JP6701562B2 - Construction support device, construction support method and construction support program - Google Patents

Description

  The present invention relates to a construction support device, a construction support method, and a construction support program.

  BACKGROUND ART Conventionally, a technique has been proposed in which a plurality of beacon transmitters are distributed in a positioning space with a substantially uniform density, and a beacon including an ID of the own device is emitted to the surroundings (for example, Patent Document 1). According to this technique, a beacon receiver of a mobile station radio receives a beacon from a nearby beacon transmitter and measures its electric field strength. The base station receives the beacon information from the mobile station radio and refers to the beacon transmission position information table to obtain the beacon transmission position. Further, the current position of the mobile station wireless device is calculated based on the transmission position and the ratio of the electric field strength in the mobile station wireless device for each beacon.

  There is also proposed a technique of setting a virtual gate and detecting that the dump truck approaches the virtual gate based on dump position information transmitted from the dump truck (for example, Patent Document 2). According to this, the approach of the dump truck can be notified to the operator or the worker. Moreover, it is said that the virtual gate can be easily set at an optimum position according to various conditions such as road conditions around the construction site and progress of the construction, so that the loading work can be made efficient.

JP, 2011-17684, A Japanese Patent Laid-Open No. 2008-71008

  Conventionally, there has been a technique for acquiring position information using a so-called beacon. When the beacon transmitter is installed in an existing building, the position where the beacon is installed can be registered in advance in association with the ID of the beacon, for example.

  On the other hand, during construction, site and structure surveys are performed based on reference points called benchmarks. The benchmark is a fixed point provided on the premises and on surrounding roads. In the process of constructing the structure, the beacon transmitter could not be installed in advance, and it was difficult to acquire the position information using the beacon.

  Therefore, an object of the present invention is to provide a technique capable of easily acquiring position information in a construction process.

  A construction support device according to the present invention is a structure design including a receiver that receives a beacon signal used to obtain position information from a transmitter arranged at a construction site and information indicating an installation location of the transmitter. A position calculation unit that reads information indicating the installation location of the transmitter associated with the beacon signal received by the receiver from the storage device that stores the information, and uses the read information to determine the position of the receiver; A construction support processing unit that performs processing for supporting construction based on the position of the receiver obtained by the unit.

By doing so, it becomes possible to obtain the position information at the construction site by utilizing the design information. That is, it is an object of the present invention to provide a technique capable of easily acquiring position information in a construction process.

  Further, as the number of transmitters arranged increases as the construction process progresses, the design information includes information indicating the process in which each transmitter is arranged, and the position calculation unit determines the beacon signal received by the receiver. The process at that time may be specified based on the above, and the construction support processing unit may perform the process for supporting the construction in accordance with the specified process. By doing so, it is possible to appropriately perform the process of supporting the construction according to the progress of the construction.

  Further, the process for supporting the construction may include a process for displaying the position of the receiver obtained by the position calculation unit on the drawing of the construction site. In this way, specifically, the position of the receiver may be displayed in an overlapping manner on the drawing of the construction site.

  Further, the process for supporting the construction may be a process for supporting the operation of the vehicle or the construction machine. For example, at least a part of the operation of the vehicle or the construction machine may be automated.

  In addition, when the position calculation unit detects a beacon signal transmitted from a position that does not match the transmitter installation location read from the storage device, the construction support processing unit performs a process of outputting information notifying of an abnormality. Further, it may be performed. By doing so, the installation position of the transmitter can be verified.

  The contents described in the means for solving the problems can be combined as much as possible without departing from the problems and technical ideas of the present invention. The contents of the means for solving the problems can be provided as an apparatus such as a computer or a system including a plurality of apparatuses, a method executed by the computer, or a program executed by the computer. A recording medium holding the program may be provided.

  According to the present invention, it is possible to provide a technique capable of easily acquiring position information in a construction process.

It is a figure which shows an example of a structure of a construction site. It is a block diagram which shows an example of a functional structure of a system. It is a figure which shows an example of BIM containing the information which shows the installation location of a transmitter. It is a figure showing the state where concrete was poured up to the second floor of a structure. It is a processing flow figure which shows an example of construction support processing. It is a figure for explaining an example of control of a device. It is a figure for demonstrating the other example of control of a device. It is a processing flow figure which shows an example of construction verification processing. It is a schematic plan view of a structure for explaining abnormality detection.

  Embodiments of the present invention will be described below with reference to the drawings. The following embodiments are examples, and the present invention is not limited to the following configurations.

