WO2023276784A1 - 形状取得方法、対象物の管理方法及び鉄骨造の建方、並びに形状取得システム - Google Patents
形状取得方法、対象物の管理方法及び鉄骨造の建方、並びに形状取得システム Download PDFInfo
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- WO2023276784A1 WO2023276784A1 PCT/JP2022/024719 JP2022024719W WO2023276784A1 WO 2023276784 A1 WO2023276784 A1 WO 2023276784A1 JP 2022024719 W JP2022024719 W JP 2022024719W WO 2023276784 A1 WO2023276784 A1 WO 2023276784A1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
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Definitions
- the present invention relates to a shape acquisition method, an object management method, a steel frame construction, and a shape acquisition system.
- Patent Document 1 can measure the collapse of a steel frame column in the steel frame erection process, it cannot accurately measure the amount of displacement of the capital of the steel frame column. could not be measured.
- a shape acquisition method for acquiring shape information of an object, wherein information on the tilt angle of the object is acquired at a plurality of points using a plurality of sensors attached to the object. and obtaining the shape information of the object by calculation using the information of the tilt angle at the acquired plurality of points.
- a second aspect of the present invention repeatedly executing the shape obtaining method according to the first aspect, and monitoring the temporal change of the shape of the object based on the shape information obtained each time the method is executed. and an object management method is provided.
- a steel frame construction including multiple joint columns, wherein a plurality of upper joint columns are individually placed on each of a plurality of lower joint columns erected in a predetermined arrangement.
- the plurality of lower Determining a first positional deviation amount from the reference of the stigma in the direction orthogonal to the one surface of each node pillar, and considering the determined first positional deviation amount, erecting each of the plurality of upper node pillars re-defining a target value; and erecting a steel structure.
- construction is a term that means the degree of verticality of the pillar
- the target value of construction means the target value of the verticality of the pillar, that is, the target value of the inclination angle.
- a steel frame construction including multiple joint columns, wherein a plurality of upper joint columns are individually placed on each of a plurality of lower joint columns erected in a predetermined arrangement.
- a control device drives the plurality of driving devices individually provided in the plurality of erection jigs in parallel; and automatically adjusting the positions of the stigmas of the plurality of upper joint pillars.
- a shape acquisition system for acquiring shape information of an object, comprising: an analysis device and a terminal device connected to each other via a wide area network; a plurality of sensor devices connected to each other through the communication line, respectively attached to different positions of the object during use, and outputting sensor data including tilt angle information at each mounting position via the communication line,
- Each of the plurality of sensor devices outputs the sensor data based on an external command or at a predetermined timing
- the terminal device outputs the sensor data output from each of the plurality of sensor devices to the is transmitted to the analysis device via the wide area network
- the analysis device obtains the shape information of the object by calculation using the tilt angle information included in the plurality of sensor data received via the wide area network.
- a shape acquisition system is provided that determines and stores the determined shape information in a storage.
- the communication line and the wide area network may be part of the same network.
- FIG. 1 is a partially omitted perspective view showing a steel-framed building including many steel-framed columns, which is an object of shape measurement
- FIG. Part (A) of FIG. 4 is a side view showing the sensor device fixed to the steel frame column
- part (B) of FIG. 4 is a bottom view showing the sensor device. It is a flow chart which shows the flow of the shape acquisition method concerning this embodiment.
- FIG. 4 is a flow chart showing a processing algorithm executed by a CPU of an arithmetic processing unit of the sensor device; 4 is a flow chart showing a processing algorithm of an interrupt processing routine executed by a CPU of a server; It is a figure for demonstrating the meaning of the inclination-angle output from a sensor apparatus.
- FIG. 4 is a flow chart showing a processing algorithm executed by a CPU of an arithmetic processing unit of the sensor device; 4 is a flow chart showing a processing algorithm of an interrupt processing routine executed by a CPU of a server; It is a figure for demonstrating the meaning of the inclination-angle output from a sensor apparatus.
- FIG. 4 is a diagram for explaining a method of calculating the shape of the measurement surface (first surface) of the pillar 100 1 to which the sensor devices 18 1 to 18 3 are attached; It is a figure which shows the example which has arrange
- BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of a structure of the system for implementing erection of a steel-frame structure.
- FIG. 4 is a diagram for explaining the erection jig, and shows the erection jig in a state in which the erection piece 102a of the column 100m and the erection piece 102b of the column 100n are connected.
- FIG. 10 is a diagram showing the erection jig assembled to the erection piece 102a of the capital of the pillar 100 m , and a diagram showing the erection jig in an open state. It is a flowchart which shows the flow of a process of erecting an n-node column. It is a figure for demonstrating the steel frame for beams.
- FIG. 10 is a diagram showing the erection jig assembled to the erection piece 102a of the capital of the pillar 100 m , and a diagram showing the erection jig in an open state. It is a flowchart which shows the flow of a process of erecting
- FIG. 11 is a diagram for explaining a new setting of the erection target value of a 2-node pillar for canceling the amount of positional deviation of the stigma of the 1-node pillar in the X-axis direction when the 2-node pillar is erected on top of the 1-node pillar; be.
- FIG. 3 a case where the target object is the steel frame column 100 forming the steel frame building 110 shown in FIG. 3 will be described, but the target object is not limited to the steel frame column.
- the vertical direction (the direction of gravity) is defined as the Z-axis direction
- the orthogonal direction is defined as the Y-axis direction
- the inclination (rotation) directions about the X-, Y-, and Z-axes are defined as .theta.x, .theta.y, and .theta.z directions, respectively.
- FIG. 1 schematically shows the overall configuration of a shape acquisition system 10 according to a first embodiment for implementing a shape acquisition method.
- the terminal device 14 does not necessarily have to be provided, and the configuration may be such that the outputs of the plurality of sensor devices 18 i are provided directly to the server 12 via the network 13 . That is, the communication line and the wide area network 13 may be part of the same network. Also, the terminal device may be a mobile PC or a smart phone alone, without including the field side controller.
- the server 12 in this embodiment a commonly used server computer is used, but a cloud (computer) may be used.
- the server 12 includes a CPU, ROM, RAM, HDD, etc. (storage) (not shown). various processing algorithms.
- the configuration of the server 12, which also functions as an analysis device, is not limited to that of this embodiment. It suffices if it has at least a configuration (or function) that enables Also, the analysis device is not limited to hardware as in the present embodiment, and may be software capable of at least executing arithmetic functions, for example.
- the server 12 When the server 12 receives sensor data (including an ID) from the on-site controller 14 via the network 13, as will be described later, the server 12 executes an interrupt processing routine, which will be described later. Find the shape information of the part. The processing of the interrupt processing routine will be detailed later.
- the local controller 14 is a commonly used computer in this embodiment.
- the on-site controller 14 incorporates, for example, a CPU, ROM, RAM, and HDD (not shown). Execute processing algorithms.
- the on-site controller 14 includes an operation unit such as a keyboard and a mouse, and a display screen such as a liquid crystal display.
- the on-site controller 14 performs data communication with the server 12 and the mobile terminal 16 via the network 13 in accordance with instructions input by the on-site supervisor or other manager via the operation unit. .
- the field side controller 14 selects sensor data for the same object from among the plurality of sensor data. are extracted, grouped together (for example, linked using the same ID), and transmitted to the server 12 .
- the mobile terminal 16 is carried by a construction site worker.
- the mobile terminal 16 is a commonly used portable computer such as a tablet PC.
- the mobile terminal 16 may be a smart phone.
- Each of the sensor devices 18 i includes, as shown in FIG. 2, an angle sensor 181, an arithmetic processing unit 182, a wireless communication unit 183, a power supply unit 184 made up of, for example, a battery, and a waterproof housing housing them.
- a body 185 is provided. Power supply from the power supply unit 185 to each unit of the sensor device can be turned on/off by operating a power switch 186 provided on the housing 185 .
- the communication unit 183 is not limited to being wireless, and at least part of it may be wired.
