JP6960319B2 - How to adjust the position of the constituent members of the structure - Google Patents

Description

The present disclosure relates to a method for adjusting the positions of constituent members constituting a structure.

Conventionally, when installing steel columns (constituent members, column members) that make up a steel structure (structure), each time one steel column is installed, it is orthogonal to each other in the horizontal direction centered on the steel column. It was necessary to install transits in each of the two directions, measure the steel column by the two transits, and adjust the position (including tilt adjustment) of the steel column according to the measurement result. In the method of adjusting the position of the steel frame column using the two transits described above, since it is necessary to arrange a measuring worker for each transit, there is a problem that the position adjusting work of the steel frame column takes labor and time.

In order to solve the above-mentioned problems, there is a method of adjusting the position of the steel column using a total station system including a total station which is a measuring device and a reflection target which reflects the light emitted from the total station toward the measuring device. (Patent Documents 1 and 2). In Patent Documents 1 and 2, a total station is provided on the top of one steel frame column, and a reflection target is provided on the top of another steel frame column to detect the relative position of the reflection target with respect to the total station and to detect the reflection target. It is described that the position of the steel column provided with is adjusted.

Japanese Patent No. 60959945 Japanese Unexamined Patent Publication No. 2016-12148

However, in the method of adjusting the position of the steel frame column described in Patent Documents 1 and 2, the deviation of the installation position of the total station and the reflection target may lead to the deviation of the position of the steel frame column provided with the reflection target at the top. For this reason, in the method for adjusting the position of the steel frame column described in Patent Documents 1 and 2, it is necessary to provide the total station and the reflection target at an accurate position on the top of the steel frame column, and high accuracy is required for the installation work. There was a problem that it took a lot of labor and time. Further, in the method of adjusting the position of the steel frame column described in Patent Documents 1 and 2, since the position of the steel frame column provided with the total station at the top is the reference position, the steel frame column serving as the reference position is installed as the total station or the reflection target. It is necessary to install the steel frame column at an accurate position before, and there is a problem that a great deal of labor and time are required for the installation work of the steel frame column.

In view of the above circumstances, an object of at least one embodiment of the present invention is to adjust the position of the constituent members of the structure, which can improve the workability and save labor. To provide a method.

(1) The method for adjusting the position of the constituent members of the structure according to at least one embodiment of the present invention is as follows.
A photographing step in which at least one of the plurality of constituent members constituting the structure is photographed by the photographing apparatus, and
A member information detection step for detecting a position coordinate at an arbitrary position of a member to be photographed, which is a component member photographed in the photographing step, by image analysis of an image captured by the member to be photographed.
It includes a position adjusting step for adjusting the position of the photographed member based on the position coordinates of the photographed member at the arbitrary position detected in the photographed member information detection step.

According to the method (1) above, by analyzing the photographed image of the imaged member (constituent member) photographed in the photographing step in the imaged member information detection step, the component member can be used as a total station as in the conventional case. It is not necessary to install a reflection target, and the position coordinates at an arbitrary position of the member to be photographed can be acquired at the same time as the image being photographed in the photographing step. Then, in the position adjustment step, the position of the member to be imaged can be adjusted based on the position coordinates of the member to be imaged at an arbitrary position. Therefore, when the imaged member is photographed by the photographing device, the position coordinates of the imaged member used for adjusting the position of the imaged member at an arbitrary position can be immediately acquired, so that the position adjustment work of the imaged member (constituent member) can be performed. Workability can be improved and labor can be saved.

In particular, in the position adjustment step, when the position of the member to be photographed is adjusted not by human power but by a position adjusting device capable of adjusting the position of the member to be imaged, the imaged member is photographed. Since it is possible to immediately acquire the position coordinates of the member to be imaged at an arbitrary position and adjust the position of the member to be imaged, it is possible to further improve the workability and save labor in the position adjustment work of the member to be imaged. can.

(2) In some embodiments, in the method (1) above,
A design member information storage step of storing the position coordinates at an arbitrary position of the design member, which is a design member, corresponding to the component member in the storage device, and
After the photographed member information detection step, a design member specifying step for specifying the design member corresponding to the photographed member based on the position coordinates of the photographed member at the arbitrary position is further provided.
In the position adjustment step, the position of the member to be photographed is adjusted according to an error between the position coordinates of the design member corresponding to the member to be imaged and the position coordinates of the member to be imaged.

According to the method (2) above, the design member corresponding to the photographed member can be specified in the design member specifying step, and the design member corresponding to the photographed member and the photographed member are linked in the position adjustment step. The position of the member to be photographed can be adjusted according to the error in the position coordinates. Therefore, it is possible to efficiently adjust the member to be imaged to a target position.

(3) In some embodiments, in the method (1) or (2) above,
In the photographing step, a plurality of the members to be photographed are simultaneously photographed by the photographing apparatus.
In the position adjustment step, the positions of the plurality of members to be photographed are adjusted at the same time.

According to the method (3) above, the photographing device simultaneously photographs a plurality of photographed members in the photographing step, and the position coordinates of the plurality of photographed members at arbitrary positions are acquired in the photographed member information detection step. can do. Then, in the position adjustment step, the positions of the plurality of photographed members can be adjusted at the same time based on the position coordinates of the plurality of photographed members acquired in the photographed member information detection step. Since the positions of the plurality of members to be photographed are adjusted at the same time, workability and labor can be saved as compared with the case where the positions are adjusted for each member.

