Filler height measurement system and filler height measurement method

Abstract

To provide a filler height measurement system that efficiently performs work of measuring a height of an upper end of a filler filled in a steel pipe.SOLUTION: A height measurement system S is used when filling a steel pipe B1 which constitutes a building B with a filler B2 (concrete) and measures a height of an upper end of the filler filled in the steel pipe. The system S includes: an unmanned flying body 1 which is equipped with a measurement sensor 20 and flies inside the steel pipe B1; and an information processing device 200 which is connected to the unmanned flying body via communication and acquires information on the height H of the upper end of the filler B2 obtained on the basis of the measurement result measured by the measurement sensor. The unmanned flying body 1 measures a distance L1 in a vertical direction between the unmanned flying body and the filler by using the measurement sensor 20 while flying above the filler B2 filled in the steel pipe inside the steel pipe B1.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system and method for measuring the height of a filler, and more particularly to a system and method for measuring the height of a filler filled in a steel pipe that constitutes a building. [Background technology]

[0002] Conventionally, a height measurement system has been known that is used when filling a filler material (concrete) inside a steel pipe (column) that constitutes the structure of a building, and that measures the height of the top of the filler material filled inside the steel pipe. Specifically, a laser range finder is installed at a specified height and the laser light emitted from the laser range finder is used to measure the distance to the top of the concrete filled in the steel pipe, making it possible to confirm the concrete filling height (pressing level). The concrete-filled steel pipe structure, also known as the CFT structure (Concrete Filled Tube), is a structure in which the steel pipe and the concrete are integrated by pressing concrete into the inside of a square or circular steel pipe.

[0003] For example, the concrete height measurement system described in Patent Document 1 discloses that it determines whether a jig supporting a laser rangefinder (measurement sensor) is correctly installed, and measures the height of the concrete top using the measurement sensor based on the result of that determination. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2023-8116 A [Patent Document 2] JP 2022-190930 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the height measurement system as disclosed in Patent Document 1, it takes time and effort to prepare the measurement sensor and the imaging device (imaging camera), and the measurement using the measurement sensor requires manpower. Therefore, there is a demand for a technology that can efficiently measure the height of filled concrete. Patent Document 2 discloses a technology for inspecting the condition inside a chimney using an unmanned aerial vehicle (drone), although this technology is different from the technology for measuring the height of filled concrete.

[0006] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a filler height measurement system and a filler height measurement method that are capable of efficiently measuring the height of the top end of filler material filled into a steel pipe. Another object of the present invention is to provide a filler height measurement system and a filler height measurement method that are capable of measuring the height of the top end of a filler more accurately using an unmanned aerial vehicle. [Means for solving the problem]

[0007] The above problem is solved by the filler height measurement system of the present invention, which is used when filling the inside of steel pipes that constitute a building with filler, and measures the height of the top of the filler filled into the steel pipe, and which comprises an unmanned aerial vehicle equipped with a measurement sensor and flying inside the steel pipe, and an information processing device connected to the unmanned aerial vehicle via communication and acquiring information on the height of the top of the filler obtained based on the measurement results measured by the measurement sensor, and the unmanned aerial vehicle flies above the filler filled into the steel pipe, and uses the measurement sensor to measure the vertical distance between the unmanned aerial vehicle and the filler. With the above configuration, a height measurement system can be realized that can efficiently measure the height of the top end of the filler material filled into a steel pipe. More specifically, in the height measurement system, an unmanned aerial vehicle equipped with a measurement sensor flies inside a steel pipe at a position above the filler material to be filled in the steel pipe, and measures the vertical distance between the unmanned aerial vehicle and the filler material using the measurement sensor. This eliminates the need to install the measurement sensor and a support tool to support the measurement sensor, reducing the burden on the worker. It also makes the measurement work easier.

[0008] In this case, the unmanned aerial vehicle comprises an aircraft body and a weight attached to the aircraft body and extending downward from the aircraft body, and the unmanned aerial vehicle measures the distance using the measurement sensor while flying with the weight in contact with the top edge of the filling material. As described above, since the unmanned aerial vehicle is equipped with a weight, the unmanned aerial vehicle can fly more stably within the steel pipe. As described above, the unmanned aerial vehicle flies with the weight in contact with the top of the filler and uses the measurement sensor to measure the distance to the top of the filler. By using the weight as a float (floating buoy) in this way, the flight of the unmanned aerial vehicle can be made even more stable. Also, the distance between the unmanned aerial vehicle and the top of the filler can be measured by the measurement sensor while being kept constant. This allows for more accurate measurements. In addition, since filler materials such as concrete have a relatively high density, it has been confirmed that even if an unmanned aerial vehicle (weight) comes into contact with the top edge of the filler, there is no effect on the finished filled structure.