- the sensor device 18i does not necessarily need to be provided with the power switch 186, and may be configured so that the power can be turned on/off by an external operation (server 12, on-site controller 14, etc.).
- the sensor device 18i is not limited to the configuration of this embodiment, and the angle sensor 181, the communication unit 183 , etc. may not be integrally configured. It is sufficient to have only the function of measuring the angle information of the location.
- the angle sensor 181 and other units are connected by a wireless or wired communication line, and sensor data output from the angle sensor 181 and angle It may be configured to supply power to the sensor 181 .
- the field-side controller 14 may have the function of the other section.
- a 3D EMS tilt angle sensor is used as the angle sensor 181.
- a 3D EMS tilt angle sensor is a precision tilt sensor created using 3D EMS technology and is also simply referred to as a 3D EMS sensor in the following.
- the power requirements of the 3D EMS tilt angle sensor are very low, with power consumption in the microampere range, making it suitable for wireless applications.
- the angle sensor 181 one incorporating two MEMS acceleration sensors with symmetrical output characteristics and an ASIC is used. ⁇ ) information is output.
- the angle sensor is not limited to the 3D EMS tilt angle sensor, and other types of three-dimensional tilt angle sensors may be used.
- the angle sensor is not limited to the three-dimensional tilt angle sensor, and may be a two-dimensional tilt angle sensor or a one-dimensional tilt angle sensor depending on the object to be measured. At this time, a two-dimensional tilt angle sensor and a one-dimensional tilt angle sensor may be combined, or a plurality of two-dimensional or one-dimensional tilt angle sensors may be combined for use.
- the arithmetic processing unit 182 is composed of, for example, a microcontroller (MCU), and has a CPU (not shown), memory devices (RAM, ROM), an input/output circuit, and a timer circuit. Arithmetic processing unit 182 executes a processing algorithm defined by a program stored in ROM. Note that an ASIC incorporated in the angle sensor 181 may be provided with the functions of the arithmetic processing unit 182 without providing the arithmetic processing unit 182 .
- FIG. 4A shows a side view of sensor device 18i fixed to column 100.
- FIG. 4B shows a bottom view of the sensor device 18i .
- a plate-like cushion member 188 made of urethane, silicon, rubber, felt, or the like is attached to the bottom surface of the housing 185 .
- a plurality of recesses for example, six recesses are formed in the bottom of the housing 185 facing the cushion member 188, and a permanent magnet 190 is arranged in each of the recesses.
- the sensor device 18 i is attached to the column 100 by the magnetic force of a plurality of permanent magnets 190 via a cushion member 188 . As a result, it is possible to effectively suppress the occurrence of an inclination error when mounting the sensor device 18i without being affected by the unevenness of the mounting surface of the column 100 caused by rust or the like.
- a magnetic shield member 189 is provided near the bottom of the housing 185 .
- the number and shape of the permanent magnets are not particularly limited, and the shape of the recess formed in the bottom of the housing 185 may be any shape in which the permanent magnets can be arranged. Further, the cushion member 188 may not necessarily be provided depending on the flatness of the mounting surface of the pillar on which the sensor device 18i is mounted.
- the sensor device 18i is attached to a pillar selected as a measurement target from among the many pillars forming the steel frame building 110 shown in FIG.
- one pillar 100 1 and three sensor devices 18 1 to 18 3 attached to the pillar 100 1 shown in FIG. 6 will be appropriately taken up and explained.
- three sensor devices 18 1 to 18 3 are arranged from bottom to top on the +X side surface (hereinafter also referred to as the first surface or measurement surface) of the column 100 1 .
- the server 12 stores the data of the blueprints of the steel-framed building 110 in a storage (such as an HDD) through exchanges between the site-side controller 14 and the server 12 via the network 13 .
- the server instructs the on-site controller 14 on the prerequisite conditions for measurement based on the design drawing data.
- the conditions include the number of sensor devices to be installed on the pillar to be measured, the installation position, and the like.
- on-site managers such as on-site supervisors specify columns to be measured and measurement locations (also referred to as measurement points or measurement points) via the on-site controller 14 in response to instructions from the server, and specify specific content on-site.
- the operator is notified by e-mail or the like and is instructed to prepare for measurement (step S1 in FIG. 5).
- the contents of the instruction are also displayed on the display screen of the mobile terminal 16 .
- the pillars are specified using the pillar numbers (001, 002, . . . ), and the measurement points are specified using the numbers (01, 02, .
- each measurement point is determined so that the distance from the base becomes a predetermined value, for example, in a state where the pillar is erected.
- instructions are given to workers on site via the field side controller 14, but work instructions may be sent from the server 12 via the network 13 to the mobile terminal 16 possessed by the worker. good.
- the administrator it is preferable for the administrator to input specific contents such as measurement points to the server 12 in advance.
- the on-site worker After confirming the contents of the instructions in the e-mail, etc., the on-site worker follows the instructions to sequentially install the sensor devices 18 i on the pillar 100 j to be measured and the measurement locations, and perform initial settings for each installed sensor device 18 i ( Step S2 in FIG. 5).
- each sensor device 18i is calibrated in advance so that measurement errors do not occur.
- each sensor device 18i is set in advance so that it can communicate with the field side controller 14 via a communication line (wireless LAN).
- the switch 186 is once set to OFF.
- attachment of the sensor device 18 i to the pillar 100 j is performed by one touch using magnetic force as described above. It should be noted that the switch 186 of the sensor device 18 i may be attached to the pillar 100 j with the switch 186 turned on (on state).
- the initial setting of the sensor device 18 i includes turning on the switch 186 of the sensor device 18 i and inputting the identification information of the sensor device 18 i via the display operation section 187 .
- identification information (001-01), (001-02), (001-03) is individually input to each of the three sensor devices 18 1 , 18 2 , 18 3 shown in FIG.
- Arithmetic processing unit 182 stores the input identification information in an internal memory (RAM). This puts the sensor device 18i into a standby state ready for measurement. It should be noted that if the sensor device 18i is mounted in the on state, the operation of the switch 186 is unnecessary.
- the on-site worker When the installation and initial setting of all the sensor devices used for measurement are completed, the on-site worker notifies the manager such as the on-site supervisor by e-mail or the like that the instructed preparation for measurement has been completed (step in FIG. 5). S3).
- the position and shape of the pillar head of each target pillar is determined using the acquired tilt angle information.
- the two-dimensional shape (the shape within the XZ plane) of one surface to which the sensor device is attached is calculated as the shape of the pillar.
- steps S4 to S6 are performed by the shape acquisition system 10 in this embodiment, the operation of each component of the shape acquisition system 10 will be described below.
- FIG. 7 shows a processing algorithm defined by a program executed by the CPU of the arithmetic processing unit 182 .
- the processing algorithm shown in the flow chart of FIG. 7 is started when the initial setting of each sensor device described above is completed.
- step S22 it waits until an instruction to start measurement is input.
- An instruction to start measurement is input by the manager via the on-site controller 14 .
- the manager can recognize that the preparation for measurement is completed by receiving the notification from the worker in step S3 that the preparation for measurement has been completed.
- an instruction to start measurement is input to the field side controller 14 via the operation unit.
- step S24 the angle sensor 181 is instructed to perform measurement, and information on the tilt angle (at least one of the maximum three axes) measured by the angle sensor 181 is captured.
- an ID (identification code) is attached to the output information that has been taken in, and the data is transmitted to the field side controller 14 via the wireless communication section 183 as one piece of data.
- ID a number (code) that is input by the operator at the time of initial setting and is created based on the identification information stored in the RAM is used.
- numbers (codes) corresponding to the identification information 001-01, 001-02, 001-03 are created as IDs.
- step S26 ends, the process ends.
- the sensor device 18 i enters a standby state until the next instruction to start measurement is input.
- the above steps S22 to S26 are performed in all the sensor devices 18i .
- the on-site controller 14 sequentially stores the sent sensor data in a predetermined storage area of the RAM. When a plurality of sensor data are sent at the same time, the on-site controller 14 concurrently stores the sensor data in a predetermined storage area of the RAM by time-division processing.