(4) In some embodiments, in the methods (1) to (3) above,
In the photographed member information detection step, the position coordinates at the edge portion of the photographed member are detected.
According to the method (4) above, the edge portion (contour portion) of the member to be imaged is a portion where the shape of the member to be photographed changes a lot, and the background, other constituent members other than the member to be imaged, and the like. Since it is the boundary point between the member to be photographed and the member to be photographed, the position coordinates can be easily detected by image analysis.

(5) In some embodiments, in the methods (1) to (4) above,
The imaged member includes a pillar member to which a beam member is temporarily fixed.
According to the method (5) above, the beam member is temporarily fixed after adjusting the position of the column member, but at the time of temporary fixing, the inclination (position) of the column member depends on the variation in the manufacturing accuracy of the beam member and the construction accuracy of the temporary fixing. ) May be misaligned. Since the member to be photographed includes the pillar member to which the above-mentioned beam member is temporarily fixed, the inclination (position) of the pillar member caused by the temporary fixing can be adjusted.

Further, for the column member to which the beam member is temporarily fixed, even after the position adjustment is performed, the position of the other column member to which the beam member is temporarily fixed or firmly fixed is adjusted. , There is a risk that the position will shift according to the position adjustment of other pillar members. In this case, it is necessary to adjust the position again. However, when the photographing device simultaneously photographs a plurality of column members in the photographing step and the positions of the plurality of column members are adjusted at the same time in the position adjusting step, the plurality of column members in which the beam members are temporarily fixed are temporarily fixed. Position adjustment can be performed at the same time. By adjusting the positions of the plurality of pillar members at the same time, the positions can be adjusted while eliminating the deviation due to the position adjustments of the other pillar members, so that workability can be improved and labor can be saved.

(6) In some embodiments, in the method of (5) above,
In the member information detection step to be photographed, the position coordinates at the plurality of edges of the pillar member are detected.
The method for adjusting the position of the constituent members of the structure further includes a central axis line calculation step for calculating the central axis line of the pillar member after the imaged member information detection step.
In the position adjustment step, the position adjustment using the central axis is performed.

According to the method (6) above, the central axis of the column member can be calculated in the central axis calculation step from the position coordinates at the plurality of edge portions of the column member detected in the imaged member information detection step. Then, in the position adjustment step, the position can be adjusted using the central axis of the column member, so that the position adjustment of the column member, particularly the column member, is performed rather than the position adjustment using the position coordinates at the edge portion. The tilt can be adjusted efficiently.

(7) In some embodiments, in the methods (1) to (6) above,
The imaged member includes a plurality of column members to which the beam member is temporarily fixed.
In the photographing step, the plurality of pillar members are simultaneously photographed by the photographing device, and the plurality of pillar members are photographed at the same time.
In the photographed member information detection step, the position coordinates of the stigma in each of the plurality of column members are detected.
In the position adjustment step, the positions of the plurality of column members are adjusted at the same time.

According to the method (7) above, the photographing device simultaneously photographs a plurality of pillar members in the photographing step, and the position coordinates of the stigma of each of the plurality of pillar members are acquired in the imaged member information detection step. Can be done. Then, in the position adjustment step, the positions of the plurality of pillar members can be adjusted at the same time based on the position coordinates of the pillar members acquired in the imaged member information detection step. Since the positions of the plurality of pillar members are adjusted at the same time, workability and labor can be saved as compared with the case where the positions are adjusted for each member.

Further, the stigma of the pillar member can be easily photographed by an imaging device. Since the position coordinates of the stigma of the column member in the imaged member information detection step are mainly the boundary points between the background and the stigma, the position coordinates can be easily detected by image analysis. Further, since the stigma of the column member is the portion where the positional deviation is the largest in the column member whose lower end is fixed, when the position of the member to be imaged is adjusted based on the position coordinates of the stigma of the column member. Can efficiently perform the position adjustment work.

According to at least one embodiment of the present invention, there is provided a method for adjusting the position of a constituent member of a structure, which can improve the workability and save labor in the position adjusting work of the constituent member constituting the structure.