[0009] In this case, the weight is attached to the lower part of the aircraft body and has a downward extension portion extending downward from the aircraft body, and a weight main body portion provided at the extended end of the downward extension portion, the downward extension portion is formed to be narrower in the horizontal direction than the aircraft body and extends a length longer than the vertical length of the aircraft body, and the weight main body portion has a contact surface that is wider in the horizontal direction than the aircraft body, and the unmanned aircraft measures the distance using the measurement sensor while flying with the contact surface in contact with the top edge of the filler. As described above, the downward extension portion extends longer than the vertical length of the aircraft body. Therefore, when the unmanned aircraft comes into contact with the top edge of the filler, it can fly (hover) at a certain distance from the top edge of the filler. This makes it possible to prevent the steam generated from the filler from affecting the flight of the unmanned aircraft. Also, in the case of an unmanned aircraft equipped with an imaging camera, the focal length required for the imaging camera can be ensured. Furthermore, as described above, the weight main body has a contact surface that is wider in the horizontal direction than the aircraft body, thereby making the flight of the unmanned aircraft more stable.

[0010] In this case, the unmanned aerial vehicle comprises an aircraft body and a protective guard attached to the aircraft body and covering the aircraft body from above, the protective guard being attached to the upper part of the aircraft body and having an upward extension portion extending upward from the aircraft body, and a guard main body portion spreading horizontally from the extension end of the upward extension portion to cover the aircraft body from above, and it is preferable that the guard main body portion extends downward while spreading horizontally from the extension end of the upper extension portion. As described above, by providing a protective guard, contact between the aircraft body and the steel pipe (especially the diaphragm inside the steel pipe) can be avoided, allowing the unmanned aircraft to fly stably. As described above, the guard body extends downward while spreading out horizontally from the extension end of the upper extension. Therefore, when the unmanned aerial vehicle flies upward as the filler is filled into the steel pipe, the aircraft body can be prevented from colliding with the diaphragm. In addition, the guard body acts as a guide, making it easier for the unmanned aerial vehicle to pass through the center of the diaphragm.

[0011] In this case, a data logger is provided which is connected to the unmanned aerial vehicle via communication, is installed at or around the upper part of the steel pipe, and acquires measurement result data measured by the measurement sensor, and the information processing device is connected to the unmanned aerial vehicle via communication via the data logger, and acquires information on the height of the top of the filler based on relative position information of the unmanned aerial vehicle with respect to the data logger and information on the vertical distance between the unmanned aerial vehicle and the filler measured by the unmanned aerial vehicle. As described above, by equipping the unmanned aerial vehicle with a data logger, the height of the filler can be measured without being affected by the radio wave environment. Furthermore, as described above, by using the relative position information of the unmanned aerial vehicle with respect to the data logger and the vertical distance information of the unmanned aerial vehicle and the filler, the height of the top of the filler can be measured more accurately.

[0012] In this case, the height measurement system preferably includes an object determination unit that determines the type of object detected within the steel pipe based on the detection results detected by the measurement sensor or based on the detection results detected by a detection sensor mounted on the unmanned aerial vehicle, an attitude control unit that controls to correct the attitude of the aerial vehicle body when the object determination unit determines that the object is the steel pipe, and a communication unit that receives information on the distance between the unmanned aerial vehicle and the filler measured by the measurement sensor when the object determination unit determines that the object is the filler. With the above configuration, the height to the top of the filling material can be measured with high accuracy while correcting the attitude of the unmanned aerial vehicle based on the judgment results by the object judgment unit.

[0013] Furthermore, the above problem is also solved by the filler height measurement method of the present invention, which is used when filling the inside of a steel pipe that constitutes a building with filler, and measures the height of the top of the filler filled into the steel pipe, the method including filling the inside of the steel pipe with the filler, flying an unmanned aerial vehicle equipped with a measurement sensor inside the steel pipe at a position above the filler, and obtaining information on the height of the top of the filler based on the measurement results obtained by the measurement sensor. Effect of the Invention