<Structure>
FIG. 1 is a diagram showing an example of a construction site configuration according to the present embodiment. In the present embodiment, the beacon transmitter is arranged on the premises at the initial stage of the construction work and the construction process. Then, the beacon receiver included in the operator's computer device, construction equipment, or the like receives the beacon signal, and specifies the position of the receiver. In the example of FIG. 1, a transmitter 2 (2a to 2l) that transmits a beacon signal is arranged at the construction site 1, and position information is calculated on the side of the receiver 3 (3a to 3c) that receives the beacon signal. .. Here, the beacon signal is a predetermined wireless signal transmitted from the transmitter 2 whose installation location is known in advance, and the position of the receiver 3 can be obtained based on the beacon signal. For example, signals may be received from a plurality of transmitters 2 and the position may be calculated using trigonometry. Since the transmitter 2 can be said to play the role of a conventional benchmark, it is also called a “digital benchmark”.

  The transmitters 2a to 2c are provided inside the fence 4 at the ends of the site. The transmitter 2d is provided on the field office 5. The transmitters 2e to 2h are provided at the upper end of the structure (building) 6, respectively. The transmitter 2 i to the transmitter 2 l are provided at the ends of the gate provided on the fence 4. The installation place of the transmitter 2 is an example, and the present invention is not limited to such a configuration. For example, the transmitter 2 may be installed outside the site or inside the structure 6. Further, more transmitters 2 than shown may be arranged in a mesh, for example.

  The receiver 3a is provided on the hanging jig of the device 7a, which is a crane. The receiver 3b is provided in the device 7b, which is a truck. The receiver 3c is provided in the device 7c, which is a computer carried by an operator. The transmitter 2 and the receiver 3 may be installed in advance in other parts such as the material 8.

FIG. 2 is a block diagram showing an example of the functional configuration of the system according to the present embodiment. The device 7 includes a CPU (Central Processing Unit) 71, a storage device 72, an output unit 73, and a device control unit 74, and is connected to the receiver 3. Transmitter 2 and receiver 3 are Bluetooth
A beacon signal is transmitted and received by a predetermined wireless communication method such as (registered trademark). The device 7 may be a construction machine or a construction vehicle including a computer indicated by a broken-line rectangle, or a computer itself such as a tablet terminal that does not include the device control unit 74.

The CPU 71 functions as a processing unit that performs processing according to the present embodiment by executing a predetermined program. The storage device 72 is a main storage device or an HDD (Hard-disk Drive).
, SDD (Solid State Drive), eMMC (embedded Multi-Media Card), and other so-called auxiliary storage devices that store temporary or permanent data used in the present embodiment. The output unit 73 is a display, a touch panel, a speaker, or the like, and outputs predetermined information to the user. The device control unit 74 controls the operation of devices such as construction machines and construction vehicles. The device control unit 74 controls, for example, lifting of materials and traveling of the vehicle.

The CPU 71 specifically works as the position calculation unit 711 and the construction support processing unit 712. The position calculation unit 711 acquires the beacon signal received by the receiver 3 and reads design information including information indicating the location of the transmitter 2 from the storage device 72, and the position of the receiver 3 based on a predetermined algorithm. To calculate. For example, a beacon signal including identification information of each transmitter 2 is received from a plurality of transmitters 2, and the position of the receiver 3 is calculated based on the radio field intensity (electric field intensity) of the received signal. In the present embodiment, the storage device 72 holds information indicating the installation location of the transmitter 2 in addition to general BIM (Building Information Modeling) including design information of a structure represented by a three-dimensional model. I shall. Further, the construction support processing unit 712 performs processing for supporting construction based on the position information calculated by the position calculation unit 711. For example, the construction support processing unit 712 causes the output unit 73 to output a display for guiding the destination where the material is to be conveyed, or operates the device via the device control unit 74.

FIG. 3 is a diagram showing an example of a BIM including information indicating the installation location of the transmitter 2. The BIM holds a three-dimensional model of a structure and a site surrounding as shown on the right side of FIG. 3, and various attribute values regarding each part constituting the structure. BIM is information that has been created even for conventional buildings. Further, the BIM according to the present embodiment further holds information regarding the transmitter 2 that transmits the beacon signal. In the example of FIG. 3, the identification information (ID) of the transmitter 2, the coordinates indicating the installation location of the transmitter 2, and the information indicating the construction process for installing the transmitter 2 are stored. The system according to the present embodiment can identify the position on the site by using the beacon using the existing design information BIM. The information representing the three-dimensional model of the structure includes, for example, a row of vertices representing the outer wall of the structure and a row of vertices representing the upper end (ceiling) of each floor of the structure.

