JPH04309671A - Device for adjusting plumbing of field assembling steel structure - Google Patents

Abstract

PURPOSE:To improve plumbing accuracy and automate adjusting work of plumbing adjustment by performing image processing of the image signal of a measurement mark of an upper part of a steel framed pillar, which is taken by a camera, and obtaining displacement of the measurement mark from a reference position to judge a rising position of the steel framed pillar, and moving an outside end of a stay vertically on the basis of the judgment. CONSTITUTION:A camera 20 is located at a predetermined position of the ground near a pillar support so that a measurement mark 11a of a target 11 exists within a view of the field of the camera 20. Next, the image signal of the measurement mark 11e taken by the camera 20 is processed by an image signal device 21 to compute a coordinate position or the like, and displacement of the measurement mark lie from the reference position as target is obtained to judge a degree of inclination of the rising position of the steel framed pillar 2, and the information thereof is transmitted to a drive control device 22. On the basis of that information, an outside end of each stay 6 is moved vertically through a motor 9, a reduction gear 8, and a jack 7 to make the rising position of the steel framed pillar 2 come close to the position as target.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is a method of rebuilding the steel columns for the steel frames and adjusting the standing posture of the steel columns in the subassembly where the steel frames constituting the steel structures are assembled on the ground. This invention relates to equipment for rebuilding steel structures.

0002

[Prior Art] As steel structures become taller, lifting work to lift individual materials such as steel columns from the ground to high-altitude sites increases, which increases the construction period and increases the risk. There is also a tendency to increase.

Therefore, in order to simplify the work of lifting the materials, the steel frame is assembled into blocks on the ground surface, and the steel frame is hoisted to an elevated site and the steel frame that has already been assembled is assembled. It is added to the upper side of the building to gradually increase the height and form a steel structure.

[0004] In the above-mentioned ground assembly, the lower end of a steel column is fixed to a frame installed at a predetermined position on the ground surface, and the steel column is erected, and then a steel beam or the like is connected to the steel column to form a steel frame. is formed. At this time, the erection of the steel column is inspected by comparing the weight suspended from the top of the steel column with the marking lines installed at the bottom of the steel column or on the frame, etc., and the steel column is reerected. Then, the standing posture of the steel column is adjusted.

[0005]

[Problem to be Solved by the Invention] However, as steel structures become taller, the steel frames assembled on the ground are required to be erected with a high degree of precision. In addition, since the construction inspection is visually confirmed, there is a problem in that it is not possible to achieve construction accuracy higher than a predetermined level.

[0006]Also, although workers manually adjust the inclination of the standing posture of the steel columns, it is time-consuming as it is necessary to adjust the inclination from two or more directions. There is a problem in that there are variations in construction accuracy.

The present invention has been made in view of the above-mentioned problems, and aims to improve the erection accuracy of each steel column and to automate the adjustment work for rebuilding the steel column. .

[0008]

[Means for Solving the Problems] In order to achieve the above object, the steel frame structure rebuilding device of the present invention is swingably supported on a base fixed to the ground surface and supports the lower end of a steel frame column. A column support to be gripped, a plurality of stays extending outward from the column support in mutually different directions, and connected to the outer ends of the stays to move the outer ends of each stay up and down. a driving means, a target attached to the upper part of a steel column fixed to the column support and extending laterally and having a measurement mark on the lower surface of the extension part; A camera is installed with its light-receiving axis directed toward the measurement mark of the target, and the camera is connected to the camera, and the image signal from the camera is processed to determine the displacement of the measurement mark with respect to the reference position, and the upright posture of the steel column is determined. an image processing device that is connected to the image processing device and drives the drive device based on a signal from the image processing device to move the outer end of each stay up and down by a predetermined amount. It is characterized by having the following.

[0009]

[Operation] A camera is installed at a predetermined position on the ground near the pillar support so that the measurement mark of the target is included in the field of view of the camera.