[0014] According to the filler height measurement system and filler height measurement method of the present invention, it is possible to efficiently measure the height of the top end of the filler filled into a steel pipe. In addition, it is possible to measure the height of the top of the filling material with greater accuracy using an unmanned aerial vehicle. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a configuration diagram of a height measurement system according to an embodiment of the present invention. [Diagram 2] A diagram showing an unmanned aerial vehicle flying above the concrete inside a steel pipe. [Diagram 3] This figure shows an unmanned aerial vehicle flying inside a steel pipe while touching the top of a concrete structure. [Figure 4] A diagram showing the functions of the unmanned aerial vehicle, data logger, and information processing device. [Diagram 5] FIG. 11 is a process flow diagram showing a height measurement method. [Figure 6] A diagram showing a second embodiment of the unmanned aerial vehicle. [Figure 7] A diagram showing a third embodiment of the unmanned aerial vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. This embodiment relates to a "filler height measurement system" that enables efficient measurement of the height of the top of the filler (concrete) filled in a steel pipe using an unmanned aerial vehicle. It also relates to a "filler height measurement method."

[0017] The height measurement system S is used when forming a column having a concrete-filled steel pipe structure by filling the inside of a steel pipe B1 that constitutes a building B with concrete B2, as shown in Figures 1 and 2, and is a system for measuring in real time the height of the top of the concrete B2 filled in the steel pipe B1. Specifically, the height measurement system S comprises an unmanned aerial vehicle 1 flying inside the steel pipe B1, a data logger 100 connected via communication to the unmanned aerial vehicle 1 and installed in the upper part or around the upper part of the steel pipe B1 of the building B, and an information processing device 200 connected via communication to the unmanned aerial vehicle 1 via the data logger 100 and acquiring information on the height of the top of the concrete B2. In addition, in the height measurement system S, if the radio wave environment within building B (steel pipe B1) is poor or radio wave interference occurs, a repeater or gap filler may be installed at a predetermined position in building B (for example, midway between the unmanned aerial vehicle 1 and the data logger 100).

[0018] By using the height measurement system S, workers can use a pump to inject concrete B2 to a predetermined height through a filling port formed at the lower end of the steel pipe B1 while managing the filling pressure and filling speed of the concrete B2. Specifically, the unmanned aerial vehicle 1 measures the vertical distance L1 between the unmanned aerial vehicle 1 and the concrete B2 while flying in the steel pipe B1 at a position slightly above the concrete B2. The data logger 100 then acquires information on the distance L1 from the unmanned aerial vehicle 1, and transmits the information on the distance L1, the vertical distance L2 between the ground and the data logger 100, and the vertical distance L3 (relative position information) of the unmanned aerial vehicle 1 relative to the data logger 100 to the information processing device 200. The information processing device 200 then measures the height H from the ground to the top of the concrete B2 (height H = distance L2 - distance L3 - distance L1) based on this distance information. The means for measuring the height H of the top end of the concrete B2 is not limited to the above.

[0019] The worker checks information on the height H of the top of the concrete B2 and captured images of the inside of the steel pipe B1 through the monitor 210 connected to the information processing device 200, and manages the filling pressure and filling speed of the concrete B2. The worker also remotely controls the flight of the unmanned aerial vehicle 1 using the operation controller 300.

[0020] <Hardware configuration of height measurement system> As shown in Figures 1 to 3, the unmanned aerial vehicle 1 is a small unmanned aerial vehicle (drone) equipped with an imaging camera 10 and a measurement sensor 20, and flies within a specified space while capturing external images, and communicates data with a data logger 100, an information processing device 200, and an operation controller 300. Specifically, the unmanned aerial vehicle 1 comprises an aerial vehicle main body 2, an imaging camera 10, a measurement sensor 20, a transmitting / receiving antenna 30, a flight unit 40, a drive unit 50, a battery 60, a processor 70, a protective guard 80, and a weight 90.

[0021] The imaging camera 10 is a small imaging device that is attached to the front of the aircraft body 2 and can switch its angle between the front and bottom of the aircraft body 2. The imaging camera 10 captures an external image from its front side or bottom side, records the image, and generates "image data" that represents the image. The measurement sensor 20 is an optical sensor also called a distance sensor, and is attached to the bottom surface of the aircraft body 2. The measurement sensor 20 measures the distance to a target object by emitting laser light and receiving reflected light from the target object, and generates "measurement data" that measures the distance to the target object. In addition, the measurement sensor 20 detects the color of each target object by receiving reflected light from the target object, and generates "detection data" for determining the type of the target object. The unmanned aerial vehicle 1 may be equipped with a detection sensor (such as a color sensor) in addition to the measurement sensor 20 in order to improve the accuracy of detecting a target object.