  FIG. 4 is a diagram showing a state in which concrete has been cast up to the second floor of the structure 6. In the present embodiment, the number of transmitters 2 installed increases as the construction process progresses. In the example shown in FIG. 4, after the step shown in FIG. 1, concrete is poured up to the second floor of the structure 6, and transmitters 2n to 2q installed on the second floor are added. The transmitter 2 is added based on the BIM design information. Alternatively, the transmitter 2 may be attached to the material in advance and the entire material may be installed. In this way, by receiving the beacon signal from the transmitter 2 installed on the second floor, the device 7 connected to the receiver 3 knows the progress of the construction process and lifts up the materials. It is possible to specify the power height and the travelable area on the site. That is, as described above, the information representing the three-dimensional model of the structure includes, for example, a row of vertices representing the outer wall of the structure and a row of vertices representing the upper end of each floor of the structure. Therefore, the spatial area through which the device (moving body) including the receiver 3 can pass is known. For example, when the construction site is vacant, the equipment including the receiver 3 can pass through any area on the plane (ground). However, after the waste container has been cast, the device 7b, which is a truck including the receiver 3b, cannot pass through the outer wall of the structure. Further, after the wall surface on the first floor is cast, the device 7c, which is a computer including the receiver 3c, cannot move across the wall surface of the structure. Similarly, as the upper floor of the structure is constructed, the equipment 7a, for example a crane with the receiver 3a, will know the height at which the material has to be lifted.

<Construction support processing>
FIG. 5 is a processing flow chart showing an example of the construction support processing according to the present embodiment. First, the receiver 3 included in the device 7 receives the beacon signal from the transmitter 2 (FIG. 5: S1). In this step, the signals including the respective identification information are received from the plurality of transmitters 2 and output to the position calculation unit 711 of the device 7.

  Further, the position calculation unit 711 of the device 7 identifies the current process based on the beacon signal received by the receiver 3 (S2). In this step, the transmitter 2 that has transmitted the received beacon signal is identified based on the design information stored in the storage device 72, which is installed in the latest step. For example, in the example of FIG. 3, when the beacon signal whose identification information is “B03” is received, it can be seen that at least the basic step is completed because the installation step corresponding to the identification information is “basic”. In addition, when the beacon signal whose identification information is “B05” is received, the installation step corresponding to the identification information is “first floor pouring”, so at least the step of pouring concrete on the first floor of the structure 6 is performed. You can see that is completed.

After that, the position calculation unit 711 specifies the position of the receiver 3 based on the beacon signal received by the receiver 3 and the design information stored in the storage device 72 (S3). In this step, the position calculation unit 711 reads the coordinates indicating the installation location stored in the storage device 72 in association with the identification information of the transmitter 2. Then, the position calculation unit 711 calculates the position of the receiver 3 based on a predetermined algorithm. For example, the position of the receiver 3 is calculated by obtaining the distance from the coordinates where each transmitter 2 is installed to the receiver 3 based on the ratio of the radio field intensity of the beacon signal received by the receiver 3 from each transmitter 2. You may do so. In this step, obstacles such as walls existing in the current process (process at the time of the process) are specified based on the progress status of the construction process specified in S2, and the attenuation of radio waves caused by the obstacle is taken into consideration. The position of the receiver 3 may be calculated.

  Further, the construction support processing unit 712 performs processing for supporting construction work based on the position information of the receiver 3 calculated by the position calculation unit 711 (S4). In this step, for example, information is output via the output unit 73, and the operation of the device 7 is controlled via the device control unit 74.

