the device, a non-expandable arm that is rotatably connected to the boom around a horizontal axis. A tamper that uses a leveling plate to level the underwater leveling surface, and the tamper is connected at the tip of the arm so as to be rotatable about a horizontal axis, and both sides of a line whose rotation range extends in the longitudinal direction of the arm And a driving means for changing the angle around the horizontal axis of the tamper by transmitting a force to the connecting means, and the upper swing body. Measured with a measuring device Data indicating the position of the upper swing body on the earth, data indicating the direction in which the boom extends from the upper swing body, data indicating the tilt of the upper swing body, and the upper swing body, Operating position specifying means for specifying the operating position of the tamper based on data indicating the positional relationship between the boom, data indicating the positional relationship between the boom and the arm, and data indicating the positional relationship between the arm and the tamper. As a first aspect, a work boat characterized by comprising:

Moreover, this invention is a work ship concerning said 1st aspect, Comprising: The said leveling board proposes as a 2nd aspect the work ship characterized by having one or more through-holes.

Further, the present invention is the work boat according to the first aspect, wherein the bottom shape specifying means for specifying the bottom shape, the specified result of the operating position specifying means, and the specified result of the bottom shape specifying means are provided. A work boat comprising a display means for displaying a construction status by the tamper is proposed as a third aspect.

Further, the present invention is the work boat according to the first aspect described above, wherein the bottom shape specifying means for specifying the bottom shape and the horizontal position at the operation position of the tamper based on the specification result of the bottom shape specifying means are provided. The drive is performed with reference to the specified result of the third angle specifying means so that the inclination angle of the leveling surface is specified and the vibration direction of the tamper follows the normal of the underwater leveling surface having the specified inclination angle. A work ship comprising a tamper angle adjusting means for controlling the means to adjust the angle of the tamper is proposed as a fourth aspect.

ADVANTAGE OF THE INVENTION According to this invention, the water leveling surface near an existing structure and the water leveling surface under a bridge can be leveled safely with high efficiency.

The figure which showed typically the external appearance which looked at the working ship concerning one Embodiment from the side. The figure which showed a mode that the shape of the backhoe with which the work ship concerning one Embodiment is provided changes with expansion-contraction of a drive part. The figure which showed a mode that the angle around the horizontal axis | shaft of the tamper with respect to the arm with which the work ship concerning one Embodiment is provided changes with expansion-contraction of a drive part. The block diagram which showed the structure of the terminal device with which the work ship concerning one Embodiment is provided. The figure which illustrated the screen displayed by the terminal unit with which the work boat concerning one embodiment is provided. The top view of the leveling board with which the work ship concerning one Embodiment is provided. Sectional drawing of the leveling board with which the work ship concerning one Embodiment is provided. The figure for demonstrating the role of the chamfering part provided in the leveling board with which the work ship concerning one Embodiment is provided.

[Embodiment]
Hereinafter, a work boat 1 according to an embodiment of the present invention will be described. FIG. 1 is a diagram schematically showing the appearance of the work boat 1 as seen from the side. The work boat 1 includes a hull 11 floating on the water surface W, an upper swing body 12 disposed on the hull 11, a boom 13 connected to the upper swing body 12, and an arm 14 connected to the boom 13. The tamper 15 is connected to the arm 14. Hereinafter, the connecting body of the upper swing body 12, the boom 13, and the arm 14 is referred to as a backhoe 10 for convenience.

  The tamper 15 has a vibration mechanism (not shown) that generates vibrations, and a leveling plate 151 that leveles the water leveling surface by vibration transmitted from the vibration mechanism while being pressed against the water leveling surface. .

  The boom 13 is connected to the upper swing body 12 by a connecting portion 16 so as to be rotatable around a horizontal axis. The arm 14 is connected to the boom 13 by a connecting portion 17 so as to be rotatable about a horizontal axis. The tamper 15 is connected to the arm 14 by a connecting portion 18 so as to be rotatable about a horizontal axis. The connecting portion 16 and the connecting portion 17 are disposed near different ends of the boom 13. Further, the connecting portion 17 and the connecting portion 18 are disposed near different ends of the arm 14.