- the newly stored data is transmitted to the server 12 via the network 13 by the field side controller 14 at the stage when the sensor data for the three upper, middle, and lower measurement points for the same column are complete. For example, referring to column 1001, three pieces of data each containing an ID corresponding to identification information 001-01 , 001-02, and 001-03 are sent to server 12 in one block.
- the on-site controller 14 may display the pillar identification data corresponding to the transmitted data on the display screen when transmitting to the server 12 .
- This flow chart is a flow chart showing a processing algorithm of an interrupt processing routine defined by a program executed by the CPU of the server 12 .
- This interrupt processing routine is executed, for example, at each timing when the sensor data sent from the field side controller 14 is completed. Note that the timing of executing the interrupt processing routine is not limited to this, and may be executed at the timing when the acquisition of sensor data has been completed a plurality of times.
- step S32 data on the shape of the pillar 100j is calculated using the captured sensor data.
- a method for calculating the shape of the pillar will be described.
- a case of calculating the shape in the XZ plane of the first surface (hereinafter referred to as measurement surface Ws) on which the sensor devices 18 1 to 18 3 of the column 100 1 are attached will be briefly described.
- the inclination angle ⁇ i of the normal vector at each measurement point (measurement point) on the measurement plane Ws shown on the left side of FIG. is output as the inclination of the sensor device 18 i (the angle with respect to the axis in the direction of gravity). Therefore, there is no need to set a reference like measurement by a conventional three-dimensional surveying instrument.
- each of the sensor devices 18 1 , 18 2 , 18 3 is represented by a point P 1 , P 2 , P 3 and the measurement to which each of the sensor devices 18 1 , 18 2 , 18 3 is attached.
- the positions on the plane Ws are P 1 (X 1 , Z 1 ), P 2 (X 2 , Z 2 ), and P 3 ( X 3 , Z 3 )
- the calculation gives the X position X 2
- the X position X3 of the point P3 can be obtained as follows. It is assumed that the origin of the XZ coordinate system is set at the lower end point of the measurement surface Ws whose shape is to be obtained.
- X 2 X 1 + tan ⁇ ( ⁇ 1 + ⁇ 2 )/2 ⁇ ⁇ (Z 2 - Z 1 )
- X 3 X 2 + tan ⁇ ( ⁇ 2 + ⁇ 3 )/2 ⁇ x (Z 3 - Z 2 ) (2)
- the tilt angle ⁇ 1 measured by the sensor device 18 1 is shown larger than it actually is, in order to visually make the explanation easier to understand.
- the X position X 1 of the point P 1 is X 1 ⁇ Z 1 tan ⁇ 1 ⁇ 0.
- X 2 can be calculated from known values Z 2 , Z 1 , ⁇ 1 , ⁇ 2
- X 3 can be calculated from known values X 2 , Z 2 , Z 3 , ⁇ 2 and ⁇ 3 .
- the three sensor devices 18 i are arranged along the vertical direction on the measurement plane, but it is also conceivable to arrange the sensor devices 18 i two-dimensionally on the measurement plane.
- the measurement surface of the object is a three-dimensional curved surface, it is necessary to arrange the sensor devices two-dimensionally on the measurement surface.
- the sensor device 18i actually outputs the tilt angle (three-dimensional tilt angle) of the normal vector of the measurement surface Ws, the measurement surface of the object can be calculated from the measurement values of the measurement point coordinates and the normal vector.
- the shape may be calculated by obtaining the height of each measurement point with respect to the reference plane from the surface slope of each measurement point and its first-order integral, or multiple data on the same object obtained by measurement
- the shape of the object may be obtained based on a function obtained by converting the function fitted to the data of the gradient distribution obtained from , into an integral system.
- a function such as differential Zernike can be used.
- an approximate curved surface expressed, for example, by Fourier series expansion is created so that the error at each measurement point is minimized.
- the shape may be calculated by optimizing the order and coefficients.
- various methods using various functions can be used as long as the shape can be calculated using tilt angles at a plurality of measurement points.
- the point where the amount of deviation of the stigma from the reference (here, the Z axis) and the amount of deviation from the reference is maximum, and equivalent to the maximum amount of deflection).
- the obtained data (the shape, the deviation amount of the stigma, the maximum point of the deviation amount, and the data of the deviation amount) are associated with the pillar number and stored in a storage (such as an HDD). Exit the processing routine.
- the interrupt processing routine in FIG. 8 is performed each time the sensor data of the pillar (object) is captured. That is, for each pillar (target object) to be measured, the shape is calculated, the deviation amount of the pillar head, the maximum deviation amount (equivalent to the maximum deflection amount) is calculated, and the pillar number (target The storage of the calculation result associated with the object number) is repeatedly performed. Therefore, a rewritable data table associated with the object number (pillar number) is prepared in advance in a predetermined area of the storage, and when the calculation result is stored, the object number (pillar number ) may be repeatedly overwritten (that is, the storage contents may be updated).
- the server device 12 transmits the latest information stored in the storage as table data associated with the design data to the on-site controller 14 via the network 13 each time the data table is created and updated. It is good to do.
- the on-site controller 14 can use the transmitted table data to store it in a storage device such as a RAM or HDD to create and update a database.
- Electromagnetic induction system Wireless power supply (non-contact power supply) that transmits power using the induced magnetic flux generated between the power transmission side and the power reception side, solar power generation, wired LAN power supply using LAN cables, etc. Also good.
- the sensor device 18 i is arranged on two mutually orthogonal surfaces extending in the longitudinal direction of the column 100 (a first surface orthogonal to the X axis and a second surface orthogonal to the Y axis). ) may be arranged at the same height position.
- sensor devices 18 1 , 18 2 , 18 3 are arranged on the first surface
- sensor devices 18 4 , 18 5 , 18 6 are arranged on the second surface.
- the shape of the first surface is determined based on the outputs of the sensor devices 18 1 , 18 2 and 18 3
- the shape information of the second surface is determined based on the outputs of the sensor devices 18 4 , 18 5 and 18 6 . may be obtained in the interrupt processing routine of .
- each sensor device outputs a three-dimensional tilt angle, even if only the sensor devices 18 1 , 18 2 , and 18 3 are attached to the first surface, the shape of the second surface can also be obtained theoretically.
- the sensor device may have a rotational error around the normal to the mounting surface, so if you want to know the shape of the first surface and the shape of the second surface, It is better to mount sensor devices on both sides.
- the results of measuring the first and second surfaces with an existing survey instrument are used as initial values, and the sensor attached to the first surface continuously measures the fluctuations from the results, and the first and second surfaces are measured. It is also possible to use the variation result of
- a predetermined calculation is performed using the information on the inclination angle at the plurality of measurement points of the pillar acquired by the plurality of sensor devices attached to the pillar.
- This makes it possible to acquire the shape of a part of the object, for example, the surface (measurement surface) on which the sensor device is attached, the shape of the pillar, and the maximum amount of deviation from the reference surface over the entire measurement area.
- This makes it possible to determine the shape of the pillar without using light, eliminates the need for a three-dimensional measuring machine that uses light, and eliminates the influence of obstacles and the like.
- the shape acquisition method according to the present embodiment is carried out using the shape acquisition system 10 according to the above embodiment, the shape of the measurement surface, and thus the shape of the pillar, is automatically acquired, except for the preparatory processing for measurement. , acquisition of the amount of deviation from the reference in the entire measurement area, and management of the pillars (absolute value management/time change management). Therefore, according to the shape acquisition system 10 according to the above-described embodiment, it is possible to eliminate manual surveying work for steel frame construction, thereby improving the labor shortage and shortening the construction period of steel frame construction.
- the shape of the measurement surface of the steel frame column can be acquired prior to the start of the exterior construction work. etc. will also be possible.
- the sensor device used in this embodiment preferably outputs data including the identification code (ID) of the sensor device.
- the identification code (ID) of each sensor device includes the identification code of the object to which each sensor device is attached and the identification code of the mounting position on the object. A sign may not be included.