It is a figure for demonstrating the position adjustment method of the constituent member of the structure which concerns on one Embodiment of this invention, and is the perspective view of the steel frame structure. It is a flow chart of the position adjustment method of the constituent member of the structure which concerns on one Embodiment of this invention. It is a schematic block diagram which shows typically an example of the structure of the imaging apparatus used in the imaging step of the position adjustment method of the constituent members of a structure. It is a figure for demonstrating the image analysis with respect to the captured image of the photographed member in the imaged member information detection step of the position adjustment method of the constituent member of a structure, and is the schematic perspective view which shows the vicinity of the column head of a steel frame column. It is a figure for demonstrating the position adjustment apparatus used in the position adjustment step of the position adjustment method of the constituent member of a structure, and is the schematic top view which looked at the steel frame column and the position adjustment apparatus from the top. It is a flow chart of the position adjustment method of the constituent member of the structure which concerns on another Embodiment of this invention. It is a figure for demonstrating the position adjustment in the position adjustment step of the position adjustment method of the constituent member of a structure, and is the schematic perspective view which shows the steel frame column together with the design member corresponding to the steel frame column. It is a figure for demonstrating the position adjustment in the position adjustment step of the position adjustment method of the constituent member of a structure, and is the schematic top view which shows the steel frame column together with the design member corresponding to the steel frame column.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention to this, but are merely explanatory examples. No.
For example, expressions that represent relative or absolute arrangements such as "in a certain direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric" or "coaxial" are exact. Not only does it represent such an arrangement, but it also represents a state of relative displacement with tolerances or angles and distances to the extent that the same function can be obtained.
For example, expressions such as "same", "equal", and "homogeneous" that indicate that things are in the same state not only represent exactly the same state, but also have tolerances or differences to the extent that the same function can be obtained. It shall also represent the existing state.
For example, an expression representing a shape such as a quadrangular shape or a cylindrical shape not only represents a shape such as a quadrangular shape or a cylindrical shape in a geometrically strict sense, but also an uneven portion or chamfering within a range in which the same effect can be obtained. The shape including the part and the like shall also be represented.
On the other hand, the expressions "equipped", "equipped", "equipped", "included", or "have" one component are not exclusive expressions that exclude the existence of other components.

FIG. 1 is a diagram for explaining a method of adjusting the position of a constituent member of a structure according to an embodiment of the present invention, and is a perspective view of a steel frame structure. FIG. 2 is a flow chart of a method for adjusting the positions of constituent members of a structure according to an embodiment of the present invention. As shown in FIG. 1, in some embodiments, the plurality of constituent members 3 constituting the structure 2 include a steel frame column 31 (pillar member) and a steel frame beam 32 (beam member), and the structure 2 is , Includes a steel structure 21 comprising a steel column 31 and a steel beam 32. In the embodiment shown in FIG. 1, some steel columns 31 are arranged on the stigma 312 of the other steel columns 31 protruding above the floor surface 22, and the other steel columns are arranged along the erection direction. It is connected in series with 31.

As shown in FIG. 2, the position adjusting method 1 of the constituent members of the structure according to some embodiments includes a photographing step S101, an imaged member information detection step S102, and a position adjusting step S103. There is.

In the photographing step S101, as shown in FIG. 1, at least one of the constituent members 3 constituting the structure 2 is photographed by the photographing device 4. In the embodiment shown in FIG. 1, the photographing apparatus 4 is arranged on the floor surface 22 of the steel frame structure 21. Hereinafter, among the plurality of constituent members 3 constituting the structure 2, the constituent member 3 located within the photographing range of the photographing device 4 and photographed by the photographing device 4 is referred to as the imaged member 30. In the embodiment shown in FIG. 1, the photographing range of the photographing device 4 is a range between the two alternate long and short dash lines in FIG. 1 and including the photographing center axis S of the photographing device 4 inside.

FIG. 3 is a schematic configuration diagram schematically showing an example of the configuration of the imaging device used in the imaging step of the method for adjusting the position of the constituent members of the structure. As shown in FIG. 3, the photographing device 4 used in the above-described photographing step S101 includes an imaging device 41, an image analysis device 42, a surveying device 43, an arithmetic device 45, a storage device 46, and an input / output device. 47 and a display device 48 are provided. Each of the image pickup device 41, the image analysis device 42, the surveying device 43, the arithmetic unit 45, the storage device 46, the input / output device 47, and the display device 48 is electrically connected to the bus 44, and signals are transmitted and received between the devices. Is configured to be possible.

The image pickup device 41 includes an optical element including an objective lens and an image pickup device including, for example, a CCD or CMOS. The optical element guides the light from the imaged member 30 to be imaged to the image pickup element. The image sensor captures the member 30 to be imaged and generates an image (two-dimensional image data).

As shown in FIG. 3, the surveying device 43 includes a horizontal angle surveying unit 431, a vertical angle surveying unit 432, and a ranging unit 433. The horizontal angle surveying unit 431 includes, for example, a rotary encoder, detects a horizontal angle (angle centered on the vertical axis) of the photographing center axis S with respect to the photographing device 4, and outputs a signal corresponding to the detected horizontal angle. It is designed to be output to the arithmetic unit 45. The vertical right angle measuring unit 432 includes, for example, a rotary encoder, detects an angle in the vertical direction (an angle centered on the horizontal axis) with respect to the photographing device 4 on the photographing center axis S, and outputs a signal corresponding to the detected vertical angle. It is designed to be output to the arithmetic unit 45. The horizontal angle surveying unit 431 and the vertical right angle surveying unit 432 detect the horizontal and vertical angles of the imaging center axis S.

The distance measuring unit 433 of the surveying device 43 is configured to be able to acquire a distance image, which is distance information for each pixel, corresponding to the captured image captured by the imaging device 41. As a means for acquiring a distance image, the pulsed light output from the light source is irradiated toward the imaged member 30, and the time and speed of light until the reflected light from the imaged member 30 is received by the light receiving unit is taken into consideration. The TOF (Time of Flight) method, which acquires a distance image by calculating the distance to the photographing member 30, or the photographed member 30 is captured from two different viewpoints, and the distance image is obtained from the disparity between these two viewpoints. There is a stereo camera method to acquire.