  A drive unit 19 is coupled to the upper swing body 12 and the boom 13 in the vicinity of the coupling unit 16. The drive unit 19 is a cylinder actuator that expands and contracts by, for example, hydraulic pressure, and changes the angle around the horizontal axis of the boom 13 with respect to the upper swing body 12 by transmitting force to the connecting unit 16 by expansion and contraction.

  A drive unit 20 is coupled to the boom 13 and the arm 14 near the coupling unit 17. The drive unit 20 is a cylinder actuator that expands and contracts by, for example, hydraulic pressure, and changes the angle around the horizontal axis of the arm 14 with respect to the boom 13 by transmitting force to the connecting unit 17 by expansion and contraction.

  A drive unit 21 is coupled to the arm 14 and the coupling unit 18. The drive unit 21 is, for example, a cylinder actuator that expands and contracts by hydraulic pressure, and changes the angle around the horizontal axis of the tamper 15 with respect to the arm 14 by transmitting force to the connecting unit 18 by expansion and contraction.

  FIG. 2 is a diagram showing a state in which the shape of the backhoe 10 changes due to expansion and contraction of the drive unit 19, the drive unit 20, and the drive unit 21. FIG. 3 is a diagram showing how the angle of the tamper 15 around the horizontal axis with respect to the arm 14 changes due to the expansion and contraction of the drive unit 21. 3A to 3C are enlarged views showing the positional relationship between the arm 14 and the tamper 15 in a state where the backhoe 10 has the shapes A to C in FIG. 3A shows a state in which the vibration direction of the tamper 15 is a direction along the longitudinal direction of the arm 14. In the state of FIG. 3B, the drive unit 21 is extended from the state of FIG. In the state of FIG. 3B, the vibration direction of the tamper 15 is a direction rotated clockwise by an angle a with respect to a line extending in the longitudinal direction of the arm 14. In the state of FIG. 3C, the drive unit 21 is contracted compared to the state of FIG. In the state of FIG. 3C, the vibration direction of the tamper 15 is a direction rotated by an angle b counterclockwise with respect to a line extending in the longitudinal direction of the arm 14.

  As shown in FIG. 3, the connecting portion 18 connects the tamper 15 so as to be rotatable around the horizontal axis at the tip of the arm 14, and the rotation range is within a range including both sides of a line extending in the longitudinal direction of the arm 14. Is set.

  The description of the overall configuration of the work boat 1 will be continued with reference to FIG. The hull 11 includes a GNSS (Global Navigation Satellite System) unit 22 that measures the position of the work ship 1 on the earth and generates position data indicating the measurement results in, for example, longitude and latitude, and an azimuth sensor 23 that measures the azimuth of the hull 11. Has been placed. The position of the hull 11 and the heading direction of the hull 11 are specified by the measurement result of the GNSS unit 22 and the measurement result of the direction sensor 23.

  A GNSS unit 24, a GNSS unit 25, and an inclination sensor 26 are disposed on the upper swing body 12. In FIG. 1, the GNSS unit 24 and the GNSS unit 25 are shown side by side in the horizontal direction for convenience, but the GNSS unit 24 and the GNSS unit 25 are, for example, in the rotation axis direction of the boom 13 (the depth direction in FIG. 1). They are arranged side by side. The measurement results of the GNSS unit 24 and the GNSS unit 25 specify the position of the upper swing body 12 and the direction in which the backhoe 10 extends from the upper swing body 12. The tilt sensor 26 is a biaxial tilt sensor, for example, and measures the tilt with respect to the vertical direction. From the measurement result of the inclination sensor 26, the inclination direction of the upper swing body 12 with respect to the horizontal plane is specified.