- the on-site controller (terminal device) 14 aggregates the sensor data for the same object based on the ID included in the plurality of sensor data output from the plurality of sensor devices 18i .
- the analysis device instead of this, the analysis device generates a plurality of received sensor data for the same object based on the ID included in the sensor data. It is also possible to employ a configuration in which sensor data is extracted and information on the shape of the object is obtained by calculation using tilt angle information included in the plurality of sensor data that has been extracted.
- the same number of sensor devices as the number of measurement points for obtaining tilt angle information is used, but the number does not necessarily have to be the same. In this case, one sensor device may be used to acquire tilt angle information at two or more measurement points.
- Fig. 12 shows an example of the configuration of the system 10A for erecting this steel structure.
- FIG. 12 representatively shows three sensor devices 18 1 to 18 3 out of the plurality of sensor devices 18 i , and four drive devices 50 1 to 50 4 out of the plurality of drive devices 50 p . It is shown.
- Each of the plurality of sensor devices 18 i and the plurality of drive devices 50 p is connected to the network 13 via a communication line such as a wireless LAN. All communication lines may be wireless, but at least some of them may be wired.
- a square column having a rectangular cross section is used as the column 100, and four faces extending in the longitudinal direction of the column 100j are provided with erection pieces 102 (102a , 102b) are projected (see FIGS. 13 and 14).
- Each erection piece 102 is perpendicular to each surface of the column 100 and extends vertically.
- the erection piece 102 provided at the column head is designated as the erection piece 102a
- the erection piece 102 provided at the column base is designated as the erection piece 102b.
- the lower joint pillar (hereinafter referred to as the lower joint pillar) 100 m erection piece 102a and the upper joint pillar (hereinafter referred to as the lower joint pillar) erected on the lower joint pillar 100 m , and an erection piece 102b of 100n ( referred to as an upper joint pillar) are connected at each of the four faces extending in the longitudinal direction of the pillar using a erection jig 30p .
- the erection jig 30p includes a body frame 32, and tilt adjustment bolts 34, misalignment adjustment bolts 36, fall prevention bolts 38, fixing bolts 40 and the like provided on the body frame 32. Equipped with various bolts.
- hexagon socket head bolts are used as these bolts as an example.
- the body frame 32 is a frame member extending in a predetermined direction (vertical direction in FIG. 13) having a hollow portion wider than the thickness of the erection pieces 100a and 100b formed in the center portion in the width direction.
- the fixing bolt 40 is a bolt for attaching the erection jig 30 p to an erection piece to be attached so that the erection piece can be rotated (swinged).
- the fixing bolt 40 is composed of a head portion and a shaft portion, and the shaft portion has a stepped cylindrical shape having a large diameter portion and a small diameter portion.
- the large-diameter portion is provided on a portion of the shaft portion on the head side, and has a threaded portion formed on the outer peripheral surface thereof, and the side opposite to the head portion of the threaded portion, that is, the tip side, is the small-diameter portion.
- the fixing bolt 40 When attaching the erection jig 30 p to the erection piece to be attached (the erection piece 102 a in FIG. 13 ), the fixing bolt 40 is pushed from the tip side (small diameter portion) to the vicinity of the lower end of one side surface of the body frame 32 . The threaded portion is screwed into the threaded hole. A small-diameter portion of the fixing bolt 40 is inserted into a hole formed in the other surface of the body frame 32 via an elongated hole formed in the erection piece 102a.
- the tip of the small diameter portion is exposed to the outside of the body frame 32 by a predetermined amount.
- the erection jig 30p can be attached to the erection piece 102a to be attached so that it can be rotated up and down about the axis of the fixing bolt 40 (see FIG. 14).
- a push-up member 44 is arranged inside the central portion in the longitudinal direction of the hollow portion of the body frame 32 .
- the push-up member 44 is connected to the erection piece 102a of the lower joint 100m and the erection piece 102b of the upper joint 100n shown in FIG. In the joint state attached to the column), it is located in the space between the erection pieces 102b and 102a.
- the push-up member 44 has a movable lever 46 whose one end (lower end in FIG. 13) is rotatably (swingably) supported by the body frame 32 via a support pin, and one end connected to the distal end of the movable lever 46.
- a pressing lever 48 is included.
- the pressing lever 48 is rotatably connected to the movable lever 46 .
- a through pin is attached to the other end (the upper end in FIG. 13) of the pressing lever 48 opposite to the connecting portion. Both ends of the through-pin are inserted into vertical guide holes formed in both side walls of the body frame 32, and the through-pin is vertically movable along the guide holes.
- the push-up member 44 is attached to the body frame 32 in a V-shaped configuration.
- a support member 42 having a U-shaped cross section is fixed to the body frame 32 so as to cover the connecting portion between the movable lever 46 and the pressing lever 48 .
- a threaded hole is formed in one surface of the support member 42, and the inclination adjusting bolt 34 is screwed into the threaded hole.
- the tilt adjustment bolt 34 is rotated clockwise (screwed) so that the push lever 48 of the push-up member 44 pushes the upper joint column 100 n . , the erection piece 102b is pushed up.
- a configuration using a cam is also conceivable, and the configuration is not particularly limited.
- a usage method in which the erection jig 30 p is attached to the pillars of the upper and lower joints in the upside-down direction of FIG. 13 is also adopted.
- the erection piece 102b of the upper joint column 100n is pushed up by the deformation of the push-up member 44 when it is rotated (screwed).
- a total of three misalignment adjusting bolts 36 are provided, one on each side of the upper half of the body frame 32 in FIG. 13 and one on one side of the lower half of the body frame 32 .
- the misalignment adjusting bolt 36 is screwed into the body frame 32 through a screw hole.
- the two misalignment adjusting bolts 36 in the upper half are rotated clockwise, their tips are brought into pressure contact with both side surfaces of the erection piece 102b of the upper joint column, so that the erection pieces 102b are reversed to each other. press in the direction. Therefore, when adjusting the misalignment, it is necessary to rotate the two misalignment adjusting bolts 36 in opposite directions.
- One misalignment adjusting bolt 36 in the lower half presses one surface of the erection piece 102a of the lower joint by rotating it clockwise.
- the erection jig 30p is attached to the erection pieces 102a and 102b, and after the pillars of the upper and lower joints are connected, the driving device 50p is connected to the erection jig via a support member (not shown). 30 p .
- the support member is configured to be attached to the body frame 32 in a state that does not interfere with the operation of each bolt described above and in a posture that makes it difficult for relative displacement with respect to the body frame 32 to occur.
- a circular opening is formed in the support member at a position facing the top surface of the head of the tilt adjusting bolt 34, and a hexagon wrench-shaped screw is fitted into the hexagonal hole of the tilt adjusting bolt 34 through the opening.
- the driving device 50 p has an MPU (control microcomputer), and a sensor and a motor for measuring the amount of rotation of the rotary shaft are electrically connected to the MPU.
- MPU control microcomputer
- support members (not shown) are attached to the body frames 32 of the four erection jigs 30 p that are arranged on the four surfaces of the lower joint post 100 m and the upper joint post 100 n and connect the erection pieces 102 a and 102 b.
- four drives 50 p are separately attached via .
- the MPU of each driving device 50p is connected to the network 13 via a communication section.
- the amount of rotation of the motor of each driving device 50 p is controlled according to a command value given from an external terminal such as the server 12 via the network 13 .
- an external terminal such as the server 12 via the network 13 .
- a detailed configuration of a steel frame column inclination adjusting device having a configuration similar to that of the erection jig 30p is disclosed, for example, in Japanese Unexamined Patent Application Publication No. 2001-355340 . A further detailed description of the erection jig 30p is omitted.
- FIG. 15 shows the flow of processing for erecting an n-node column.
- the erection of the (n-1) node column is completed on the premise that the erection of the n-node column is started.
- the lower joint column here, the (n-1) joint column
- step S102 the upper joint column (here, the n-node column) 100n is lifted by a crane and cut off from the ground.
- step S104 the erection jig 30p is assembled (attached) to the erection piece 102a of the stigma of the lower joint 100m (or the erection piece 102b of the pedestal of the upper joint 100n ).