[0010] An image signal of the measurement mark captured by the camera is sent to an image processing device. Then, the image processing device processes the input image signal of the measurement mark, calculates coordinate information, etc., determines the displacement of the measurement mark from the intended reference position, and uses the displacement to determine whether the measurement mark is supported on the pillar support. The system determines the degree of inclination of the standing posture of the steel column and transmits that information to the drive control device.

Based on the information, the drive control device moves the outer end of each stay up and down via the drive device, and rebuilding is carried out by bringing the upright posture of the steel column closer to the desired posture.

[0012] The steel column is reerected by repeating the adjustment of the upright posture of the steel column using the image processing device and the drive control device until an allowable accuracy is achieved. The rebuilding process is carried out for each steel column of the steel frame to be assembled on the ground.

[0013]

[Embodiment] An embodiment of the present invention will be explained based on the drawings. First, the configuration of a steel column support device T, which is a part of a steel frame structure rebuilding device, will be explained based on FIGS. 1 to 3. The steel column support device T includes a base 1 fixed to the ground surface, and a column support 3 swingably supported above the base 2.
, the stay 6 attached to the column support 3, and the stay 6
It consists of a driving means for vertically moving the.

The base 1 is fixed to a predetermined firmly leveled ground G and a concrete layer 5 cast on the ground G by anchor bolts 1a, and a column support 3 is installed at the center of the upper part. A load receiving portion 1b is formed to support the load in a swingable manner.

A column receiving section 3a of a column supporting body 3 is fixed to the upper side of the load receiving section 1b of the base body 1 so as to be swingable in at least two directions. The lower end surface of the steel column 2 can come into contact with the upper surface of the column receiving part 3a, and a guide piece 3b guides the lower end to a predetermined position when abutting the lower end of the steel column 2.
is provided.

A cylindrical column support frame 3c is fixed above the column receiving portion 3a, and the lower part of the steel column 2 can be inserted into the column support frame 3c. The column support frame 3
c, a plurality of column holding rods 3d radially pass through the side thereof, and a handle 3e is provided at the outer end of each column holding rod 3d, and by rotating the handle 3e, the holding The inner end of the rod 3d moves back and forth toward the center. Further, a viewing window 3f is formed on the side surface of the column support frame 3c, so that the insertion state of the inserted steel column 2 can be confirmed.

Two stays 6 are attached to the outer peripheral surface of the column support frame 3c of the column support body 3, and extend radially from the center of the column support frame 3c in directions perpendicular to each other. The outer end 6a of the stay 6 is fixed to a jack device 7 that expands and contracts in the vertical direction, and can move up and down following the up and down movement of the jack device 7. The lower end of the jack device 7 is fixed to the ground G via a concrete layer. The jack device 7 is connected to a step motor 9 attached to the upper part via a reducer 8, and is driven by the step motor 9. The jack device 7, the reducer 8, and the step motor 9 drive the is configured. In addition, the reducer 8 and the step motor 9
is housed in a box 10.

As shown in FIG. 4, a CCD camera 20 is installed on the ground surface in a predetermined direction and at a predetermined distance from the steel column support device T configured as described above, and the light receiving axis 20a of the camera 20 is directed upward. Note that the light receiving axis 20a does not necessarily have to be in the vertical direction, and the light receiving axis 20a does not necessarily have to be in the vertical direction.
This can be corrected by setting the elevation angle of the light receiving axis 20a, etc.

As shown in FIG. 5, the camera 20 is connected to an image processing device 21, and the image processing device 21 receives an image signal from the camera 20 and analyzes the image signal. The image processing device 21 includes an A/D conversion section 21a that digitally converts an input image, an image processing section 21b that performs image analysis of the digitized image signal, and a data storage area 21c that stores data such as reference coordinates. The display control unit 21d that controls the display on a display (not shown) calculates the amount of displacement in the X and Y directions between the reference coordinates and the calculated coordinate information on a virtual X-Y axis table as shown in FIG. An X-Y axis table control section 21e for determining the data, an operation input control section 21g for controlling data input, a data output section 21f for outputting a pulse signal according to the displacement to each drive control device, and the data storage area 21c. , a display control section 21d, an X-Y axis table control section 21e, and a CPU 21g that controls a data output section 21f.

