JP2004020533A - Control device for mobile object and control method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for mobile object and a control method thereof for accurately monitoring relative position by the movement of a mobile object by a simple method. <P>SOLUTION: The positions and the quantity of measuring points 9 are determined with respect to an existing building 8 and reflectors 4 are fixed, and also a position capable of transmitting a light wave to the reflectors 4 and a total station 3 is specified. Relative distances, relative heights, and the amounts of variations thereof among a plurality of the measuring points 9 before and after the movement of the existing building 8 are calculated via a computing device placed on the body 13 of the control device, and whether the amounts of variation is within an allowable range not destroying the building 8 or not is determined using the computing device. When determining the amounts within allowable range, whether the building 8 reaches a desired position or not is checked. When the building 8 does not reach it, the movement of the building 8 is continued by returning to a third process again to repeat the third process and a fourth process until reaching a desired area. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a mobile object management method and a mobile object management device that monitor whether a mobile object is deformed due to movement.
[0002]
[Prior art]
For example, in a pulling bar construction in which an existing building is moved to a desired position, it is important to prevent the existing building from being distorted or to keep the distortion within an allowable value in order to prevent the existing building from being destroyed.
[0003]
[Problems to be solved by the invention]
In order to manage the distortion of such an existing building, there is a need for an apparatus and a method for monitoring the relative position of the existing building at the time of movement in real time, and specifying the above location in the event of an abnormality.
[0004]
In view of the above circumstances, an object of the present invention is to provide a moving object management method and a moving object management device that monitor the relative positions of measurement points provided on the moving object with high accuracy by a simple method.
[0005]
[Means for Solving the Problems]
The mobile object management device according to claim 1, wherein the mobile object management device monitors a relative position of a measurement point provided on the mobile object, wherein the reflector is fixed to a plurality of measurement points provided on the mobile object. A measuring device including a total station that measures the coordinate data of the measuring point via a reflector, and the coordinate data obtained from the measuring device is stored, and a relative distance between the plurality of measuring points, and a relative height. A calculating device for calculating and calculating a relative distance between the plurality of measurement points before and after the movement and a relative height change amount, and determining whether the change amount is allowable; and outputting a calculation processing result by the calculating device. And an output device that performs the operation.
[0006]
3. The moving object management device according to claim 2, wherein the arithmetic unit has an acceptance criterion serving as an index of whether or not the relative distance between the plurality of measurement points before and after the movement and the amount of change in the relative height are allowed. An input device for inputting a value is provided.
[0007]
The mobile object management device according to claim 3, wherein the total station of the measuring device has an automatic tracking function of automatically detecting a reflector even when the reflector to be measured moves. .
[0008]
In the moving object management method according to the fourth aspect, after setting a plurality of measurement points for measuring coordinate data on an outer peripheral surface of the moving object, a measuring device for measuring the coordinate data of the measurement points is located at a predetermined position. A first step of arranging, and measuring the coordinate data of a plurality of measurement points on the moving body before the movement using the measurement device, and then, via a calculation device, a relative distance and a relative height between the plurality of measurement points. A second step of calculating the distance, and measuring the coordinate data of a plurality of measurement points provided on the moving body after the movement using a measurement device, and then measuring the relative data between the plurality of measurement points via an arithmetic device. A third step of calculating a distance and a relative height; and a relative distance and a relative height between a plurality of measurement points before and after movement from the calculation results of the second step and the third step using the arithmetic device. The fourth change is calculated by calculating the amount of change in the It becomes the and extent, the moving body is and repeating until moved to a predetermined position, the fourth step from the third.
[0009]
According to a fifth aspect of the present invention, in the mobile object management method, the third step is performed at predetermined time intervals or at predetermined movement distances while the movement is continued.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a mobile object management apparatus and a mobile object management method using the mobile object management apparatus according to the present invention will be described in detail with reference to FIGS.