  An inclination sensor 27 is disposed on the boom 13. An inclination sensor 28 is disposed on the arm 14. An inclination sensor 29 is disposed at the connecting portion 18. Each of the inclination sensor 27, the inclination sensor 28, and the inclination sensor 29 is a uniaxial inclination sensor, for example, and measures the inclination with respect to the vertical direction. The angle around the horizontal axis of the boom 13 relative to the upper swing body 12 is specified by the measurement result of the tilt sensor 27. The angle around the horizontal axis of the arm 14 relative to the boom 13 is specified by the measurement result of the tilt sensor 28. Further, the angle around the horizontal axis of the tamper 15 relative to the arm 14 is specified by the measurement result of the tilt sensor 29.

  Below the hull 11, a three-dimensional sonar 30 (an example of water bottom shape specifying means) that specifies the shape of the water bottom is disposed. The three-dimensional sonar 30 is a device that emits a sound wave in water and measures the three-dimensional shape of an object existing in water in real time based on the direction of the reflected wave and the timing of reception.

  In the cockpit of the upper swing body 12, an operating device 31 provided with an operation lever or the like used by the operator for turning the upper swing body 12 and operating the backhoe 10, and the upper swing body 12 according to an operation on the operation device 31. A control device 32 that controls the operation of the backhoe 10 and a terminal device 33 that displays the current position and shape of the backhoe 10 to the operator are disposed.

  When the operator performs an operation to change the position and shape of the backhoe 10 with respect to the operation device 31, the control device 31 expands and contracts with respect to the drive unit 19, the drive unit 20, and the drive unit 21 according to the operation by the operator. Give instructions. When the drive unit 19, the drive unit 20, and the drive unit 21 expand according to the instruction of the control device 32, the backhoe 10 moves to a position intended by the operator and changes to a shape intended by the operator.

  The terminal device 33 is realized by, for example, a general-purpose computer executing processing according to the program according to the present embodiment. Alternatively, the terminal device 33 may be configured as a so-called dedicated device.

  FIG. 4 is a block diagram showing the configuration of the terminal device 33. The terminal device 33 includes a receiving unit 331, an operation position specifying unit 332, a display unit 333, a tamper angle adjusting unit 334, and a transmitting unit 335.

  The receiving unit 331 receives position data indicating the position specified by the GNSS unit from each of the GNSS unit 24 and the GNSS unit 25. The receiving unit 331 receives inclination data indicating inclination with respect to the vertical direction specified by the inclination sensors 26 from the inclination sensor 26, the inclination sensor 27, the inclination sensor 28, and the inclination sensor 29. The receiving unit 331 receives shape data representing the three-dimensional shape of the water bottom specified by the three-dimensional sonar 30 from the three-dimensional sonar 30.

  The operation position specifying means 332 specifies the operation position of the tamper 15, that is, the position of the tamper 15 on the underwater leveling surface. The operating position specifying means 332 includes position data received by the receiving means 331 from each of the GNSS unit 24 and the GNSS unit 25, and inclination data received from each of the inclination sensor 26, the inclination sensor 27, the inclination sensor 28, and the inclination sensor 29. Based on the above, the operating position of the tamper 15 is specified.

  The display unit 333 uses the identification result of the operation position identification unit 332, that is, the operation position of the tamper 15 and the shape data (the identification result of the three-dimensional sonar 30) received by the reception unit 331 from the three-dimensional sonar 30. Displays the construction status.

  FIG. 5 is a diagram illustrating a screen displayed by the display means 333 (hereinafter referred to as “construction status display screen”). In the construction status display screen, the three-dimensional shape of the water bottom specified by the three-dimensional sonar 30, the position of the backhoe 10 with respect to the water bottom, the position of the leveling plate 151 on the underwater leveling surface, that is, the operating position of the tamper 15 are: An image of the work ship 1 viewed from the side and an image of the work ship 1 viewed from above are displayed. The operator can perform the leveling operation on the water leveling surface while confirming the operating position of the tamper 15 by performing an operation on the operation device 31 while viewing the construction status display screen.