The image processing device 21 is connected to an X-axis drive control device 22a and a Y-axis drive control device 22b, and outputs pulse signals to both drive control devices 22. It is connected to a motor 9, and the drive control device 9 rotates the step motor 9 by a predetermined rotation angle depending on the number of pulses.

[0021] In this embodiment, the apparatus for rebuilding the ground assembly of a steel frame structure having the above configuration includes a plurality of the steel column support apparatuses T arranged at predetermined positions on the ground surface for each work site, as shown in FIG. The steel columns 2 are supported by the column supports 3 of the steel column support device T, respectively. Further, the camera 20 installed for each steel column support device T and each drive control device 22 that respectively controls the two jack devices 7 are connected to one image processing device 21 via a switch 23. has been done. Also,
A remote box 24 is connected to the switch 23,
The remote box 24 is used to switch the workplace for processing. Although two workplaces are shown in FIG. 6, three or more workplaces may be connected to the image processing device 21 via the switch 23 and the remote box 24.

[0022] In the underground rebuilding apparatus for steel frame structures having the above configuration, the lower ends of the steel columns 2 are inserted into the column support frames 3c of the respective column supports 3 placed at predetermined positions with their axes up and down. The lower end surface is brought into contact with the upper surface of the column receiving portion 3a.

At this time, the guide piece 3b attached to the upper surface of the column holder 3a guides the lower end of the steel column 2 to the column holder 3a.
The inner end of the column holding rod 3d is brought into contact with the side surface of the steel column 2 by guiding it to a predetermined position on the upper surface and making contact with it, and then rotating the handle 3e provided on the column support frame 3c, and then press-contacted. This allows the steel column support device T to grip the steel column 2.

Furthermore, as shown in FIG. 4, a target 11 is removably attached in advance to the top of the steel column 2 to be fixed. The target 11 is shown in FIG.
As shown in FIG. 2, it consists of a contact portion 11a fixed to the upper end surface of the steel column 2, and a flat mark portion 11b extending laterally from the contact portion 11a. A magnet 11c for magnetically attaching to the upper end surface of the steel column 2 is provided on the lower surface of the contact portion 11a.
is attached, and a black circle with a guide hole 11d in the center is drawn on the lower surface of the mark portion 11b, forming a measurement mark 11e.

The target 11 is attached to the upper end of each steel column 2 as described above, and the steel column 2 is fixed to each predetermined steel column support device T as described above. At this time, each jack device 7 is driven to erect the steel column 2, and the installation position of the camera 20 is adjusted.
The measurement mark 11e attached to each steel column 2 is the camera 20
be within the field of view.

In the above state, image processing is performed by the switch 23 between the drive control device 22 that controls the step motor 9 corresponding to the steel column support device T supporting the steel column 2 serving as a reference, and the corresponding camera 20. Connect to the device 21.

[0027] As pre-processing, images of areas other than the mark portion 11b attached to the steel column 2 (sky, shielding objects, etc.) are
Set the window so that it does not enter, and set the light amount, contrast, threshold value, etc. for binarization. Also,
The magnification of the camera 20, the distance between the camera 20 and the steel column support device T, the length of the steel column 2, and the stay outer end 6 per pulse.
The amount of vertical movement of a and the like are set in the image processing device 21 via the operation input control section 21g. Further, the image processing device 21 is made to learn so that the direction in which the stay 6 is attached to the steel column support device T corresponds to the direction of the X-axis and the Y-axis on the virtual two-dimensional X-Y axis table.

Next, in the image processing device 21, the image signal of the measurement mark 11e captured by the camera 20 is input, and the reference coordinates 30 for positioning are calculated and stored in the data storage area 21c.