  For example, a drawing of the construction site and information indicating the position of the receiver 3 may be output in an overlapping manner on the display included in the device 7. Further, it is also possible to specify a region in which the vehicle can travel based on a map of the construction site in the current process, and perform driving support such as automatically driving the vehicle or guiding the destination. That is, since the apex row representing the outer wall of the structure 6 and the apex row representing the upper end of each floor of the structure 6 are known based on the information representing the three-dimensional model of the structure 6, the device 7 does not contact the structure 6. The operation of the device 7 can be controlled as described above. FIG. 6 is a diagram for explaining an example of device control. When it is determined based on the beacon signal that the structure 6 is in a vacant lot before the construction of the structure starts, there is no obstacle in the present process, and the truck also has a place to construct the structure 6 in the future. Can drive. In addition, the height at which the crane should lift the material may be obtained based on the height of the structure in the current process, and the crane may be automatically operated or the operation may be supported. FIG. 7 is a diagram for explaining another example of device control. When it is determined that the construction floor of the current process is the fourth floor of the structure 6 based on the beacon signal, the crane can appropriately lift the material so as not to contact the height up to the fourth floor. . Thus, in S4, for example, a process of controlling the device is performed so as to avoid contact with the structure 6. At this time, the device may be controlled with a margin so as to avoid contact with not only the structure 6 but also a scaffold or the like built around the structure 6. Further, the process of controlling the device 7 stops the operation of the device 7 in order to avoid the contact between the device 7 and the structure 6 when the radio wave intensity of the beacon signal received by the receiver 3 becomes a predetermined value or more. It may be one.

  As described above, according to the present embodiment, the information indicating the installation location and installation process of the transmitter is stored, and the transmitter is arranged in the construction process to utilize the design information of the BIM to construct the construction site. It is possible to acquire the position information in. Further, it is possible to perform various construction support processing using the position information. In particular, since the progress status of the construction process can be known according to the addition of the transmitter, it is possible to perform support processing according to the process.

<Construction verification processing>
FIG. 8 is a process flow chart showing an example of the construction verification process according to the present embodiment. In this process, the beacon signals are received from the plurality of transmitters 2 and the validity of the installation place of the transmitter 2 or the installation place of the material having the transmitter 2 is verified. Further, the construction verification process is repeatedly executed at a predetermined timing.

  First, the receiver 3 included in the device 7 receives the beacon signal from the transmitter 2 (FIG. 8: S11). The process of this step is similar to that of S1 of FIG. 5, and the receiver 3 receives the beacon signals from the plurality of transmitters 2. In addition, the position calculation unit 711 of the device 7 identifies the current process based on the beacon signal received by the receiver 3 (S12). The process of this step is the same as S2 of FIG. Then, the position calculation unit 711 of the device 7 calculates the position of the receiver 3 based on the beacon signal received by the receiver 3 (S13). The process of this step is the same as S3 of FIG.

After that, the construction support processing unit 712 of the device 7 determines whether or not the arrangement of the transmitter 2 is abnormal based on the beacon signals from the plurality of transmitters 2 and the design information stored in the storage device 72 ( S14). In this step, the transmitter 2 installed at a position that does not match the design information is detected. Specifically, when the position is calculated based on beacon signals from a plurality of transmitters 2, when a beacon signal from a certain transmitter 2 is used, the coordinates cannot be obtained on the plane of the floor. It detects that the installation place of the transmitter 2 is abnormal.

  FIG. 9 is a schematic plan view of a structure for explaining abnormality detection. Eight transmitters 2r to 2y are installed on a certain floor of the structure shown in FIG. Further, as indicated by broken line arrows, it is assumed that the transmitter 2x and the transmitter 2y are installed opposite to the arrangement in the design information stored in the storage device 72. Further, the device 7c held by the user has the receiver 3c, and the device 7c calculates the position of the receiver 3c using the radio wave intensities of a plurality of beacon signals based on the trigonometry. .. In the example of FIG. 9, when the position is calculated using the radio wave intensities of the beacon signals from the transmitter 2s, the transmitter 2t, and the transmitter 2w, the position of the illustrated receiver 3c on the same floor as the transmitter is obtained. However, when the position is calculated using the radio wave intensity of the beacon signal from the transmitter 2s, the transmitter 2t, and the transmitter 2y, or the radio wave intensity of the beacon signal from the transmitter 2t, the transmitter 2w, and the transmitter 2y is used. When the position is calculated by using the beacon signal from the transmitter 2 having the wrong installation location, as in the case where the position is calculated by using the radio field intensity of the beacon signal from the transmitter 2s, the transmitter 2w, and the transmitter 2y. If the position of the receiver 3 is calculated by using the position of the receiver 3, the position of the receiver 3 cannot be obtained on the same floor as the transmitter 2. When the position of the receiver 3 cannot be obtained on the same floor as the transmitter 2, it is determined in S14 of FIG. 8 that the position where the transmitter 2y is arranged is incorrect. In this way, it is possible to verify whether there is an error in the installation location of the transmitter 2. Further, if the transmitter 2 is installed on the material 8 in advance, it is possible to verify whether or not there is an error at the place where the material 8 is installed by the process of S14.