  The description of the configuration of the terminal device 33 will be continued with reference to FIG. The tamper angle adjusting means 334 specifies the water averaged surface inclination angle at the operating position of the tamper 15 based on the shape data (the specifying result of the three-dimensional sonar 30) received by the receiving means 331 from the three-dimensional sonar 30. Further, the tamper angle adjusting means 334 is the inclination data received from the inclination sensor 29 by the receiving means 331 so that the vibration direction of the tamper 15 is along the normal line of the underwater leveling surface having the specified water averaged surface inclination angle. The drive unit 21 is controlled while referring to (specific result of the tilt sensor 29), and the angle around the horizontal axis of the tamper 15 with respect to the arm 14 is adjusted. Specifically, the tamper angle adjusting means 334 specifies an angle between the vibration direction of the tamper 15 specified based on the inclination data received from the inclination sensor 29 and the normal line of the underwater leveling surface at the operating position. Then, the length of the drive unit 21 at which the angle is 0 degree is specified, and control data for instructing the drive unit 21 to expand and contract is generated so as to have the specified length.

  The transmission unit 335 transmits the control data for the drive unit 21 generated by the tamper angle adjustment unit 334 to the drive unit 21 via the control device 32. The drive unit 21 expands and contracts according to control data received from the terminal device 33 via the control device 32. As a result, the angle of the tamper 15 with respect to the arm 14 is changed so that the vibration direction of the tamper 15 is along the normal line of the water leveling surface at the operating position.

  FIG. 6 is a top view of the leveling plate 151 included in the tamper 15. The leveling plate 151 has one or more cylindrical through-holes 1511 whose axis is a direction along a normal line of a surface in contact with the water leveling surface of the leveling plate 151. The diameter of the through hole 1511 is smaller than the average rubble diameter. Therefore, when the water leveling operation is performed by the leveling plate 151, the rubble does not pass through the through hole 1511.

  When the operator controls the backhoe 10 and throws the tamper 15 into the water from the air, moves the tamper 15 in the water, or lifts the tamper 15 from the water to the air, the leveling plate 151 On the other hand, a great force is added by the resistance of water. In particular, when a large force due to the resistance of water is applied to a shaft connecting the main body of the tamper 15 and the leveling plate 151 in a direction not along the direction of the shaft, damage such as bending of the shaft may occur. . Further, when the water leveling operation is performed by the tamper 15, a force due to water resistance is applied to the leveling plate 151 that vibrates in water. Therefore, the force applied from the leveling plate 151 to the underwater leveling surface is weakened. The through hole 1511 forms a water movement path in a direction penetrating the leveling plate 151. As a result, the force due to the resistance of water applied to the leveling plate 151 is reduced by the through-holes 1511, the risk of damage to the tamper 15 is reduced, and the efficiency of leveling work on the underwater leveling surface is increased.

  FIG. 7 is a cross-sectional view of the leveling plate 151 taken along the line XX shown in FIG. As shown in FIG. 7, a chamfering process is performed on a circular edge portion in contact with the through-hole 1511 on the surface of the leveling plate 151 on the side in contact with the water leveling surface to form a chamfered portion 1512.

  FIG. 8 is a diagram for explaining the role of the chamfered portion 1512. FIG. 8A illustrates a state where the leveling work is performed by the leveling plate 151 in which the chamfered portion 1512 is not provided for the rubble S placed on the surface of the leveled surface in water. FIG. 8B illustrates a state in which the leveling work is performed by the leveling plate 151 provided with the chamfered portion 1512 on the rubble S placed on the surface of the leveled surface in water. As shown in FIG. 8A, when the leveling work is performed by the leveling plate 151 that is not provided with the chamfered portion 1512, the sharp corner at the lower end of the through hole 1511 collides with the rubble S, There is a risk that the cracked Cr enters the rubble S or the rubble S is crushed. On the other hand, as shown in FIG. 8B, when the leveling work is performed by the leveling plate 151 provided with the chamfered portion 1512, there is no sharp corner at the lower end of the through hole 1511, and the leveling plate When 151 collides with the rubble S, the risk that the rubble S will be crushed is reduced.