Next, the camera 20 connected to the image processing device 21 is switched, and the measurement mark 11e on the top of the steel column 2 supported by another steel column support device T is detected by the corresponding camera 2.
0 and sends the image signal of the measurement mark 11e to the image processing device 21. The image processing device 21 digitally converts the input image signal of the measurement mark 11e with the A/D conversion section 21a, and further performs binarization etc. with the image processing section 21b to obtain coordinate information 31 of the measurement mark 11e. calculate.

Next, in the X-Y axis table control section 21e, the coordinate information 31 is compared with the stored reference coordinates 30, and the displacement between the coordinate information 31 and the reference coordinates 30 is vectorized. virtual two-dimensional X-axis, Y
Find the displacement of the shaft in two directions. Then, the number of pulses proportional to the displacement amount in the two directions is transmitted from the data output section 21f to the X-axis drive control device 22a and the Y-axis drive control device 22b, respectively.
be communicated individually. Note that two types of pulses, one in the positive direction and the other in the negative direction, are selected and output.

Each drive control device 22 applies a current for rotating each step motor 9 in the direction (positive direction or negative direction) indicated by the input pulse. Then,
Each step motor 9 rotates by a predetermined angle in a direction instructed by the drive control device 22. The rotation angle of the motor 9 rotates in proportion to the number of output pulses from the image processing device 21. For example, if the step angle of the step motor 9 per pulse is 1.8 degrees, 10 pulses
Rotate 8 degrees.

Subsequently, the rotation of the step motor 9 is transmitted to the reducer 7, and the jack device 7 is moved up and down via the reducer 7. The speed reducer 8 increases the torque from the step motor 9, and subdivides the rotation angle to achieve an accuracy of less than the step angle (1.8 degrees).
The amount of vertical movement per pulse is reduced.

In accordance with the vertical movement of the jack device 7, the outer end 6a of the stay 6 also moves up and down, and the steel column support device T is moved accordingly, and the steel column supported by the steel column support device T is moved up and down. Adjust the standing posture in step 2.

The above processing is performed until the relationship between the input coordinate information 31 of the measurement mark and the reference coordinates 30 falls within an allowable range.
The image processing device 21 continues to output pulses, and the standing posture of the steel column 2 is adjusted.

The image processing device 21 is arranged so that the two axes of the X-Y axis table correspond to the directions from the center of the steel column support device T to the outer ends 6a of the two stays 6 that are perpendicular to each other. As shown in FIG. 9, the relationship between the vertical movement of the outer end 6a of the stay 6 corresponding to the X axis and the displacement of the inclination angle of the steel column is as shown in FIG. (41 in FIG. 9), tilt the steel column 2 supported by the steel column support device T in the positive direction toward the outer end of the stay by an angle proportional to the amount of descent (51 in FIG. 9), Coordinate information 3 of the measurement mark 11e on the X-Y axis table
1 in the positive direction of the X-axis, and also move the stay outer end 6a
(42 in the figure), the steel column 2 is tilted in the negative direction toward the outer end of the stay by an angle proportional to the amount of rise (52 in the figure), and the measurement mark on the X-Y axis table is The coordinate information 31 of 11e is moved in the negative direction of the X axis. Further, the relationship between the vertical movement of the outer end portion 6a of the stay 6 corresponding to the Y-axis and the movement of the inclination of the steel column 2 is also the same.

For example, if the position of the coordinate information 31 on the virtual X-Y axis table is analyzed as shown in FIG.
Pulses instructing movement in individual negative directions with respect to the axes are output, and each stay outer end 6a corresponding to the X-axis and Y-axis rises in proportion to the number of pulses, and the coordinate information 31 is set to the reference coordinate. Approaching 30.