In the above-mentioned photographed member information detection step S102, the position coordinates of the photographed member 30 photographed in the photographing step S101 at an arbitrary position are detected by image analysis of the captured image of the photographed member 30. The image analysis device 42 is configured so that the position coordinates at an arbitrary position of the photographed member 30 photographed in the photographing step S101 can be detected by image analysis of the captured image of the photographed member 30. That is, the image analysis device 42 performs the above-mentioned photographed member information detection step S102.

First, as shown in FIG. 4, the image analysis device 42 detects the shape of the member 30 to be imaged by image analysis from the image captured by the image pickup device 41. Here, FIG. 4 is a diagram for explaining image analysis of the captured image of the photographed member in the imaged member information detection step of the method of adjusting the position of the constituent members of the structure, and is a diagram showing the vicinity of the column head of the steel frame column. It is a schematic perspective view which shows. As shown in FIG. 4, a virtual horizontal detection line HL and vertical detection line VL are set in the captured image, and the edge portion, which is a feature point in which the brightness value on the horizontal detection line HL and the vertical detection line VL changes significantly. Detects 311. By detecting the plurality of edge portions 311 the shape of the member 30 to be photographed is detected. The shape of the imaged member 30 detected by the image analysis may be a part of the imaged member 30.

Examples of the edge portion 311 described above include a boundary between the background and the imaged member 30, a boundary between the sides of the imaged member 30, a boundary between the sides of the imaged member 30, and the like. .. More specifically, the edge portion 311 is in contact with the corner portion and the outer surface 314 of the beam joint portion 313 that protrudes from the outer surface 314 and is joined to the steel frame beam 32, as shown by a black circle in FIG. Examples thereof include a corner portion of the column head 312 of the steel frame column 31 and an edge portion of the steel frame column 31. Further, as shown in FIG. 4, the distance between the edge portions 311 can be detected by detecting a plurality of edge portions 311 on the horizontal detection line HL and the vertical detection line VL.

Second, the image analysis device 42 generates three-dimensional data of the imaged member 30 from the detected shape of the imaged member 30 and the distance image acquired by the distance measuring unit 433 of the surveying device 43. From the three-dimensional data, the position coordinates (three-dimensional coordinates) at an arbitrary position of the member 30 to be imaged can be extracted.

The input / output device 47 (input / output interface) is a various information and a photographing device from each component (including a photographing device 4 and other devices other than the photographing device 4) used in the position adjusting method 1 of the constituent members of the structure. The operation information for 4 is input, and various information based on the calculation result and the like is output to each of the above-mentioned components. The storage device 46 (ROM, RAM) is configured to be able to store various input information, various programs necessary for performing control, calculation results, and the like. The arithmetic unit 45 (CPU) performs arithmetic processing based on the various information described above. The display device 48 (liquid crystal display) displays various information based on the above-mentioned calculation results and the like. The photographing device 4 is composed of a camera including an arithmetic unit 45, a storage device 46, an input / output device 47, and a display device 48, but the general configuration and control will be omitted as appropriate.

The storage device 46 stores the design member information data 461 and the component member information data 462 as shown in FIG. The design member information data 461 includes three-dimensional data of the design member 8 which is a design member corresponding to the constituent member 3 (photographed member 30). Here, the design member 8 is a member having the same shape as the corresponding constituent member 3 in the virtual space, and is arranged in advance at the planned installation position of the constituent member 3. The component information data 462 includes an image captured by the image pickup device 41 described above, a distance image acquired by the distance measuring unit 433 of the surveying device 43, a shape of the member 30 to be photographed detected by the image analysis device 42, and a photographed member 30. It contains three-dimensional data of the member 30.

In some embodiments, in the above-described member information detection step S102, the three-dimensional data of the photographed member 30 and the three-dimensional data of the design member 8 which is a design member corresponding to the photographed member 30. And, may be compared (pattern matching), and the three-dimensional data of the photographed member 30 may be corrected from the comparison result. When the shape of the imaged member 30 detected by the image analysis is a part of the imaged member 30, the shape of the undetected portion of the imaged member 30 can be supplemented, which is particularly effective.

In the embodiment shown in FIG. 3, the imaging device 41 further includes a communication device 49 capable of transmitting and receiving signals by wired communication or wireless communication with another device (not shown) such as a PC. In this case, the role of at least one device included in the photographing device 4 can be replaced by another device.

The photographing device 4 may be configured to be able to detect its own position coordinates, or may be configured to be able to receive the position coordinates of the photographing device 4 acquired by another device. Further, the photographing device 4 may be installed at a position where the position coordinates are detected in advance.

In the position adjustment step S103 described above, the position of the photographed member 30 is adjusted based on the position coordinates of the photographed member 30 at an arbitrary position detected in the photographed member information detection step S102. That is, the position of the member to be photographed 30 is adjusted so that the position coordinates of the member to be photographed 30 at an arbitrary position become the target position coordinates.