  According to the work boat 1 described above, the water leveling surface close to an existing structure that cannot be leveled by the vertical rolling type or the underwater vibro type, or the water leveling surface under the bridge can be leveled safely with high efficiency. be able to.

  Further, according to the work boat 1 described above, the operator of the backhoe 10 confirms the operation position of the tamper 15 with respect to the underwater leveling surface on the construction status display screen (see FIG. 5) displayed on the terminal device 33. By manipulating the backhoe 10 and moving the tamper 15 to a desired operating position, it is possible to perform an underwater leveling operation at the desired operating position. At that time, the angle of the tamper 15 with respect to the arm 14 is automatically adjusted so that the vibration direction of the tamper 15 is along the normal line of the water leveling surface. Therefore, the leveling work is performed efficiently.

[Modification]
The above-described embodiments are specific examples of the present invention, and various modifications can be made within the scope of the technical idea of the present invention. Examples of these modifications are shown below. The following two or more modified examples may be combined as appropriate.

(1) In the work boat 1 described above, the operation position specifying means 332 is based on the inclination with respect to the vertical direction specified by the inclination sensor 26, the inclination sensor 27, the inclination sensor 28, and the inclination sensor 29, and the boom 13 for the upper swing body 12. The angle around the horizontal axis, the angle around the horizontal axis of the arm 14 relative to the boom 13, and the angle around the horizontal axis of the tamper 15 relative to the arm 14 are specified. The method by which the operating position specifying means 332 specifies these angles is not limited to the method based on the inclination with respect to the vertical direction specified by the inclination sensor. That is, the operation position specifying means 332 specifies the angle around the horizontal axis of the boom 13 with respect to the upper swing body 12, the angle around the horizontal axis of the arm 14 with respect to the boom 13, and the angle around the horizontal axis of the tamper 15 with respect to the arm 14. The type of information used may be any type as long as it is information indicating the positional relationship between the upper swing body 12 and the boom 13, the positional relationship between the boom 13 and the arm 14, and the positional relationship between the arm 14 and the tamper 15. For example, the work boat 1 is configured to include a stroke meter that measures the stroke length of the drive unit 19, the drive unit 20, and the drive unit 21 instead of the tilt sensor 27, the tilt sensor 28, and the tilt sensor 29, and the operation position Based on the data indicating the measurement results of these stroke meters by the specifying means 332, the angle around the horizontal axis of the boom 13 with respect to the upper swing body 12, the angle around the horizontal axis of the arm 14 with respect to the boom 13, and the horizontal of the tamper 15 with respect to the arm 14. A configuration for specifying an angle around an axis may be employed.

(2) In the work boat 1 described above, a chamfering process that does not round the round edge portion that contacts the through hole 1511 is performed on the surface of the leveling plate 151 that contacts the underwater leveling surface. Instead of this chamfering process, a chamfering process (round chamfering process) in which the circular edge is rounded may be performed.

(3) The shape, size, and arrangement of the components of the work boat 1 shown in the drawings in the above-described embodiment are examples for explanation, and various other shapes, sizes, and arrangements can be adopted. For example, in the above-described embodiment, the through-hole 1511 has a cylindrical shape whose axis is the direction along the normal line of the surface in contact with the water leveling surface of the leveling plate 151. It may be a cylindrical shape whose axis is a direction not along the line. Further, the shape of the cross section perpendicular to the axis of the through hole 1511 may be a shape other than a circle (rectangular shape or the like).

(4) In the work boat 1 described above, the shape of the water bottom specified by the three-dimensional sonar 30 and the operating position of the tamper 15 specified by the operating position specifying means 332 are determined by the display means 333 of the terminal device 33 by the construction status. Displayed simultaneously on the display screen. Instead of this, the shape of the water bottom specified by the three-dimensional sonar 30 and the operating position of the tamper 15 specified by the operating position specifying means 332 may be individually displayed by different display devices, for example. Alternatively, only the shape of the water bottom specified by the three-dimensional sonar 30 may be displayed.