- Four erection jigs 30p are assembled to the four erection pieces 102a (see FIG. 14).
- the upper joint 100n is hung by a crane and temporarily fixed to the lower joint 100m by the erection jig 30p . That is, the upper joint pillar 100 n is suspended, and the four erection jigs 30 p attached to the erection piece 102a of the stigma of the lower joint 100 m (or the erection piece 102b of the pedestal of the upper joint 100 n ) are In the open state (see FIG.
- each of the four erection pieces 102a and 102b provided on the base of the upper joint pillar 100n and the capital of the lower joint pillar 100m are respectively wrapped by the body frame 32 of the side jig 30p, and attached to each other by four erection jigs. Each is connected by means 30p .
- misalignment of columns is adjusted.
- the misalignment refers to the positional deviation in the horizontal plane between the stigma of the lower joint pillar 100 m and the pedestal of the upper joint pillar 100 n .
- the X-axis direction of the upper joint post 100 n with respect to the lower joint post 100 m so that the posts of the upper and lower joints appear to be one post.
- the Y-axis direction by, for example, visually adjusting the rotation direction and rotation amount of the plurality of misalignment adjusting bolts 36 of each of the four erection jigs 30p .
- misalignment adjustment means that the erection piece 102a of the lower joint 100m and the erection piece 102b of the upper joint 100n are positioned substantially on the vertical line on each of the four surfaces.
- misalignment adjustment means that the erection piece 102a of the lower joint 100m and the erection piece 102b of the upper joint 100n are positioned substantially on the vertical line on each of the four surfaces.
- the crane is released (step S110). It should be noted that if the weight of the pillar is less than a predetermined value, it is possible to release the crane before performing misalignment adjustment.
- step S112 tilt adjustment of the column is performed.
- this inclination adjustment is automatically performed by the server 12 and the MPU of the driving device 50p attached to each of the four erection jigs 30p .
- the server 12 instructs the six sensor devices 18 i attached to the upper joint post 100 n to start measurement, and acquires sensor data from the six sensor devices 18 i .
- the server 12 calculates the shape information of the first surface of the upper joint 100 n by the method described above based on the sensor data output from the three sensor devices 18 i attached to the first surface of the upper joint 100 n .
- the server 12 determines the shape of the second surface of the upper joint post 100 n by the method described above based on the sensor data output from the three sensor devices 18 i attached to the second surface of the upper joint post 100 n .
- the server 12 manages the relationship between the ID included in the sensor data of each sensor device 18i , the pillar to which the sensor device 18i is attached, and the mounting position (that is, the measurement point of the sensor device).
- the sensor device 18i is attached to the pillar 100 before or after erection of the pillar 100, and the mounting position is marked. It has established. Further, the information as to which sensor device 18 i is attached to which position on which column (or whether it was attached) is provided by the worker in charge of mounting the sensor device 18 i as in the first embodiment.
- the initial setting of i may be performed, and the information input at the time of the initial setting may be included in the sensor data as the ID information.
- information on the pillar number and the mounting position of the sensor device 18i is input in advance to the arithmetic processing unit 182 and stored in the memory, and the pillar number and the mounting position are displayed on the screen of the display operation unit 187. information may be displayed.
- the server 12 determines the amount of positional deviation ( ⁇ x , ⁇ y), and adjust the inclination angle of the upper joint pillar 100 n using the four erection jigs 30 p so that the positional deviation amount becomes almost zero (or falls within a predetermined allowable value). .
- the server 12 converts the positional deviation amount ( ⁇ x, ⁇ y) into the tilt angle of the upper joint pillar 100n , and sets command values for the control amounts of the respective motors so as to offset the tilt angle to the four It is realized by controlling the rotation of the tilt adjusting bolts 34 of the four erection jigs 30p in parallel by giving it to the MPU of each of the driving devices 50p .
- the rotation of the tilt adjusting bolts 34 of the four erection jigs 30p can be controlled in parallel, so that the four erection jigs 30p can be adjusted by a plurality of people working together as in the conventional art.
- the rotation adjustment of the inclination adjustment bolts 34 is performed one by one, the inclination angle adjustment of the upper joint 100n can be performed quickly and accurately.
- the erection jig 30p is used to fix the upper joint post 100n and the lower joint post 100m .
- This fixation is performed by temporarily tightening (lightly tightening) the fixing bolts 40 and the overturn prevention bolts 38 of the four erection jigs 30p using a dedicated tool.
- the above steps S102 to S114 are performed sequentially (or partly in parallel) for a plurality of upper joint posts ( n -joint posts) 100n.
- FIG. 16 shows a state in which the processing up to step S114 has been completed for a plurality of upper node columns (n-node columns) 100 n , partly omitted. Moreover, in FIG. 16, illustration of the erection jig is also omitted.
- beam insertion generally refers to placing a beam steel frame between two columns and connecting both ends of the beam steel frame to the two columns.
- beam insertion generally refers to placing a beam steel frame between two columns and connecting both ends of the beam steel frame to the two columns.
- a pair of beam end members 200a positioned at both ends of the steel frame beam and joined to the column 100 as a beam steel frame (steel frame beam), and a pair of beam end members 200a
- a beam 200 which has a beam central member 200b (a portion indicated by a two-dot chain line in FIG. 16) whose one end and the other end are joined to the member 200a.
- the beam insertion is to arrange the central member 200b between the two beam end members 200a respectively joined to the two pillars 100, and the central member 200b and the beam end members 200a on both sides are connected by beam joints.
- horizontal force acting on the columns 100 connected to both ends of the beam steel frame during beam insertion causes the inclination angle of the column 100 to change from before beam insertion. Subject to change. In order to confirm this change, it is necessary to re-measure the tilt angle after the above beam insertion.
- Post-beam readjustment may include column misalignment adjustment and column tilt adjustment.
- the misalignment of the columns is adjusted by visually adjusting the amount and direction of rotation of the plurality of misalignment adjustment bolts 36 of the four erection jigs 30p in the same manner as described above.
- the tilting adjustment of the pillar is performed automatically.
- the server 12 and the MPUs of the driving devices 50 p attached to each of the four erection jigs 30 p used to connect the plurality of upper and lower joints the above step S112 and In the same way, it is automatically performed in parallel for a plurality of upper joint posts 100n to be adjusted. As a result, the tilt errors of the plurality of upper joint pillars 100n to be adjusted are adjusted to be almost zero at once (or to be within a predetermined allowable value).
- step S120 final tightening of the beam joint and the column joint is carried out.
- the final tightening of the beam joint is performed by tightening the high-strength bolt of the beam joint, and the final tightening of the column joint is performed by the overturn prevention bolts 38 and fixing bolts 40 of the four erection jigs 30p (and the eyes if necessary). This is done by fully tightening the difference adjusting bolt 36).
- the tilt angle of the upper joint column 100n is measured to confirm that the tilt error is within a predetermined allowable value.
- the allowable value is set to a value smaller than the specification value and greater than zero, unlike the specification value (within a 10-m-long steel frame, the misalignment of the column head is within 10 mm).
- the tilt error of the column is usually It is within the allowable value.
- the upper joint post 100n is welded to the lower joint post 100m , and then the four erection jigs are removed (step S122). After that, the erection piece is cut. Even after welding, the inclination angle of the upper joint column 100n is measured for the purpose of confirming that the inclination angle of the upper joint column 100n is within the allowable range.
- the tilt error of the upper node post 100n is normally within the allowable value.
- the inclination error of the upper joint column 100n in other words, the amount of positional deviation of the column head may not fall within the allowable value. could be.
- the measurement result of the tilt angle can be effectively used in subsequent steps. For example, based on the measurement result of the inclination angle, the offset for canceling (the influence of) the inclination error to the erection target value (of the stigma position) of the upper node pillar (here, the (n+1) node pillar) can be set.
- a plurality of sensor devices 18 i are used to detect the plurality of lower joint posts 100 m .