FIG. 5 is a diagram for explaining a position adjusting device used in the position adjusting step of the position adjusting method of the constituent members of the structure, and is a schematic top view of the steel frame column and the position adjusting device as viewed from above. In the embodiment shown in FIGS. 1 and 5, the steel structure 21 includes at least one position adjusting device 7 configured to enable the position adjustment of the steel column 31 which is the member 30 to be imaged. As shown in FIG. 1, the position adjusting device 7 is provided on the beam joint portion 313 of the steel frame column 31. As shown in FIG. 5, the position adjusting device 7 has four position adjusting portions 71 provided so as to come into contact with each of the four outer surfaces 314 of the steel frame column 31. The position adjusting unit 71 is moved along the direction orthogonal to the outer surface 314 by a motor (not shown), and presses the outer surface 314 of the steel frame column 31 along the direction orthogonal to the outer surface 314. The position of the steel column 31 in the horizontal direction can be adjusted. The position adjusting device 7 may be configured to be capable of adjusting the position of the steel frame column 31 in the vertical direction (erection direction), or is provided on the steel frame column 31 when adjusting the position of the steel frame column 31. It may be attached to an erection piece.

The position adjusting device 7 is configured to be capable of transmitting and receiving signals by wired communication or wireless communication with the photographing device 4 via the communication device 49 of the photographing device 4 described above, and is a calculation result of the calculation device 45 of the photographing device 4. The position of the steel frame column 31 can be adjusted so that the steel frame column 31 which is the member to be imaged 30 is installed at a target position.

As described above, the method 1 for adjusting the position of the constituent members of the structure according to some embodiments includes the above-mentioned photographing step S101, the above-mentioned imaged member information detection step S102, and the above-mentioned position adjusting step S103. It has.

According to the above method, the photographed image of the imaged member 30 (constituent member 3) photographed in the photographing step S101 is image-analyzed in the imaged member information detection step S102, and is reflected by the component member 3 as in the conventional case. It is not necessary to set a target, and the position coordinates at an arbitrary position of the member 30 to be photographed can be acquired at the same time as the image being photographed in the photographing step S101. Then, in the position adjustment step S103, the position of the imaged member 30 can be adjusted based on the position coordinates of the imaged member 30 at an arbitrary position. Therefore, when the imaged member 30 is photographed by the photographing device 4, the position coordinates of the imaged member 30 used for adjusting the position of the imaged member 30 at an arbitrary position can be immediately acquired, so that the imaged member 30 (constituent member) It is possible to improve the workability and save labor in the position adjustment work of 3).

In particular, in the position adjustment step S103, when the position of the imaged member 30 is adjusted by the position adjusting device 7 capable of adjusting the position of the imaged member 30 instead of human power, the imaged member 30 is immediately photographed. Since the position coordinates of the member to be photographed 30 at an arbitrary position and the position of the member to be photographed 30 can be adjusted, the workability of the position adjustment work of the member to be photographed 30 can be further improved and labor can be saved. Can be done.

FIG. 6 is a flow chart of a method for adjusting the position of a constituent member of a structure according to another embodiment of the present invention. FIG. 7 is a diagram for explaining position adjustment in the position adjustment step of the position adjustment method of the constituent members of the structure, and is a schematic perspective view showing the steel frame column together with the design member corresponding to the steel frame column. In some embodiments, the method 1 for adjusting the position of the constituent members of the structure further includes a design member information storage step S201 and a design member identification step S202, as shown in FIG.

In the design member information storage step S201, the storage device 6 stores the position coordinates at an arbitrary position of the design member 8 which is a design member (3D model) corresponding to the component member 3 as shown in FIG. The storage device 6 includes the storage device 46 of the photographing device 4 as shown in FIG. As described above, the design member information data 461 of the storage device 46 includes the three-dimensional data of the design member 8 which is a design member corresponding to the constituent member 3. From the three-dimensional data of the design member 8, the position coordinates (three-dimensional coordinates) at an arbitrary position of the design member 8 corresponding to the constituent member 3 can be extracted.

In the design member specifying step S202, as shown in FIG. 6, after the photographed member information detection step S102, the design member 8 corresponding to the photographed member 30 is specified based on the position coordinates of the photographed member 30 at an arbitrary position. do. In the design member specifying step S202, at least a part of the shape of the photographed member 30 can be acquired from the position coordinates of the photographed member 30 at an arbitrary position. Next, in the design member specifying step S202, as shown in FIG. 7, the photographed member 30 and the design member 8 are converted to the same coordinate axes. For example, on the coordinate axis of the member 30 to be imaged with reference to the image pickup center axis S of the image pickup device 4, where the horizontal and vertical angles are detected by the horizontal angle surveying unit 431 and the vertical right angle surveying unit 432 of the surveying apparatus 43. , Convert the coordinate axes of the design member 8. When the photographed member 30 and the design member 8 are converted to the same coordinate axes, as shown in FIG. 7, the design member 8 corresponding to the photographed member 30 is arranged around the photographed member 30. Therefore, the design member 8 corresponding to the photographed member 30 can be specified from at least a part of the shape of the photographed member 30. The three-dimensional data of the photographed member 30 and the three-dimensional data of the design member 8 that seems to correspond to the photographed member 30 are compared (pattern matching) to obtain the design member 8 corresponding to the photographed member 30. It may be specified.