  The three-dimensional sonar 30 measures the three-dimensional shape of an object existing in water in real time. Therefore, the display device that displays the measurement result of the three-dimensional sonar 30 can display a part of the backhoe 10 and the shape of the tamper 15 in addition to the shape of the bottom of the water. In this modified example, the operator can operate the operation device 31 while viewing the shape of the water bottom displayed by the display device and the positional relationship between the backhoe 10 and the tamper 15 with respect to the water bottom.

(5) In the work boat 1 described above, the tamper angle adjusting means 334 automatically adjusts the angle of the tamper 15 with respect to the underwater leveling surface at the operation position of the tamper 15. The work boat 1 may not have the function of automatically adjusting the angle of the tamper 15. In this modification, the operator operates the operation device 31 while looking at the shape of the water bottom displayed on the construction status display screen and the angle of the tamper 15 with respect to the water bottom, and the vibration direction of the tamper 15 is equalized in the water at the operating position. What is necessary is just to adjust the angle of the tamper 15 with respect to the arm 14 so that it may become a direction along the normal line of a surface.

DESCRIPTION OF SYMBOLS 1 ... Work ship, 10 ... Backhoe, 11 ... Hull, 12 ... Upper turning body, 13 ... Boom, 14 ... Arm, 15 ... Tamper, 16 ... Connection part, 17 ... Connection part, 18 ... Connection part, 19 ... Drive part , 20 ... drive unit, 21 ... drive unit, 22 ... GNSS unit, 23 ... azimuth sensor, 24 ... GNSS unit, 25 ... GNSS unit, 26 ... tilt sensor, 27 ... tilt sensor, 28 ... tilt sensor, 29 ... tilt sensor , 30 ... Three-dimensional sonar, 31 ... Operation device, 32 ... Control device, 33 ... Terminal device, 151 ... Leveling plate, 331 ... Receiving means, 332 ... Operating position specifying means, 333 ... Display means, 334 ... Tamper angle adjustment Means, 335 ... transmission means, 1511 ... through hole, 1512 ... chamfered portion

Claims (4)

A hull floating on the surface of the water,
A device that travels in an endless track on the hull,
An upper swing body,
A boom that is connected to the upper swing body so as to be rotatable about a horizontal axis, and reaches the water in a state of extending in the traveling direction of the device;
A non-stretchable arm rotatably connected to the boom about a horizontal axis;
A tamper that smoothes the water leveling surface using a leveling plate to which vibration is transmitted from the vibration mechanism;
A connecting means for connecting the tamper so as to be rotatable about a horizontal axis at the tip of the arm, and a range of rotation of the tamper including the both sides of the axis of the arm;
A drive means for changing the angle around the horizontal axis of the tamper by transmitting a force to the connecting means ;
Data indicating the position of the upper swing body on the earth measured by a measuring device disposed on the upper swing body, data indicating the direction in which the boom extends from the upper swing body, and the upper swing body Based on data indicating the inclination of the upper body, data indicating the positional relationship between the upper swing body and the boom, data indicating the positional relationship between the boom and the arm, and data indicating the positional relationship between the arm and the tamper. An operation position specifying means for specifying an operation position of the tamper is provided. The work boat according to claim 1, wherein the leveling plate has one or more through holes. Water bottom shape specifying means for specifying the shape of the water bottom;
The work ship according to claim 1 , further comprising: a display unit configured to display a construction status by the tamper using a specification result of the operation position specifying unit and a specification result of the bottom shape specifying unit. A bottom shape identifying means for identifying the bottom shape;
Based on the result of specifying the bottom shape specifying means, the inclination angle of the underwater leveling surface at the operating position of the tamper is specified, and the vibration direction of the tamper follows the normal line of the underwater leveling surface having the specified inclination angle. 2. The work according to claim 1 , further comprising tamper angle adjusting means for adjusting the angle of the tamper by controlling the driving means while referring to data indicating a positional relationship between the arm and the tamper. boat.

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