When the three-dimensional moving body is moved in the horizontal direction, if the relative position changes between the members constituting the moving body, the entire moving body is distorted, which easily causes destruction. The present invention corresponds to this, and always measures the relative position and relative distance of the measurement points provided on each member constituting the moving body, and the relative height, and measures the relative distance between the measurement points, and the relative height. A moving body management method for monitoring the health of the moving body by calculating a change amount before and after the movement in the moving body, and determining whether the change amount is within an allowable range where destruction of the moving body does not occur, and 3 shows a mobile object management device.
In the present embodiment, the existing building 8 is taken as an example of the moving body, and the existing building 8 is horizontally displaced without being dismantled, and is applied at the time of a pulling bar construction in which the existing building 8 is relocated to the upper part of a previously constructed foundation. The mobile object management method and the mobile object management device will be described in detail.
[0011]
As shown in FIG. 1, a mobile object management device 1 according to the present invention includes a mobile object management device main body 13 and a measurement device 2.
The measuring device 2 includes a total station 3 and a reflector 4, and is generally used for surveying such as civil engineering work. In general, the reflector 4 is fixed to an arbitrary position to be measured in advance, and the total station 3 is installed at a fixed position that is stable within a range where the light wave can be transmitted to the reflector 4, and the light wave emitted from the total station 3 is transmitted. The reflector 4 recognizes the coordinate data of the position where the reflector 4 is fixed, and transmits the coordinate data to the main body 13 of the mobile body management device such as a personal computer via a wired connection or the wireless LAN 12.
In the present embodiment, as shown in FIG. 2, the reflectors 4 are fixed to a plurality of locations set as measurement points 9 on the outer peripheral surface of the existing building 8 which is a moving body. A plurality of total stations 3 are arranged at a desired distance from the existing building 8 and so as to surround the existing building 8 so that light waves can be transmitted to all of these reflectors 4. In addition, the automatic tracking type is used for the total station 3, and the total station 3 automatically detects the reflector 4 even when the reflector 4 moves with the movement of the existing building 8. have. The reflector 4 uses a light-wave prism that is generally used. However, the present invention is not limited to this, and a light-wave mirror or the like may be used.
[0012]
As shown in FIG. 1, the mobile management apparatus main body 13 includes an input device 7, an arithmetic device 5, and an output device 6. The arithmetic unit 5 generally has a data area and a program area, and performs arithmetic processing using data stored in the data area and arithmetic expressions stored in the program area. The output unit 6 outputs data stored in a data area of the arithmetic unit 5 and calculation results when an arithmetic process is performed using an arithmetic expression stored in a program area. Any of a printer and the like may be used. The arithmetic unit 5 is configured to be able to input data to the data area not only by the measuring device 2 but also by an input device 7 such as a scanner or a keyboard.
In the present embodiment, at least coordinate data such as position coordinates and level coordinates obtained from the measuring device 2 are stored in the data area of the arithmetic device 5, and coordinate data is stored in the program area using the coordinate data. A first arithmetic expression for calculating the relative distance and the relative height between the plurality of measurement points 9 set on the existing building 8, and the plurality of measurement points before and after the movement of the existing building 8 The second arithmetic expression for calculating the amount of change in each of the relative distance and the relative height between the first and the second and the third arithmetic expression for determining whether or not the amount of change calculated by the second arithmetic expression is allowable are stored. Have been.
Note that the above-described mobile body management device main body 13 may be installed at any of a construction site, a construction office, and the like as long as coordinate data can be received from the measurement device 2.
[0013]
A mobile object management method using the mobile object management device 1 will be described with reference to an example in which the mobile object management device 1 having the above-described configuration is applied to a pulling house construction and the health of an existing building 8 being moved is monitored. This will be described in detail according to the flow shown in FIG.
[0014]
(First step)
First, with respect to the existing building 8 set as a moving body, a position determined to be necessary for monitoring, and a position where distortion is likely to occur from a structural point of view are investigated, and a position where the measurement point 9 is provided and The quantity is determined (step S1).