[0037] As a result, by bringing the coordinate information 31 of the measurement mark 11e closer to the reference coordinate 30 on the virtual X-Y axis table, the inclination angle of the steel column 2 that is currently being rebuilt can be adjusted to the reference coordinate. The angle of inclination of the steel column 2 becomes the same as that of the steel frame column 2, and rebuilding can be carried out with high precision.

The above processing is performed by sequentially switching the connections between the image processing device 21, the camera 20, and the drive control device 22 using the switch 23, so that all the steel columns 2 supported by each steel column support device T are connected. Reconstruction will be carried out.

Next, the steel beam 12 is assembled to the steel column 2 to form a steel frame, and if necessary, the above-mentioned process is performed again on the steel column 2 for rebuilding, and final welding is performed. to form a steel frame, and further retract the column presser rods 3d of the column support frame 3c of each steel column support device T outward to form a steel frame 2.
The lower end is unfixed, the steel frame thus formed is lifted to a high site by a crane, etc., and added to the upper end of the already erected steel frame to gradually increase the height of the steel frame to form a steel structure.

Furthermore, when the work at one workplace is completed, the user switches to another workplace using the remote box 24 and repeats the same process. As mentioned above, the steel column 2 to be assembled on the ground
The rebuilding process is automated, saving time and improving the accuracy of the rebuilding process.

Although the target 11 is attached to the top of the steel column 2 in this embodiment, it may be fixed at a predetermined height position on the steel column 2 by a known means such as a clamp. Furthermore, although the two stays 6 are provided radially at angles perpendicular to each other, they do not need to be orthogonal to each other, and if the two stays 6 are not lined up on the same axis, they will be oriented at 60 degrees to each other. They may be attached radially, or two or more stays 6 may be attached.

Further, in the present invention, the step motor 9 is connected to the jack device 7 to move the outer end of the stay 6 up and down, but the vertical movement can also be performed by other known driving means such as using a hydraulic cylinder device. I don't mind if you let me.

[0043]

As described above, the ground assembly control system for steel structures of the present invention automates the rebuilding of steel columns constituting the steel frame to be assembled on the ground, and furthermore, Improved accuracy makes it possible to handle high-rise steel structures.

[Brief explanation of drawings]

FIG. 1 is a side view showing a steel column support device of this embodiment.

FIG. 2 is a top view of the same.

FIG. 3 is a side sectional view of the same.

FIG. 4 is a diagram showing the relationship between a camera and a target in this embodiment.

FIG. 5 is a block diagram showing the equipment for rebuilding the steel frame structure according to the present embodiment.

FIG. 6 is a system conceptual diagram showing a connection state of a steel structure rebuilding device corresponding to each steel column in each workshop in this embodiment.

FIG. 7 is a perspective view of the target of the present example viewed from below.

FIG. 8 is a diagram showing an X-Y axis table of this embodiment.

FIG. 9 is a diagram showing the relationship with the vertical movement of the outer end of the stay of the steel column of the present embodiment.

[Explanation of symbols]

T Steel support device 1 Base 2 Steel column 3 Column support 6 Stay 7 Jack device 8　　　　　　　　Reduction gear 9 Step motor 11 Target 11e Measurement mark 20 Camera 21 Image processing device 22 Control device

Claims (1)

[Claims] Claim 1: A column support that is swingably supported on a base fixed to the ground surface and grips the lower end of a steel column, and a plurality of columns that extend outward from the column support in mutually different directions. a stay, a drive means connected to the outer end of the stay to move the outer end of each stay up and down, and a drive means attached to the upper part of the steel column fixed to the column support and extending laterally. a target having a measurement mark on the lower surface of the extended portion; a camera installed on the ground surface at a predetermined position from the pillar support with its light receiving axis directed toward the measurement mark of the target; and a camera connected to the camera. an image processing device that processes an image signal from the image processing device to determine the displacement of the measurement mark with respect to a reference position and determines the upright posture of the steel column; 1. A reassembly apparatus for a steel structure, comprising: a drive control device that drives a drive device to move the outer end of each of the stays up and down by a predetermined amount.