- first and second surfaces extending in the longitudinal direction and intersecting each other (for example, orthogonal to each other), and based on the obtained shape information, the first surfaces of each of the plurality of lower joint columns 100 m
- the first positional deviation amount from the reference of the stigma in the direction perpendicular to the (Y-axis direction) and the second positional deviation amount in the direction perpendicular to the second surface (X-axis direction) are obtained, and these first positional deviation amount and the second It is also possible to newly determine the erection target values of the plurality of upper joint columns 100n in consideration of the positional deviation amount. In this case, the erection target value of the upper joint column can be newly determined, for example, so that the first positional deviation amount and the second positional deviation amount are offset.
- the 1-node column From the shape of the first surface 100a of the 1-node column 100 m calculated using the sensor data from the three sensor devices 18 i attached to the first surface 100a of the 1-node column 100 m , which is the lower node column, the 1-node column Assume that the amount of positional deviation of the 100 m stigma in the X-axis direction is + ⁇ x (see FIG. 17). In practice, this ⁇ x is a value smaller than the specified value, and therefore a value smaller than 10 mm for a steel column with a length of 10 m.
- the curved shapes of the one-node column 100 m and the two-node column 100 n in FIG. 17 are drawn in a considerably exaggerated manner for convenience of explanation.
- the new setting of the target position in the X-axis direction of the stigma of the two-node column 100 n described above sets the target value of the inclination (tilt angle) of the two-node column 100 n to ( ⁇ y). and substantially (resultingly) match.
- ⁇ y is positive in the clockwise direction.
- ⁇ y is not the inclination angle ⁇ i of the first surface of the pillar at each measurement point measured by the sensor device 18i , but the overall inclination of the pillar around the Y axis (the lower end and the upper end of the first surface of the pillar The inclination of the connecting straight line with respect to the Z-axis in the XZ plane).
- the column head position (positional deviation amount) in the X-axis direction of the 1-node column 100 m is obtained, and the inclination ⁇ y is obtained, and the inclination angle (- ⁇ y) that offsets this inclination ⁇ y is newly set as the target value (target value of inclination angle) of the 2-node column (upper node column) 100 n .
- a new setting of the erection target value of the two-node column 100n for canceling the amount of misalignment of the column head in the Y-axis direction of the one-node column 100m can also be performed in the same manner as described above.
- the amount of positional deviation in one of the X-axis direction and the Y-axis direction of the stigma of the 1-node column 100 m may be zero.
- a new erection target value (a new target value of the inclination angle) of the two-node column (upper node column) 100 n may be set only for the other of the X-axis direction and the Y-axis direction.
- the server 12 sets the erection jig used for fixing each upper and lower node pillar. Giving to the MPU of each of the four driving devices 50 p attached to the tool 30 p a command value of the control amount of each motor so as to offset the amount of positional deviation of the stigma of the one-node column 100 m . do it.
- the server 12 can measure the two-node column 100 m based on the tilt angle information measured using the sensor device 18 i . Obtain the shape of the first and second surfaces of the column 100n and the position of the column head in the X-axis direction and the Y-axis direction, and automatically adjust the tilt adjustment bolt 34 so that the difference between the position and the target position described above is eliminated.
- the type of the steel frame column a square column was used as an example, but a circular column may be used. Furthermore, it may be a steel frame column in which H steel or I steel are combined in a cross shape.
- the position of the stigma of the pillar in the XY plane is determined based on the shape or positional information of the pillar obtained from the output data (sensor data) of the sensor device 18i .
- the automatic adjustment is performed via the four erection jigs 30 p (that is, the rotation of the tilt adjustment bolts 34 of the four erection jigs 30 p is automatically adjusted).
- the difference may be automatically adjusted based on the pillar position information obtained from the output data of the sensor device 18i .
- the shape and structure of a support member (not shown) on which the driving device 50p is mounted is made to have a shape and structure that can also mount an adjusting device capable of adjusting the rotation direction and amount of the misalignment adjustment bolt 36, or Alternatively, a support member separate from the support member on which the driving device 50p is mounted may be provided, and the adjustment device may be mounted on the separate support member. In any case, by configuring the adjusting device to be controlled by the server 12, it is possible to automatically adjust the misalignment of the pillars.
- a steel frame column is taken up as an object, and the calculation of its shape, the management of the maximum amount of deviation (corresponding to the maximum amount of deflection) and the management of changes over time using it have been described.
- the shape acquisition method and shape acquisition system according to the first embodiment (hereinafter abbreviated as the method and system according to the first embodiment) manage steel frames other than steel columns (absolute value management, time-dependent change management, ) can of course be applied to other building process management.
- the sensor device is fixed to the steel frame column using a magnet (magnetic force), but other fixing means may be used instead of the magnet or together with the magnet.
- the sensor device can be fixed to the object using screws (including bolts) instead of magnets or together with magnets. Also good.
- the sensor device may be fixed to the object using an adhesive.
- the target object is not limited to the above embodiment (steel columns such as buildings), other infrastructure such as bridges, dams, tunnels (inner walls, including structures such as jet fans installed in tunnels) , highways, overpasses, plants (including tanks), indoor facilities (indoor pools, gymnasiums, halls), etc., wind turbine blades for wind power generation, aircraft fuselages and wings or propellers, high-speed railways (bullet trains) etc.) (especially the leading car), railroad rails, ships (for example, hulls, propellers), and the like.
- other infrastructure such as bridges, dams, tunnels (inner walls, including structures such as jet fans installed in tunnels) , highways, overpasses, plants (including tanks), indoor facilities (indoor pools, gymnasiums, halls), etc., wind turbine blades for wind power generation, aircraft fuselages and wings or propellers, high-speed railways (bullet trains) etc.) (especially the leading car), railroad rails, ships (for example, hulls, propel
- vehicles automobiles including F1 cars, airplanes, railroads, ships, etc.
- underwater vehicles submarines, deep-sea exploration boats, etc.
- space-related spacecraft, re-entry vehicles, etc.
- flight It may be a body (rocket, missile, satellite, etc.), a power plant (hydropower, thermal power, natural gas, nuclear power, etc.).
- Examples of construction process management to which the method and system according to the first embodiment can be preferably applied include pile driving management (absolute value management, temporal change management) and earth retaining management (temporal change management).
- a pile means a structure that serves as a foundation for construction
- an earth retaining wall means a wall that holds down the surrounding earth and sand when a hole is dug to create an underground structure.
- the method and system according to the first embodiment can also be applied to infrastructure management.
- infrastructure management For example, bridge maintenance (time change management), bridge construction management (absolute value management), dam wall maintenance (time change management), tunnel maintenance (time change management), and plant/gas tank maintenance (time change management) management) and the like.
- the method and system according to the above embodiments can be applied to various types of deformation analysis. Suitable for ship bottom deformation analysis (time change), wind turbine blade deformation analysis (time change), unmanned aircraft wing deformation analysis (time change), railway rail deformation analysis (time change), etc. Applicable.
- a plurality of sensor devices are arranged on the bridge to constantly monitor changes in the three-dimensional shape from the initial state. (for example, the tilt angle output by the sensor device, the maximum divergence amount, etc.) exceeds a threshold, for example, the server 12 issues an alarm to the on-site controller 14 .
- the administrator of the site controller 14 can quickly recognize the occurrence and location of an abnormality, eliminating the need for regular inspections by workers and realizing efficient inspections.
- the server 12 No particular manager is required.
- the server 12 may be under the control of a sensor device user such as a construction company, or may be under the control of a sensor device supply company (manufacturer, supplier, etc.).
- the server may be a cloud.
- the supplier leases (or rents) the sensor device to the user and determines the installation position of the sensor device based on the purpose of use obtained in advance.
- the supplier receives the data obtained by the user with the sensor device based on the information, performs a predetermined analysis (including shape calculation) using the data, and provides the information of the analysis result to the user. . Then, it receives payment from the user for leasing (or renting) the sensor device and providing the information.
- a business method business model
- application software application program for analysis processing may be leased together with the sensor device.