  When the construction support processing unit 712 of the device 7 determines that the arrangement of the transmitter 2 is abnormal (S14: YES), it notifies the abnormality via the output unit 73 of the device 7 (S15). In this step, the user is notified that an abnormality has been detected via a display, a speaker, or the like. After S15, or when it is determined that there is no abnormality in the arrangement of the transmitter 2 (S14: NO), the construction verification process ends.

<Other>
The transmitter 2 and the receiver 3 may be an integrated transceiver. For example, the transceiver is provided in the material 8 in advance and functions as the receiver 3 connected to the device 7 until the material 8 is installed. Further, after the material 8 is installed on the structure 6, it functions as a transmitter 2 that transmits a beacon signal. By doing so, the control of the device 7 and the installation of the transmitter 2 can be performed together.

  Further, the present invention is not limited to the above-described embodiments, but can be modified within the scope of the present invention. In addition, the above-described embodiment and the appropriately mentioned modified examples can be implemented in combination as much as possible.

  The present invention also includes a computer program that executes the above-described processing, and a computer-readable recording medium that records the program. The recording medium on which the program is recorded enables the above-described processing by causing the computer to execute the program.

  Here, the computer-readable recording medium refers to a recording medium that stores information such as data and programs by an electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer. Among such recording media, those removable from the computer include flexible disks, magneto-optical disks, optical disks, magnetic tapes, memory cards and the like. In addition, a hard disk drive, a ROM, or the like is used as the recording medium fixed to the computer.

1: Construction site 2: Transmitter 3: Receiver 4: Fence 5: Site office 6: Structure 7: Equipment 71: CPU
711: Position calculation unit 712: Construction support processing unit 72: Storage device 73: Output unit 74: Device control unit 8: Material

Claims (7)

A receiver that receives a beacon signal used to obtain position information from a transmitter that is placed at a construction site and the placement is changed as the construction process progresses ,
The receiver receives from a storage device that stores design information of a structure including an installation location of the transmitter, a construction process in which the transmitter is installed, and information indicating a structure existing in the construction process . A position calculation unit that reads information indicating the installation location of the transmitter associated with the beacon signal, and uses the read information to determine the position of the receiver , the construction process at the time of processing, and the area that can be passed in the construction process. When,
A construction support processing section that performs processing for supporting construction based on the position of the receiver obtained by the position calculation section and the area that can be passed through ;
Construction support device. The number of transmitters to be arranged increases as the construction process progresses, and the design information includes information indicating a process in which each transmitter is arranged,
The position calculation unit identifies the process at the processing time point based on the beacon signal received by the receiver,
The construction support device according to claim 1, wherein the construction support processing unit performs processing for supporting construction according to a specified process. The construction support apparatus according to claim 1 or 2, wherein the processing for supporting the construction includes processing for displaying the position of the receiver obtained by the position calculation unit on the drawing of the construction site. The construction support device according to any one of claims 1 to 3, wherein the processing for supporting the construction is processing for supporting driving of a vehicle or a construction machine. When the position calculation unit detects a beacon signal transmitted from a position that does not match the installation location of the transmitter read from the storage device, the construction support processing unit outputs information that notifies an abnormality. The construction support apparatus according to any one of claims 1 to 4, further performing processing. A beacon signal used for obtaining position information, a receiving step of receiving using a receiver from a transmitter that is arranged at a construction site and the arrangement of which is changed as the construction process progresses ,
Received in the receiving step from a storage device that stores design information of a structure including the installation location of the transmitter, a construction process in which the transmitter is installed, and information indicating a structure existing in the construction process . A position calculation step of reading information indicating the installation location of the transmitter associated with the beacon signal, using the read information, the position of the receiver , the construction process at the time of processing, and the area that can be passed in the construction process When,
A construction support processing step for performing construction support processing based on the position of the receiver obtained in the position calculation step and the area that can be passed through ;
Computer-aided construction support method. A beacon signal used for obtaining position information, a receiving step of receiving using a receiver from a transmitter that is arranged at a construction site and the arrangement of which is changed as the construction process progresses ,
Received in the receiving step from a storage device that stores design information of a structure including the installation location of the transmitter, a construction process in which the transmitter is installed, and information indicating a structure existing in the construction process . A position calculation step of reading information indicating the installation location of the transmitter associated with the beacon signal, using the read information, the position of the receiver , the construction process at the time of processing, and the area that can be passed in the construction process When,
A construction support processing step for performing construction support processing based on the position of the receiver obtained in the position calculation step and the area that can be passed through ;
A construction support program that causes a computer to execute.

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