[0022] The transmitting / receiving antenna 30 is attached inside the aircraft body 2 and serves to receive "operation data" from the operation controller 300 and to transmit "video data," "measurement data," and "detection data" to the data logger 100 and the information processing device 200 (monitor 210). The flight unit 40 is composed of four rotors attached to surround the aircraft body 2, and is configured with propeller-like blades attached to a vertically extending rotation shaft. The flight unit 40 receives driving power from the drive unit 50 and rotates to generate lift and thrust. The drive unit 50 is a motor that drives the flight unit 40, is connected and attached to the flight unit 40, and operates based on drive commands received from the processor 70.

[0023] The battery 60 is a lithium-ion battery for supplying power to the imaging camera 10, the measurement sensor 20, the transmitting / receiving antenna 30, the drive unit 50 and the processor 70, and is attached to the rear of the aircraft body 2. The processor 70 is a microprocessor mainly composed of a CPU as a data arithmetic and control processing device, a ROM, RAM, and HDD as memory devices, and a communications interface for transmitting and receiving data via the transmitting and receiving antenna 30, and is installed inside the aircraft main body 2.

[0024] As shown in Figures 2 and 3, the protective guard 80 is an umbrella-shaped guard that is attached to the upper part of the aircraft body 2 and covers the aircraft body 2, the imaging camera 10, the measurement sensor 20 and the flight unit 40 from above. Specifically, the protective guard 80 has an upward extension portion 81 extending upward from the center of the upper surface of the aircraft main body 2, and a guard main body portion 82 that extends radially horizontally from the upper end of the upward extension portion 81 to cover the aircraft main body 2 from above. The guard main body 82 extends downward while spreading horizontally from the upper end of the upward extension part 81. More specifically, the guard main body 82 extends downward while spreading radially in the horizontal direction from the upper end of the upward extension part 81 in a curved manner. In addition, in order to reduce the weight of the unmanned aerial vehicle 1, it is preferable that the protective guard 80 be made of a light-transmitting plastic material.

[0025] By providing the protective guard 80, contact between the aircraft body 2 and the steel pipe B1 (particularly the diaphragm B1a inside the steel pipe) can be avoided, allowing the unmanned aircraft 1 to fly stably. At this time, the guard main body 82 extends downward, curving while spreading out radially from the upper end of the upward extension 81. Therefore, it is possible to prevent the unmanned aerial vehicle 1 from colliding with the diaphragm B1a when flying upward in the steel pipe B1 as concrete B2 is filled in. In addition, the guard main body 82 acts as a guide, making it easier for the unmanned aerial vehicle 1 to pass through the opening B1b of the diaphragm B1a. In particular, since the flight state of the unmanned aerial vehicle 1 is significantly affected by steam generated from the concrete B2, it is necessary to make the flight state more stable when the unmanned aerial vehicle 1 ascends within the steel pipe B1. Therefore, the shape of the protective guard 80 functions effectively.

[0026] The guard main body 82 may have an elliptical shape so as to cover the entire aircraft main body 2. In this case, the guard main body 82 acts as a guide, making it easier for the unmanned aerial vehicle 1 to pass through the opening B1b of the diaphragm B1a not only when it is flying upward within the steel pipe B1 but also when it is flying downward.

[0027] As shown in Figures 2 and 3, the weight 90 is attached to the lower part of the aircraft body 2 and has the function of stabilizing the unmanned aircraft 1 by lowering the center of gravity, and the function of maintaining a constant vertical distance between the unmanned aircraft 1 and the concrete B2. Specifically, the weight 90 is attached to the lower part of the aircraft body 2 and has a downward extension portion 91 extending downward from the aircraft body 2, and a weight main body portion 92 provided at the extending end portion of the downward extension portion 91.

[0028] The downward extension 91 is formed so as to be narrower in the horizontal direction than the aircraft main body 2, and extends longer than the aircraft main body 2 in the vertical direction. The weight body 92 is formed so as to be wider in the horizontal direction than the aircraft body 2. The weight body 92 has a contact surface 92a for floating on the top edge (top surface) of the concrete B2. In order to reduce the weight of the unmanned aerial vehicle 1, it is preferable that the weight 90 be made of a light-transmitting plastic material.