- SYMBOLS 10 Shape acquisition system, 12... Server, 13... Wide area network, 14... On-site controller, 16... Mobile terminal, 18 1 to 18 3 ... Sensor device, 100... Steel column, 110... Steel building, 181... Angle Sensor 182 Arithmetic processing unit 183 Wireless communication unit 184 Power supply unit 185 Housing 187 Display operation unit 188 Cushion member 190 Permanent magnet.
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Abstract
Description
本願は、2021年6月28日に出願された特願2021-106519号に基づき優先権を主張し、その内容をここに援用する。
以下、第1の実施形態について、図1~図11に基づいて説明する。ここでは、一例として、対象物が、図3に示される鉄骨建築物110を構成する鉄骨柱100である場合について説明するが、対象物は、鉄骨柱に限られるものではない。以下では、図3に示されるように、鉛直方向(重力方向)をZ軸方向とし、Z軸に直交する面内で、図3における紙面内左右方向をX軸方向、Z軸及びX軸に直交する方向をY軸方向とし、X軸、Y軸、及びZ軸回りの傾斜(回転)方向をそれぞれθx、θy、及びθz方向として説明を行なう。
上記のステップS22~S26までの処理が、全てのセンサ装置18iで行われる。
この割り込み処理ルーチンは、例えば現場側コントローラ14から送られてきたセンサデータの取り込みが終了したタイミング毎に実行される。なお、割り込み処理ルーチンを実行するタイミングはこれに限られず、センサデータの取り込みが複数回終了したタイミングで行っても良い。
ここで、柱の形状の算出方法の一例について説明する。ここでは一例として、柱1001のセンサ装置181~183が取り付けられた第1面(以下、計測面Wsと表記する)のXZ面内の形状を算出する場合について簡単に説明する。ここで、XZ面内の形状を取り上げるのは、柱1001では。計測面Ws上に上下方向に沿って3つのセンサ装置181~183が配置されているためである。センサ装置18iは、3DMEMSセンサからなる角度センサ181を含むため、図9の左側に示される計測面Wsの各計測点(計測ポイント)における法線ベクトルの傾斜角βiを、図9の右側に示されるように、センサ装置18iの傾き(重力方向の軸を基準とする角)として出力する。したがって、従来の三次元測量機による計測などのような基準の設定は不要である。
X3=X2+tan{(β2+β3)/2}×(Z3-Z2)……(2)
本第2の実施形態では、上記第1の実施形態に係る形状取得方法の利用方法の一例として複数節の柱(鉄骨柱)を含む鉄骨造の建方を取り上げて説明する。ここで、前述した第1の実施形態と同一又は同等の構成部材については、同一の符号を用いるとともにその詳細説明を省略する。
それぞれの駆動装置50pのMPUは、通信部を介してネットワーク13に接続されている。
次のステップS104では、下節柱100mの柱頭のエレクションピース102a(又は上節柱100nの柱脚のエレクションピース102b)に建方治具30pを組み付ける(取り付ける)。4面のエレクションピース102aに4つの建方治具30pがそれぞれ組付けられる(図14参照)。
次いでサーバ12は、上節柱100nの第1面に取り付けられた3つのセンサ装置18iから出力されるセンサデータに基づいて、前述した方法により上節柱100nの第1面の形状情報を求める。また、サーバ12は、上節柱100nの第2面に取り付けられた3つのセンサ装置18iから出力されるセンサデータに基づいて、前述した方法により上節柱100nの第2面の形状情報を求める。ここで、それぞれのセンサ装置18iのセンサデータに含まれるIDとセンサ装置18iの取り付け対象の柱、取付位置(すなわちセンサ装置の計測ポイント)との関係は、サーバ12によって管理されている。
上記のステップS102~S114までの処理は、複数の上節柱(n節柱)100nについて順次(又は一部並行して)行われる。
Claims (33)
- 対象物の形状情報を取得する形状取得方法であって、
対象物に取り付けられた複数のセンサを用いて前記対象物の傾斜角の情報を複数の点でそれぞれ取得することと、
取得された前記複数点での前記傾斜角の情報を用いて演算により前記対象物の形状情報を求めることと、を含む形状取得方法。 - 請求項1に記載の形状取得方法において、
前記対象物は、建築現場において建て込まれた鉄骨柱である形状取得方法。 - 請求項2に記載の形状取得方法において、
前記取得することでは、前記鉄骨柱の長手方向に伸びる一面の前記長手方向に離れた複数の点で第1傾斜角の情報を取得し、
前記求めることでは、前記複数の前記第1傾斜角の情報を用いて演算により前記鉄骨柱の前記一面の形状情報を求める形状取得方法。 - 請求項3に記載の形状取得方法において、
前記取得することでは、前記鉄骨柱の前記一面と交差する別の一面の前記長手方向に離れた複数点で第2傾斜角の情報をさらに取得し、
前記求めることでは、前記複数の前記第2傾斜角の情報を用いて前記鉄骨柱の前記別の一面の形状情報をさらに求める形状取得方法。 - 請求項1~4のいずれか一項に記載の形状取得方法において、
前記対象物は、ビル、橋梁、トンネル、ダム、風車、航空機、高速鉄道、船舶の少なくとも1つを含む形状取得方法。 - 請求項1~5のいずれか一項に記載の形状取得方法において、
求められた前記形状情報に基づいて前記対象物の一部の基準からの最大乖離量が生じる点と最大乖離量を求めることをさらに含む形状取得方法。 - 請求項1~6のいずれか一項に記載の形状取得方法において、
前記複数のセンサは、重力方向を基準として前記傾斜角の情報を計測する形状取得方法。 - 請求項1~7のいずれか一項に記載の形状取得方法を繰り返し実行することと、
実行される都度求められる形状情報に基づいて前記対象物の形状の経時変化をモニタすることと、を含む対象物の管理方法。 - 複数節の柱を含む鉄骨造の建方であって、
所定の配置で建てられた複数の下節柱それぞれの上に複数の上節柱を個別に建て込むに際し、
請求項1~7のいずれか一項に記載の形状取得方法を用いて複数の下節柱それぞれの長手方向に伸びる一面の形状情報を取得することと、
取得された形状情報に基づいて、前記複数の下節柱それぞれの前記一面に直交する方向に関する柱頭の基準からの第1位置ずれ量を求めることと、
求められた前記第1位置ずれ量を考慮して、前記複数の上節柱それぞれの建て入れ目標値を新たに定めることと、
を含む鉄骨造の建方。 - 請求項9に記載の鉄骨造の建方において、
前記定めることでは、前記第1位置ずれ量が相殺されるように前記複数の上節柱それぞれの建て入れ目標値を新たに定める鉄骨造の建方。 - 請求項9又は10に記載の鉄骨造の建方において、
前記取得することでは、請求項3に記載の形状取得方法を用いて複数の下節柱それぞれの前記一面に交差する長手方向に伸びる他の一面の形状情報をさらに取得し、
前記求めることでは、取得された前記複数の下節柱それぞれの前記他の一面に直交する方向に関する柱頭の基準からの第2位置ずれ量をさらに求め、
前記定めることでは、前記複数の下節柱それぞれの柱頭の前記第2位置ずれ量をさらに考慮して、前記複数の上節柱それぞれの建て入れ目標値を新たに定める鉄骨造の建方。 - 請求項11に記載の鉄骨造の建方において、
前記定めることでは、前記第1位置ずれ量及び第2位置ずれ量が相殺されるように前記上節柱それぞれの建て入れ目標値を新たに定める鉄骨造の建方。 - 複数節の柱を含む鉄骨造の建方であって、
所定の配置で建てられた複数の下節柱それぞれの上に複数の上節柱を個別に建て込むに際し、
前記複数の下節柱それぞれの上に前記複数の上節柱を個別に載置した状態で、それぞれの下節柱と上節柱とを複数の建方治具をそれぞれ用いて連結することと、
前記複数の上節柱それぞれについて、請求項4に記載の形状取得方法を用いて長手方向に延び互いに交差する第1面及び第2面の形状情報を取得することと、