Next, as shown in FIG. 2, the reflector 4 constituting the measuring device 2 is fixed to the measuring point 9 via fixing means, and in a region where the movement of the existing building 8 is not hindered, and The position where light waves can be transmitted to the reflector 4 is specified, and the total station 3 constituting the measuring device 2 is installed (Step S2).
The number of the total stations 3 may be determined as appropriate according to the number and positions of the reflectors 4. The position of the adjacent total stations 3 at which light waves can be received from the adjacent total stations 3 affects the movement of the existing building 8. There is a fixed point 10 which is not affected by this, and the reflector 4 is also attached to the fixed point 10. Further, the mobile body management device main body 13 is also arranged at a desired position such as a construction site.
[0015]
(Second step)
For the purpose of measuring the relative distance between the plurality of measurement points 9 and the relative height before the movement of the existing building 8, the measurement device 2 is used to measure the position coordinates and the level coordinates of the measurement points 9. Measure the coordinate data. The measured coordinate data is input to the arithmetic unit 5 provided in the mobile object management device main body 13 via the wireless LAN 12 or a wire, and a plurality of coordinate data is calculated by the first arithmetic expression stored in the program area of the arithmetic unit 5. The relative distance and the relative height between the measurement points 9 are calculated (step S3).
The calculation result is stored in the data area of the arithmetic unit 5, but may be output to the output unit 6.
[0016]
(Third step)
The movement of the existing building 8 is started (step S4).
At the time of moving at an arbitrary time or at an arbitrary distance, the measuring device 2 is used for measuring a relative distance and a relative height between a plurality of measuring points 9 after the movement of the existing building 8. Then, coordinate data such as position coordinates and level coordinates of the measurement point 9 is measured. Similar to the second step, the measured coordinate data is input to the arithmetic unit 5 provided in the mobile body management device main body 13 via the wireless LAN 12 or a wire, and the arithmetic unit 5 calculates a plurality of measurement points 9 between the measurement points 9. Each relative distance and relative height are calculated, and the calculation result is stored in the data area of the arithmetic device 5 (Step S5).
[0017]
(Fourth step)
Using the calculation results of the second step and the third step stored in the data area of the arithmetic unit 5 and the second arithmetic expression stored in the program area of the arithmetic unit 5, the existing building 8 The relative distance between the plurality of measurement points 9 before and after the movement and the amount of change in the relative height are calculated. Further, in order to confirm that the amount of change causing the distortion of the existing building 8 is within an allowable range where the existing building 8 is not destroyed, it is stored in the program area of the arithmetic unit 5. It is determined whether the amount of change is allowable using the third calculation expression.
In this determination, an allowable reference value 11 is set in advance between each of the plurality of measurement points 9 in consideration of various conditions such as the structural form of the existing building 8, the soundness of the structure, and location conditions, and this is set as reference data. The comparison is performed by comparing the relative distance between the plurality of measurement points 9 before and after the movement of the existing building 8 and the amount of change in the relative height. The allowable reference value 11 may be stored in the data area of the arithmetic unit 5 in advance, but the allowable reference value 11 may be appropriately set using the input device 7 provided in the mobile unit management device main body 13 so that it can be set arbitrarily. The reference value 11 may be input to the arithmetic unit 5 (Step S6).
[0018]
In the present embodiment, since the total station 3 of the measuring device 2 is provided with an automatic tracking function, step S5 in the third step and step S6 in the fourth step are performed in the existing building 8 The measurement is continuously performed in a moving state, that is, in a state in which the plurality of measurement points 9 are moving.
[0019]
In the fourth step, when it is determined that the relative distance between the plurality of measurement points 9 before and after the movement of the existing building 8 and the amount of change in the relative height are acceptable, the existing building 8 is desired. It is confirmed whether the position has reached the position. If the position has not reached, the process returns to step S4 of the third step again to continue moving the existing building 8. As described above, the third step and the fourth step are repeated, and the amount of change in the relative height and the relative height between the plurality of measurement points 9 before and after the movement of the existing building 8 is measured. The soundness of the building 8 is monitored, and the work is terminated when the existing building 8 reaches the desired position (step S7).