[0029] In the above configuration, as shown in Figures 1 and 3, the unmanned aerial vehicle 1 flies above the concrete B2 within the steel pipe B1 and uses the measurement sensor 20 to measure the vertical distance L1 between the unmanned aerial vehicle 1 and the concrete B2. Specifically, as shown in FIG. 3, the unmanned aerial vehicle 1 measures the distance L1 using the measurement sensor 20 while flying with the weight 90 (weight main body 92) in contact with the top edge of the concrete B2. In this way, by using the weight 90 as a float (floating buoy), it is possible to further stabilize the flight of the unmanned aerial vehicle 1. In addition, the distance L1 between the unmanned aerial vehicle 1 and the top edge of the concrete B2 can be measured by the measurement sensor 20 while being kept approximately constant. Therefore, the height of the top edge of the concrete B2 can be measured with greater accuracy. In addition, since concrete B2 has a relatively high density, even if the unmanned aerial vehicle 1 (weight 90) comes into contact with the top edge of concrete B2, there is no (almost no) effect on the finish of the filling structure.

[0030] In the above configuration, the unmanned aerial vehicle 1 is equipped with an imaging camera 10, which captures images of the internal structure of the steel pipe B1, specifically the shape and position of the diaphragm B1a, records the images, and transmits the "image data." Therefore, an operator can observe the state of the inside of the steel pipe B1 through the monitor 210 of the information processing device 200. In addition, the unmanned aerial vehicle 1 captures an image of the top edge of the concrete B2, allowing the worker to check the condition and position of the top edge of the concrete B2 through the monitor 210. At this time, by floating the weight 90 on the top edge of the concrete B2, it becomes easier to ensure a focal length suitable for imaging by the imaging camera 10.

[0031] As shown in FIG. 1, the data logger 100 is connected to the unmanned aerial vehicle 1 via communication and acquires “video data” recorded by the imaging camera 10 and “measurement result data” measured by the measurement sensor 20. In addition, the data logger 100 is connected to the information processing device 200 via communication, and transmits to the information processing device 200 the "video data" and "measurement result data (distance L1)" obtained from the unmanned aerial vehicle 1, as well as the "position data (distance L2)" of the data logger 100.

[0032] The data logger 100 is attached to the upper end or the vicinity of the upper end of the steel pipe B1, and includes an optical sensor 110 and a controller 120. The optical sensor 110 irradiates laser light towards the unmanned aerial vehicle 1 flying inside the steel pipe B1 and receives reflected light from the unmanned aerial vehicle 1 to measure the distance and direction to the unmanned aerial vehicle 1. It then acquires "relative position data (distance L3)" of the unmanned aerial vehicle 1 with respect to the data logger 100 and transmits the relative position data to the information processing device 200. The controller 120 is a computer equipped with a CPU (processor), a storage device (memory), and a communication interface. The memory device of the control controller 120 stores "video data," "measurement result data (distance L1)," "position data (distance L2)" of the data logger 100, and "relative position data (distance L3)" of the unmanned aerial vehicle 1, etc.

[0033] As shown in FIG. 1, the information processing device 200 is a computer operated by an operator, and is connected by communication with the unmanned aerial vehicle 1 via the data logger 100. The information processing device 200 acquires from the data logger 100 the vertical distance L1 (measurement result data) between the unmanned aerial vehicle 1 and the concrete B2, the vertical distance L2 (position data) between the ground and the data logger 100, and the vertical distance L3 (relative position data) of the unmanned aerial vehicle 1 relative to the data logger 100. Then, based on this distance information, it measures the height H (height H = distance L2 - distance L3 - distance L1) of the top edge of the concrete B2 from the ground. Moreover, the information processing device 200 acquires from the data logger 100 captured images (image data) of the inside of the steel pipe B1.

[0034] The information processing device 200 outputs and displays information on the height H of the top of the concrete B2 and captured images of the inside of the steel pipe B1 via the monitor 210, and accepts user operations by the worker to control the filling pressure and filling speed of the concrete B2. The information processing device 200 may be installed inside the building B or outside the building B.

[0035] <Height measurement system functions> As shown in FIG. 4, from the functional standpoint, the information processing device 200 includes a memory unit 220 that stores various programs and data in addition to “design data,” “video data,” “measurement result data,” and “concrete height data,” a communication unit 221, a screen output unit 222, an object determination unit 223, an attitude control unit 224, and a calculation unit 225. These are composed of a CPU (processor), ROM, RAM, HDD (memory), a communication interface, and various programs.

[0036] Regarding the functionality of the unmanned aerial vehicle 1 (processor 70), it comprises a memory unit 71 for storing various programs and various data, a data receiving unit 72 for acquiring "operation data" from the operation controller 300, a data transmitting unit 73 for transmitting "video data" and "measurement data" to the data logger 100, and a measurement execution unit 74 for executing measurements. The data logger 100 (controller 120) also has a memory unit 121 for storing various programs and various data, and a communication unit 122 for transmitting and receiving data between the unmanned aerial vehicle 1 and the information processing device 200.