In the position adjustment step S103 described above, as shown in FIG. 6, after the design member specifying step S202, between the position coordinates of the design member 8 corresponding to the imaged member 30 and the position coordinates of the imaged member 30. The position of the member to be imaged 30 is adjusted according to the error of. In the design member specifying step S202 described above, the design member 8 corresponding to the photographed member 30 is specified, so that the arithmetic device 45 of the photographing device 4 has the position coordinates of the photographed member 30 from the storage device 46 and the said. The position coordinates of the design member 8 corresponding to the position coordinates are acquired, and the error between these position coordinates is calculated. When the position of the member to be photographed 30 is adjusted manually, the arithmetic unit 45 can check the calculation result of the error between the position coordinates described above so that the worker who adjusts the position of the member to be imaged 30 can confirm. It is output from the input / output device 47 to another device or the like, or displayed on the display device 48. When the position adjusting device 7 adjusts the position of the member 30 to be imaged, the arithmetic unit 45 controls the position adjusting device 7 according to the calculation result of the error between the position coordinates described above.

According to the above method, the design member 8 corresponding to the photographed member 30 can be specified in the design member specifying step S202, and the design member 8 corresponding to the photographed member 30 and the subject are covered in the position adjustment step S103. The position of the imaged member 30 can be adjusted according to the error between the imaged member 30 and the imaged member 30. Therefore, it is possible to efficiently adjust the member 30 to be photographed to a target position.

FIG. 8 is a diagram for explaining position adjustment in the position adjustment step of the position adjustment method of the constituent members of the structure, and is a schematic top view showing the steel frame column together with the design member corresponding to the steel frame column. In some embodiments, as shown in FIG. 1, a plurality of members 30 to be photographed are simultaneously photographed by the photographing apparatus 4 in the photographing step S101 described above. Here, the fact that a plurality of members 30 to be photographed are simultaneously photographed means that a plurality of members 30 to be photographed are included in the photographing range of the photographing apparatus 4. That is, the photographing device 4 is arranged at a position where a plurality of photographed members 30 are included in the photographing range. In the embodiment shown in FIG. 1, four steel frame columns 31 (column members) are included in the photographing range of the photographing device 4, and these four steel frame columns 31 are photographed in the above-described photographing step S101. In the above-described member information detection step S102 to be imaged, the position coordinates of the four steel frame columns 31 at arbitrary positions are calculated. Further, as shown in FIG. 8, the positions of the plurality of members 30 to be photographed are adjusted at the same time in the position adjustment step S103 described above. Here, the fact that the positions of the plurality of members 30 to be photographed are adjusted at the same time means that the positions of the plurality of members 30 to be photographed are adjusted at the same time, and the positions of the plurality of members 30 to be photographed are adjusted in order. It also includes things that are done individually. In the position adjustment step S103 described above, as shown in FIG. 8, the positions of the four steel frame columns 31 are adjusted at the same time.

According to the above method, the photographing device 4 simultaneously photographs a plurality of photographed members 30 in the photographing step S101, and thus the position coordinates of the plurality of photographed members 30 at arbitrary positions in the photographed member information detection step S102. Can be obtained. Then, in the position adjustment step S103, the positions of the plurality of photographed members 30 can be adjusted at the same time based on the position coordinates of the plurality of photographed members 30 acquired in the photographed member information detection step S102. Since the positions of the plurality of members 30 to be photographed are adjusted at the same time, workability and labor can be saved as compared with the case where the positions are adjusted for each member.

In some embodiments, as shown in FIG. 4, in the above-mentioned photographed member information detection step S102, the position coordinates at the edge portion 311 of the above-mentioned photographed member 30 are detected. According to the above method, the edge portion 311 (contour portion) of the imaged member 30 is a portion where the shape of the imaged member 30 changes a lot, and the background and other constituent members 3 other than the imaged member 30 and the like. Since it is the boundary point between the imaged member 30 and the imaged member 30, the position coordinates can be easily detected by image analysis.

In some embodiments, as shown in FIG. 1, the imaged member 30 includes a steel column 31 (column member) to which the steel beam 32 (beam member) is temporarily fixed. Temporarily fixing the steel beam 32 means that the steel beam 32 is temporarily tightened to the beam joint 313 of the steel column 31 via bolts and nuts, that is, loosely tightened with play, and the steel column 31 and the steel frame are loosely tightened. A state in which the beams 32 are movable with respect to each other. According to the above method, the steel beam 32 is temporarily fixed after adjusting the position of the steel column 31, but at the time of temporary fixing, the inclination of the steel column 31 (due to variations in the manufacturing accuracy of the steel beam 32 and the construction accuracy of the temporary fixing) Position) may shift. Since the member 30 to be photographed includes the steel frame column 31 to which the steel frame beam 32 is temporarily fixed, the inclination (position) of the steel frame column 31 caused by the temporary fixing can be adjusted.

Further, in the steel frame column 31 (column member) to which the steel frame beam 32 (beam member) is temporarily fixed, the steel frame beam 32 is temporarily fixed or firmly fixed even after the position adjustment is performed. By adjusting the position of the other steel column 31, there is a possibility that the position will shift according to the position adjustment of the other steel column 31. In this case, it is necessary to adjust the position again. However, as described above, when the photographing device 4 simultaneously photographs a plurality of steel frame columns 31 in the photographing step S101 and the positions of the plurality of steel frame columns 31 are adjusted at the same time in the position adjusting step S103, FIG. As shown in the above, the positions of the plurality of steel columns 31 to which the steel beams 32 are temporarily fixed can be adjusted at the same time. By adjusting the positions of the plurality of steel frame columns 31 at the same time, the positions can be adjusted while eliminating the deviation due to the position adjustment of the other steel frame columns 31, so that workability and labor saving can be achieved.