[0020]
In the fourth step, when it is determined that the relative distance between the plurality of measurement points 9 before and after the movement of the existing building 8 and the amount of change in the relative height are unacceptable, the existing building 8 Stop moving. Next, a measurement point 9 at which a change amount deviating from the allowable reference value 11 is calculated from the calculation result of the arithmetic device 5 in the fourth step is output to the output device 6 provided in the mobile body management device main body 13, The location where a defect such as the distortion of the existing building 8 or the collapse of the pillar has occurred is specified (step S8).
Using the output result of step S8, the part of the existing building 8 where the distortion has occurred is repaired (step S9).
Thereafter, returning to step S5 of the third process, the relative distance and the relative height between the plurality of measurement points 9 of the existing building 8 are calculated again, and the plurality of measurement points before and after the movement in the fourth process are performed. The calculation of the relative distance and the relative height change amount for each of the nine sections and the determination of the permissibility are performed again. Thereafter, when it is determined that the existing building 8 is acceptable, the process returns to step S4 of the third step again and resumes the movement of the existing building 8 as described above.
[0021]
According to the above-described configuration, the mobile object management device 1 has a simple configuration including the measuring device 2 and the mobile object management device main body 13, so that the versatility and workability are high, and the construction cost and the construction period are reduced. It becomes possible. Further, since the measuring device 2 is configured by the reflector 4 and the total station 3 that transmits light waves to the reflector 4, the measuring device 2 can be easily installed and removed, and can be used even when the number of measuring points is large. A configuration that can be easily handled and has versatility can be obtained.
[0022]
Since the automatic tracking function is provided in the total station 3 used in the measuring device 2, it is possible to continuously acquire the coordinate data while continuing the movement of the measuring point 9, and it is not necessary to interrupt the moving operation, and the real-time Thus, the soundness of the existing building 8 can be monitored.
[0023]
When determining whether or not the relative distance between the plurality of measurement points 9 before and after the movement of the existing building 8 and the amount of change in the relative height are allowable, an allowable reference value 11 used as reference data is determined using the input device 7. Since it can be set arbitrarily, it is possible to appropriately adjust according to the arrangement position of the existing building 8 and the situation at that place, and it is possible to make a highly accurate determination.
[0024]
The mobile object management method using the mobile object management device 1 can perform a pulling bar construction while monitoring the soundness of the existing building 8, which is a mobile object, with a simple configuration. It is possible to greatly reduce the construction cost and shorten the construction period. In addition, since all can be automatically controlled, human resources are not required for measurement management, and labor and labor can be saved.
[0025]
【The invention's effect】
According to the moving object management device of claim 1, the moving object management device monitors a relative position of a measurement point provided on the moving object, wherein the reflector is fixed to a plurality of measurement points provided on the moving object. And a measuring device including a total station that measures the coordinate data of the measuring point via the reflector, and the coordinate data obtained from the measuring device are stored, and the relative distance between the plurality of measuring points, and the relative An arithmetic unit for calculating the height, calculating the relative distance between the plurality of measurement points before and after the movement, and the amount of change in the relative height, and determining whether or not the amount of change is acceptable; Since it has an output device for outputting the result, versatility and workability are high, and it is possible to realize a reduction in construction cost and a construction period. In addition, since the measuring device is composed of a reflector and a total station that transmits light waves to the reflector, it is easy to install and remove the measuring device, and can easily cope with a large number of measuring points, A configuration having versatility can be obtained.
[0026]
According to the moving object management device of the second aspect, the arithmetic device serves as an index of whether or not the relative distance between the plurality of measurement points before and after the movement and the amount of change in the relative height are allowable. Since the input device for inputting the permissible reference value is provided, it is possible to appropriately adjust according to the arrangement position of the moving body and the situation at the place, and it is possible to perform highly accurate determination.
[0027]
According to the mobile object management device according to claim 3, since the total station of the measurement device has an automatic tracking function of automatically detecting a reflector even when the reflector serving as a measurement target moves, It is possible to continuously acquire coordinate data while continuing to move the measurement point.