[0037] In this embodiment, the information processing device 200 includes the object determining unit 223, the attitude control unit 224, and the calculation unit 225, but is not particularly limited thereto. For example, the unmanned aerial vehicle 1 may include the target object determination unit 223 and the attitude control unit 224, and the data logger may include the calculation unit 225. Alternatively, the unmanned aerial vehicle 1 may include the target object determination unit 223, the attitude control unit 224, and the calculation unit 225.

[0038] The functions of the information processing device 200 will be described in detail below. The "design data" stored in the storage unit 220 is design information of the three-dimensional shape of a building, and specifically, is BIM (Building Information Modeling) data of the building. The height measurement system S is mainly used to grasp design information of the steel pipe B1 (diaphragm B1a) that constitutes a column of a building. Note that the "design data" may be design data of a two-dimensional shape.

[0039] The communication unit 221 acquires, via the data logger 100, in real time "video data" captured by the unmanned aerial vehicle 1 (imaging camera 10) flying within the steel pipe B1. The screen output unit 222 outputs and displays on the monitor 210 the image of the inside of the steel pipe B1 captured by the unmanned aerial vehicle 1.

[0040] In addition, the communication unit 221 acquires, via the data logger 100, in real time, "detection data" detected by the unmanned aerial vehicle 1 (measurement sensor 20) flying within the steel pipe B1. The “detection data” is data for determining the type of target object in the direction of travel of the unmanned aerial vehicle 1 using the laser light irradiated by the measurement sensor 20. The object determination unit 223 determines the type of object detected within the steel pipe B1 based on the detection results detected by the unmanned aerial vehicle 1.

[0041] When the object determination unit 223 determines that the detection object is the inner wall or diaphragm B1a of the steel pipe B1, the attitude control unit 224 controls the attitude of the aircraft main body 2 (flight attitude) to be corrected. Specifically, the attitude control unit 224 controls the drive unit 50 of the unmanned aerial vehicle 1 and corrects the flight attitude of the unmanned aerial vehicle 1. For example, the flight attitude of the unmanned aerial vehicle 1 is corrected so that the traveling direction of the unmanned aerial vehicle 1 is aligned with the height direction of the steel pipe B1. If the unmanned aerial vehicle 1 is equipped with an inertial measurement unit (IMU), the unmanned aerial vehicle 1 may calculate its own behavior and sway based on the detection information (detection information) of the inertial measurement unit, estimate its current attitude, and correct its own flight attitude. In other words, the unmanned aerial vehicle 1 may control its attitude by itself. As a result of the above, the unmanned aerial vehicle 1 can fly stably within the steel pipe B1 and can proceed toward the top of the concrete B2.

[0042] When the object determination unit 223 determines that the detected object is concrete B2, it means that the unmanned aerial vehicle 1 is flying toward the top of the concrete B2 inside the steel pipe B1. Note that the image captured by the unmanned aerial vehicle 1 shows the concrete B2, allowing the worker to confirm that the unmanned aerial vehicle 1 has arrived near the top of the concrete B2. When the unmanned aerial vehicle 1 arrives near the top edge of the concrete B2, i.e., when it comes into contact with the top edge of the concrete B2, the measurement execution unit 74 of the unmanned aerial vehicle 1 measures the vertical distance between the unmanned aerial vehicle 1 and the concrete B2 and generates "measurement result data."

[0043] After measuring the height of the top of the concrete B2, the communication unit 221 acquires through the data logger 100 the “measurement result data”, “position data”, and “relative position data” measured by the unmanned aerial vehicle 1 (measurement sensor 20). The "measurement result data" is data that includes information on the vertical distance L1 between the unmanned aerial vehicle 1 and the concrete B2. The "position data" is data that includes information on the vertical distance L2 between the ground and the data logger 100. The "relative position data" is data that includes information on the vertical distance L3 of the unmanned aerial vehicle 1 relative to the data logger 100.

[0044] The calculation unit 225 calculates the height H of the top edge of the concrete B2 based on the above "measurement result data", "position data", and "relative position data", and generates "concrete height data". The screen output unit 222 outputs and displays information on the height H of the top end of the concrete B2 calculated by the calculation unit 225 on the monitor 210. The worker checks information on the height H of the top of the concrete B2 and captured images of the inside of the steel pipe B1 through the monitor 210, and manages the filling pressure and filling speed of the concrete B2. The worker also remotely controls the flight of the unmanned aerial vehicle 1 using the operation controller 300.