取得された前記複数の上節柱のそれぞれについての前記第1面及び前記第2面の形状情報に基づいて、制御装置が前記複数の建方治具に個別に設けられた複数の駆動装置を並行して制御することで、前記複数の上節柱の柱頭の位置を自動調整することと、を含む鉄骨造の建方。 - 請求項13に記載の鉄骨造の建方において、
前記柱のそれぞれの長手方向に延びる4面の柱頭部と柱脚部には、エレクションピースがそれぞれ設けられ、
前記複数の建方治具をそれぞれ用いて、下節柱の柱頭部のエレクションピースと上節柱の柱脚部のエレクションピースとを前記4面のそれぞれで連結することで、前記上下節の柱を連結する鉄骨造の建方。 - 請求項13又は14に記載の鉄骨造の建方において、
前記複数の建方治具のそれぞれは、倒れ調整機構と、目違い調整機構と、転倒防止機構と、を有し、
前記駆動装置は、少なくとも倒れ調整機構の調整に用いられる鉄骨造の建方。 - 対象物の形状情報を取得する形状取得システムであって、
互いに広域ネットワークを介して接続された解析装置及び端末装置と、
前記端末装置に通信回線を介してそれぞれ接続され、使用に際して前記対象物の異なる位置にそれぞれ取り付けられ、それぞれの取り付け位置における傾斜角の情報を含むセンサデータを、前記通信回線を介して出力する複数のセンサ装置と、を備え、
前記複数のセンサ装置のそれぞれは、外部指令に基づいて又は予め定められたタイミングで前記センサデータを出力し、
前記端末装置は、前記複数のセンサ装置のそれぞれから出力される前記センサデータを、前記広域ネットワークを介して前記解析装置に送信し、
前記解析装置は、前記広域ネットワークを介して受信した前記複数のセンサデータに含まれる前記傾斜角の情報を用いて演算により前記対象物の形状情報を求め、求めた形状情報をストレージに格納する形状取得システム。 - 請求項16に記載の形状取得システムにおいて、
前記広域ネットワークには、前記複数のセンサ装置との間で無線通信が可能なモバイル端末がさらに接続されている形状取得システム。 - 請求項16又は17に記載の形状取得システムにおいて、
前記外部指令は、前記端末装置から通信回線を介して与えられる形状取得システム。 - 請求項16~18のいずれか一項に記載の形状取得システムにおいて、
前記センサデータは、各センサ装置の識別のためのIDを含む形状取得システム。 - 請求項19に記載の形状取得システムにおいて、
前記IDは、前記各センサ装置の識別符号と前記対象物における取り付け位置の識別符号を含む形状取得システム。 - 請求項19又は20に記載の形状取得システムにおいて、
前記対象物は複数設けられ、前記IDは、前記各センサ装置が取り付けられた対象物の識別符号をさらに含み、
前記端末装置は、前記複数のセンサ装置から出力される複数のセンサデータに含まれる前記IDに基づいて、同一の対象物についての前記センサデータを一塊で前記解析装置に送信し、
前記解析装置は、受信した同一の対象物についての前記一塊のセンサデータに含まれる前記傾斜角の情報を用いて演算により前記対象物の形状情報を求める形状取得システム。 - 請求項19又は20に記載の形状取得システムにおいて、
前記対象物は複数設けられ、前記IDは、前記各センサ装置が取り付けられた対象物の識別符号をさらに含み、
前記解析装置は、受信した複数のセンサデータの中から前記センサデータに含まれるIDに基づいて同一の対象物についての複数のセンサデータを取り出し、取り出した複数のセンサデータに含まれる前記傾斜角の情報を用いて演算により前記対象物の形状情報を求める形状取得システム。 - 請求項16~22のいずれか一項に記載の形状取得システムにおいて、
前記センサ装置のそれぞれは、筐体と、該筐体の内部に収容された傾斜センサ、演算処理部及び無線通信部、並びに電源部を有する形状取得システム。 - 請求項23に記載の形状取得システムにおいて、
前記筐体には前記演算処理部に接続された表示操作部が設けられている形状取得システム。 - 請求項23又は24のいずれか一項に記載の形状取得システムにおいて、
前記対象物は、建築現場において建て込まれた鉄骨柱である形状取得システム。 - 請求項25に記載の形状取得システムにおいて、
前記複数のセンサ装置のそれぞれは、前記筐体の一面に埋め込み状態で設けられた磁石の磁力により、前記鉄骨柱に固定されている形状取得システム。 - 請求項26に記載の形状取得システムにおいて、
前記複数のセンサ装置のそれぞれは、前記筐体の前記一面に配置されたクッション部材を介して、前記鉄骨柱に固定されている形状取得システム。 - 請求項25~27のいずれか一項に記載の形状取得システムにおいて、
前記複数のセンサ装置のそれぞれは、前記鉄骨柱の長手方向に伸びる一面の前記長手方向に離れた複数点に取り付けられ、前記センサデータをそれぞれ出力し、
前記解析装置は、複数のセンサデータに含まれる前記傾斜角の情報を用いて演算により前記鉄骨柱の前記一面の形状情報を求める形状取得システム。 - 請求項28に記載の形状取得システムにおいて、
前記解析装置は、求められた形状情報に基づいて前記一面の基準からの最大乖離量をさらに求め、前記ストレージに格納する形状取得システム。 - 請求項16~29のいずれか一項に記載の形状取得システムにおいて、
前記解析装置は、前記ストレージに格納された情報を、前記ネットワークを介して前記端末装置に送信し、
前記端末装置は、前記解析装置から送信された前記情報を受信して前記端末装置が備える記憶装置に格納する形状取得システム。 - 請求項16~30のいずれか一項に記載の形状取得システムにおいて、
前記解析装置は、前記センサ装置の供給会社の管理下にあり、前記端末装置は、前記センサ装置の使用者の管理下にある形状取得システム。 - 請求項16~31のいずれか一項に記載の形状取得システムにおいて、
前記センサデータに含まれる傾斜角の情報は、重力方向を基準とする傾斜角の情報である形状取得システム。 - 請求項16~32のいずれか一項に記載の形状取得システムにおいて、
予め設定されたインターバルで前記複数のセンサ装置それぞれから前記傾斜角の情報を含む前記センサデータの前記端末装置に対する出力が繰り返し行われ、
前記解析装置は、前記広域ネットワークを介して受信した前記対象物についての複数のセンサデータに含まれる前記傾斜角の情報を用いて演算により前記対象物の形状情報を、前記端末装置からの出力のインターバルに対応するタイミングで繰り返し求め、求めた都度前記ストレージに格納する形状取得システム。
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JP2005155285A (ja) * | 2003-11-28 | 2005-06-16 | Ohbayashi Corp | 部材建込み方法、部材建込みプログラム、およびこれを記録した記録媒体 |
JP2013194369A (ja) * | 2012-03-16 | 2013-09-30 | Technos Kk | 芯材要素の傾き修正確認装置 |
JP2018179533A (ja) * | 2017-04-03 | 2018-11-15 | 臼田総合研究所株式会社 | 倒れ測定装置、それを用いる鉄骨建て方精度測定方法、倒れ測定装置のキャリブレーション方法、及び、倒れ測定処理プログラム |
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JPH01233313A (ja) * | 1988-03-15 | 1989-09-19 | Nikon Corp | 垂直度測定装置 |
JP3031823U (ja) * | 1996-05-29 | 1996-12-03 | ヒロセ株式会社 | H型鋼建込時の傾斜角測定装置 |
JP2005155285A (ja) * | 2003-11-28 | 2005-06-16 | Ohbayashi Corp | 部材建込み方法、部材建込みプログラム、およびこれを記録した記録媒体 |
JP2013194369A (ja) * | 2012-03-16 | 2013-09-30 | Technos Kk | 芯材要素の傾き修正確認装置 |
JP2018179533A (ja) * | 2017-04-03 | 2018-11-15 | 臼田総合研究所株式会社 | 倒れ測定装置、それを用いる鉄骨建て方精度測定方法、倒れ測定装置のキャリブレーション方法、及び、倒れ測定処理プログラム |
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