In some embodiments, in the above-mentioned photographed member information detection step S102, the position coordinates at the edge portion 311 of the above-mentioned steel frame column 31 are detected. Further, in the position adjusting method 1 of the constituent members of the structure, as shown in FIGS. 2 and 6, the central axis RL of the steel frame column 31 (column member) is calculated after the above-mentioned photographed member information detection step S102. The central axis calculation step S301 is further provided, and in the position adjustment step S103 described above, the position adjustment using the central axis RL is performed. As shown in FIGS. 7 and 8, in the central axis calculation step S301, the central axis DL of the design member 8 corresponding to the central axis RL of the steel frame column 31 is calculated. Further, in the position adjustment step S103 described above, the position of the steel frame column 31 is adjusted so that the center axis RL of the steel frame column 31 overlaps with the center axis DL of the design member 8.

According to the above method, the central axis DL of the steel frame column 31 is determined in the central axis line calculation step S301 from the position coordinates at the plurality of edge portions 311 of the steel frame column 31 (column member) detected in the imaged member information detection step S102. Can be calculated. Then, in the position adjustment step S103, since the position adjustment can be performed using the central axis DL of the steel frame column 31, the position adjustment of the steel frame column 31 is performed rather than the position adjustment using the position coordinates at the edge portion 311. In particular, the inclination of the steel frame column 31 can be adjusted efficiently.

In some embodiments, as shown in FIG. 1, the imaged member 30 includes a plurality of steel column 31s (column members) to which the steel beam 32 is temporarily fixed, and in the above-described imaging step S101, imaging is performed. A plurality of steel frame columns 31 are simultaneously photographed by the device 4, and in the above-described member information detection step S102, the position coordinates of the stigma 312 in each of the plurality of steel frame columns 31 are detected as shown in FIG. In the position adjustment step S103 described above, the positions of the plurality of steel frame columns 31 are adjusted at the same time.

According to the above method, the photographing device 4 simultaneously photographs a plurality of steel frame columns 31 (column members) in the photographing step S101, so that each column head 312 of the plurality of steel frame columns 31 is photographed in the imaged member information detection step S102. The position coordinates of can be obtained. Then, in the position adjustment step S103, the positions of the plurality of steel frame columns 31 can be adjusted at the same time based on the position coordinates of the steel frame columns 31 acquired in the imaged member information detection step S102. Since the positions of the plurality of steel frame columns 31 are adjusted at the same time, workability can be improved and labor can be saved as compared with the case where the positions are adjusted for each member.

Further, the column head 312 of the steel frame column 31 (column member) can be easily photographed by the photographing device 4. Since the position coordinates of the stigma 312 of the steel column 31 in the member information detection step S102 to be imaged are mainly the boundary points between the background and the stigma 312, the position coordinates can be easily detected by image analysis. Can be done. Further, since the stigma 312 of the steel column 31 is the portion where the positional deviation is the largest in the steel column 31 whose lower end is fixed, the photographed member 30 is based on the position coordinates of the stigma 312 of the steel column 31. When the position is adjusted, the position adjustment work can be performed efficiently.

In some embodiments, as shown in FIGS. 1 and 8, the imaged member 30 includes a group of steel columns 31 (column members) to which the steel beam 32 (beam member) is temporarily fixed, as described above. In the photographing step S101, a group of steel columns 31 are simultaneously photographed by the photographing device 4, and in the imaged member information detection step S102, the position coordinates of the column heads 312 in each of the group of steel columns 31 as shown in FIG. Is detected, and in the position adjustment step S103 described above, the positions of the group of steel columns 31 are adjusted at the same time. Here, the group of steel columns 31 are four steel columns 31 such as the four steel columns 31 located on the left side in FIG. 1 and included in the imaging range of the imaging device 4, and are bridged over them. It refers to four steel beam 32s that are temporarily fixed and four steel columns 31 that form a rectangular shape when viewed from above.

According to the above method, the photographing device 4 simultaneously photographs a group of steel columns 31 (column members) in the photographing step S101, and the stigmas 312 of each of the group of steel columns 31 in the imaged member information detection step S102. The position coordinates of can be obtained. Then, in the position adjustment step S103, the position adjustment of the group of steel frame columns 31 can be performed at the same time based on the position coordinates of the steel frame columns 31 acquired in the imaged member information detection step S102. The group of steel columns 31 is highly related to the other steel columns 31 included in the group, and there is a risk that the positions of the other steel columns 31 included in the group will be significantly displaced by adjusting the positions. Since the position adjustment of such a highly related group of steel frame columns 31 can be performed while eliminating the misalignment of each, it is possible to improve workability and save labor.