[0045] In this embodiment, as shown in FIG. 1, the information processing device 200 measures the height H of the top of the concrete B2 based on the "measurement result data (distance L1)", "position data (distance L2)" and "relative position data (distance L3)", but other measurement means may be used. For example, it is possible to use "three-dimensional position data" indicating the current self-position of the unmanned aerial vehicle 1. The "three-dimensional position data" is obtained by estimating the self-position by an inertial measurement unit (IMU) mounted on the unmanned aerial vehicle 1 or by positioning using GNSS information (GPS information). In this case, the information processing device 200 measures the height H of the top edge of the concrete B2 (height H = height H1 of the unmanned aerial vehicle - distance L1) based on the "three-dimensional position data" of the unmanned aerial vehicle 1 and the "measurement result data (distance L1)" measured by the unmanned aerial vehicle 1. Alternatively, the unmanned aerial vehicle 1 may measure the height H of the top edge of the concrete B2 based on these data, generate "concrete height data", and transmit the data to the information processing device 200. In other words, the unmanned aerial vehicle 1 may be equipped with the calculation unit 225.

[0046] The height measurement system S described above can efficiently measure the height of the top end of the concrete B2 using the unmanned aerial vehicle 1. Also, the height of the top end of the concrete B2 can be measured with high accuracy.

[0047] <Height measurement method> Next, a method for measuring the height of concrete B2 using the unmanned aerial vehicle 1 will be described with reference to FIG. The method includes at least the steps of "starting the flight of the unmanned aerial vehicle," "filling concrete into a steel pipe," "flying the unmanned aerial vehicle inside the steel pipe," "measuring the distance between the unmanned aerial vehicle and the concrete," "confirming information about the height of the top of the concrete," and "adjusting the concrete filling pressure and speed." In addition, explanations of work processes other than those mentioned above regarding the construction work of the concrete-filled steel pipe structure, including measuring the height of concrete B2, will be omitted.

[0048] In advance, as shown in Figure 1, a worker prepares to fill concrete B2 into a steel pipe B1 of building B, and installs a data logger 100 around the upper end of the steel pipe B1 and an information processing device 200 (monitor 210) around the lower end of the steel pipe B1. Then, the operator calibrates the unmanned aerial vehicle 1 (calibrates the inertial measurement unit of the unmanned aerial vehicle 1) and starts flying the unmanned aerial vehicle 1 (Step 1 (S1)).

[0049] 1, the worker fills the steel pipe B1 with concrete B2 (step 2). Specifically, the worker operates a predetermined computer to manage the filling pressure and filling speed of the concrete B2. At this time, the operator may have the unmanned aerial vehicle 1 wait near the upper end of the steel pipe B1 using the operation controller 300. Alternatively, the unmanned aerial vehicle 1 may enter the inside of the steel pipe B1.

[0050] Then, as shown in Figs. 1 and 2, the worker remotely controls the unmanned aerial vehicle 1 to fly the unmanned aerial vehicle 1 within the steel pipe B1 (step 3). At this time, the worker checks the captured image of the inside of the steel pipe B1 through the monitor 210 of the information processing device 200, and also checks the current position of the unmanned aerial vehicle 1.

[0051] Then, as shown in Figure 3, when the unmanned aerial vehicle 1 flies above the concrete B2 and the weight 90 is placed on the contact surface of the concrete B2, the worker uses the unmanned aerial vehicle 1 to measure the vertical distance L1 between the unmanned aerial vehicle 1 and the concrete B2 (step 4). Specifically, the unmanned aerial vehicle 1 measures the above-mentioned distance L1 using the measurement sensor 20 (obtains measurement result data) while flying with the weight 90 in contact with the top edge of the concrete B2.

[0052] Then, the information processing device 200 calculates the current height H of the concrete top based on the above-mentioned "measurement result data (distance L1)", "position data (distance L2)", and "relative position data (distance) L3" through the data logger 100. The worker checks information on the height H of the top of the concrete B2 and the captured image of the inside of the steel pipe B1 through the monitor 210 (step 5). Then, the worker operates a predetermined computer to adjust the filling pressure and filling speed of the concrete B2 (step 6).

[0053] Through the above steps 1 to 6 (repeat steps 4 to 6 as appropriate), the concrete-filled steel pipe structure is completed and the construction work is completed. According to the above-described method, the task of measuring the height of the top edge of the concrete B2 can be performed efficiently using the unmanned aerial vehicle 1. In addition, the height of the top edge of the concrete B2 can be measured with high accuracy.