[0028]
According to the moving object management method of the fourth aspect, after setting a plurality of measuring points for measuring coordinate data on the outer peripheral surface of the moving object, a measuring device for measuring the coordinate data of the measuring points is predetermined. A first step of arranging at a position, and using the measuring device, after measuring coordinate data of a plurality of measuring points on the moving body before moving, a relative distance between the plurality of measuring points via the arithmetic device, and A second step of calculating the relative height, and after using a measuring device to measure coordinate data of a plurality of measuring points provided on the moving body after the movement, a plurality of measuring points between the plurality of measuring points are calculated via an arithmetic device. And a third step of calculating the relative distance and the relative height, and using the arithmetic device, the relative distance between the plurality of measurement points before and after the movement from the calculation results of the second step and the third step, and Calculate the amount of change in relative height and determine whether the amount of change is acceptable Since the third and fourth steps are repeated until the moving body moves to a predetermined position, the health of the moving body can be monitored by a simple method. In addition to improving the efficiency, it is possible to greatly contribute to the reduction of the construction cost and the construction cost.
[0029]
According to the moving object management method of the fifth aspect, since the third step is performed at predetermined time intervals or at predetermined moving distances while the movement is continued, it is necessary to interrupt the movement work. Without monitoring the health of the mobile object in real time. In addition, since all operations can be automatically controlled, human resources are not required for measurement management, and labor and labor can be saved.
[Brief description of the drawings]
FIG. 1 is a diagram showing a mobile management apparatus according to the present invention.
FIG. 2 is a diagram showing an arrangement state of a mobile management apparatus according to the present invention.
FIG. 3 is a diagram showing a flow of a mobile object management method according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Moving object management device 2 Measuring device 3 Total station 4 Reflector 5 Operation device 6 Output device 7 Input device 8 Existing building (moving object)
9 Measurement point 10 Fixed point 11 Acceptable reference value 12 Wireless LAN
13 Mobile management unit

Claims (5)

A moving body management device that monitors a relative position of a measurement point provided on the moving body,
A reflector fixed to a plurality of measurement points provided on a moving body, and a measurement device including a total station for measuring coordinate data of the measurement points via the reflector,
While the coordinate data obtained from the measurement device is stored, the relative distance between the plurality of measurement points, and the calculation of the relative height, and the relative distance between the plurality of measurement points before and after movement, and the relative height An arithmetic device that calculates the amount of change and determines whether the amount of change is acceptable;
An output device for outputting a result of the arithmetic processing by the arithmetic device. The mobile object management device according to claim 1,
The arithmetic device may include an input device for inputting an allowable reference value serving as an index of whether or not the relative distance between the plurality of measurement points before and after the movement and the amount of change in the relative height. Characteristic mobile object management device. The mobile object management device according to claim 1 or 2,
The moving object management device, wherein the total station of the measuring device has an automatic tracking function of automatically detecting the reflector even when the reflector serving as a measurement target moves. A first step of setting a plurality of measurement points for measuring coordinate data on the outer peripheral surface of the moving body, and arranging a measurement device for measuring the coordinate data of the measurement points at a predetermined position;
A second step of calculating relative distances and relative heights between the plurality of measurement points via an arithmetic unit after measuring coordinate data of the plurality of measurement points on the moving object before moving using the measurement device; When,
After the coordinate data of the plurality of measurement points provided on the moving body after the movement is measured using a measurement device, the relative distance between the plurality of measurement points via the arithmetic device, and the relative height are calculated. 3 steps,
Using the arithmetic device, a relative distance between a plurality of measurement points before and after movement and a relative height change amount are calculated from the calculation results of the second step and the third step, and whether or not the change amount is allowable is determined. The fourth step of determining
A moving body management method, wherein the third to fourth steps are repeated until the moving body moves to a predetermined position. The mobile object management method according to claim 4,
The moving object management method, wherein the third step is performed at predetermined time intervals or at predetermined movement distances while the movement is continued.

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