In some of the embodiments described above, the member 30 to be imaged includes a steel column 31 to which the steel beam 32 is temporarily fixed, but in some other embodiments, the member 30 to be imaged is a steel beam. It may include both the steel column 31 to which the 32 is fixed and the steel column 31 to which the steel beam 32 is temporarily fixed. Further, the storage device 46 of the photographing device 4 may store fixed information indicating whether or not the steel frame beam 32 is fixed to the steel frame column 31, and the arithmetic device 45 may store the fixed information indicating whether or not the steel frame beam 32 is fixed, and the arithmetic device 45 refers to the above-mentioned fixed information. The position of the steel frame column 31 may be adjusted. In this case, the position adjustment work of the steel frame column 31 can be efficiently performed according to the fixing information.

In some of the above-described embodiments, the structure 2 includes a steel structure 21 (S structure), but the structure 2 is a wooden structure, an S structure, RC, SRC, CFT, RCS, or any of these. It may include a mixed structure in which the structures are combined. Further, the constituent member 3 is not limited to the steel frame column 31 and the steel frame beam 32. The constituent member 3 may be, for example, a column member or a beam member constituting the structure 2 (including a wooden structure, an S structure, an RC, an SRC, a CFT, an RCS, or a mixed structure combining these structures). It may be a member other than the column member and the beam member constituting the structure 2. Further, in some of the above-described embodiments, in the shooting step S101, shooting is performed by one shooting device 4, but shooting may be performed by a plurality of shooting devices 4.

The present invention is not limited to the above-described embodiment, and includes a modified form of the above-described embodiment and a combination of these embodiments as appropriate.

1 Method of adjusting the position of the constituent members of the structure 2 Structure 21 Steel structure 22 Floor surface 3 Component member 30 Photographed member 31 Steel pillar 311 Edge portion 312 Pillar head 313 Beam joint 314 Outer side surface 32 Steel beam 4 Imaging device 41 Imaging device 42 Image analysis device 43 Surveying device 431 Horizontal angle measuring unit 432 Vertical angle measuring unit 433 Distance measuring unit 44 Bus 45 Computing device 46 Storage device 461 Design member information data 462 Component member information data 47 Input / output device 48 Display device 49 Communication Device 6 Storage device 7 Position adjustment device 71 Position adjustment unit 8 Design member S101 Imaging step S102 Imaging member information detection step S103 Position adjustment step S201 Design member information storage step S202 Design member identification step S301 Central axis calculation step S Imaging central axis HL Horizontal detection line VL Vertical detection line RL Central axis of steel column DL Central axis of design member

Claims (7)

A photographing step in which at least one of the plurality of constituent members constituting the structure is photographed by the imaging device of the photographing apparatus, and
A surveying step of acquiring a distance image, which is distance information for each pixel corresponding to an image captured by a member to be imaged, which is a component member, photographed in the photographing step, by a surveying device of the photographing apparatus.
It is photographed to detect the position coordinates at an arbitrary position of the object to be photographed member, the shape of the object to be photographed member detected by the image analysis of the captured image of the imaging member, from said distance image acquired in the surveying step Member information detection step and
Position adjustment of a constituent member of a structure including a position adjustment step for adjusting the position of the imaged member based on the position coordinates of the imaged member at the arbitrary position detected in the imaged member information detection step. Method. A design member information storage step of storing the position coordinates at an arbitrary position of the design member, which is a design member, corresponding to the component member in the storage device, and
After the photographed member information detection step, a design member specifying step for specifying the design member corresponding to the photographed member based on the position coordinates of the photographed member at the arbitrary position is further provided.
In the position adjustment step, the position of the member to be photographed is adjusted according to an error between the position coordinates of the design member corresponding to the member to be imaged and the position coordinates of the member to be imaged. The method for adjusting the position of the constituent members of the structure according to the above. In the photographing step, a plurality of the members to be photographed are simultaneously photographed by the imaging device.
The method for adjusting the position of a constituent member of a structure according to claim 1 or 2, wherein in the position adjusting step, the position of the plurality of members to be imaged is adjusted at the same time. A photographing step in which at least one of the plurality of constituent members constituting the structure is photographed by the photographing apparatus, and
A member information detection step for detecting a position coordinate at an arbitrary position of a member to be photographed, which is a component member photographed in the photographing step, by image analysis of an image captured by the member to be photographed.
A position adjustment step for adjusting the position of the photographed member based on the position coordinates of the photographed member at the arbitrary position detected in the photographed member information detection step is provided.
A method for adjusting the position of a constituent member in which the position coordinates at the edge portion of the member to be photographed are detected in the member information detection step to be photographed. The method for adjusting the position of a constituent member of a structure according to any one of claims 1 to 4, wherein the member to be photographed includes a column member to which a beam member is temporarily fixed. In the member information detection step to be photographed, the position coordinates at the plurality of edges of the pillar member are detected.
The method for adjusting the position of the constituent members of the structure further includes a central axis line calculation step for calculating the central axis line of the pillar member after the imaged member information detection step.
The method for adjusting the position of a constituent member of a structure according to claim 5, wherein in the position adjusting step, the position is adjusted using the central axis. The imaged member includes a plurality of column members to which the beam member is temporarily fixed.
In the photographing step, the plurality of pillar members are simultaneously photographed by the imaging device.
In the photographed member information detection step, the position coordinates of the stigma in each of the plurality of column members are detected.
The method for adjusting the position of a constituent member of a structure according to any one of claims 1 to 6, wherein in the position adjusting step, the position of the plurality of column members is adjusted at the same time.

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