[0054] <Second embodiment of unmanned aerial vehicle> Next, an unmanned aerial vehicle 1A according to a second embodiment will be described with reference to FIG. Note that explanations of content that overlaps with the unmanned aerial vehicle 1 described above will be omitted.

[0055] The unmanned aerial vehicle 1A comprises an aerial vehicle main body 2A, an imaging camera 10A, a measurement sensor 20A, a transmitting / receiving antenna 30A, a flight unit 40A, a drive unit 50A, a battery 60A, a processor 70A, a protective guard 80A, and a weight 90A.

[0056] The protective guard 80A is a wall-like guard that is attached to a side portion of the aircraft body 2A and covers the flight unit 40A (rotor) from the side. By providing the protective guard 80A, contact between the flight unit 40A and the steel pipe B1 (particularly the diaphragm B1a inside the steel pipe) can be avoided, allowing the unmanned aerial vehicle 1A to fly stably. Furthermore, protective guard 80A may have a shape that surrounds flight unit 40A (rotor) from the side.

[0057] The weight 90A has a downward extension portion 91A extending downward from the aircraft body 2A, and a weight main body portion 92A provided at the extending end portion of the downward extension portion 91A. The weight body 92A is made of, for example, polystyrene foam, and is formed so as to be narrower in the horizontal direction than the aircraft body 2. The weight body 92A has a contact surface 92Aa for floating on the top edge (top surface) of the concrete B2.

[0058] The material and shape of the weight 90A described above can also be used as a float. In other words, it can have the function of lowering the center of gravity of the unmanned aerial vehicle 1A to stabilize it, and the function of keeping the vertical distance between the unmanned aerial vehicle 1A and the concrete B2 constant.

[0059] <Third embodiment of unmanned aerial vehicle> Next, an unmanned aerial vehicle 1B according to a third embodiment will be described with reference to FIG. Note that explanations of content that overlaps with the unmanned aerial vehicles 1 and 1A described above will be omitted.

[0060] The unmanned aerial vehicle 1B comprises an aerial vehicle main body 2B, an imaging camera 10B, a measurement sensor 20B, a transmitting / receiving antenna 30B, a flight unit 40B, a drive unit 50B, a battery 60B, a processor 70B, a spherical protective guard 80B, and a weight 90B. The protective guards 80B are made of a mesh (net-like) shape, and are attached to the four horizontal corners of the aircraft body 2B so as to cover the entire aircraft body 2B.

[0061] By providing the protective guard 80B as described above, if a component is accidentally dropped, the component can be recovered. In addition, if a component becomes detached and the attitude balance of the unmanned aerial vehicle 1B changes, the unmanned aerial vehicle 1 can control its own attitude. Alternatively, the information processing device 200 can control the unmanned aerial vehicle 1 so that it escapes from inside the steel pipe B1.

[0062] Furthermore, by providing the spherical protective guard 80B, the unmanned aerial vehicle 1 can easily pass through the opening B1b of the diaphragm B1a when flying upward and downward within the steel pipe B1.

[0063] <Other embodiments> In the above embodiment, as shown in FIG. 1, the height measurement system S includes an unmanned aerial vehicle 1, a data logger 100, and an information processing device 200, but is not particularly limited and does not necessarily need to include the data logger 100. In this case, the information processing device 200 may be connected to the unmanned aerial vehicle 1 via communication to transmit and receive data related to the measurement of the height of the top edge of the concrete B2.

[0064] In the above embodiment, as shown in Figure 3, the unmanned aerial vehicle 1 flies with the weight 90 in contact with the top edge of the concrete B2 and measures the vertical distance L1 between the unmanned aerial vehicle 1 and the concrete B2, but this is not particularly limited. The unmanned aerial vehicle 1 may measure the distance L1 while flying at a position a certain distance away from the top edge of the concrete B2. In other words, the weight 90 may not be in contact with the top edge of the concrete B2. In addition, by having the weight 90 contact the top edge of the concrete B2, the flight of the unmanned aerial vehicle 1 is stabilized and the measurement accuracy of the unmanned aerial vehicle 1 is improved. For this reason, it is preferable that the weight 90 contacts the concrete B2 and floats above the concrete B2.

[0065] In the above embodiment, the height measurement system and the height measurement method according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and the present invention naturally includes equivalents thereof. [Explanation of symbols]

[0066] S Height Measurement System 1. Unmanned aerial vehicles (drones) 2. Aircraft body 10 Imaging camera (imaging device) 20 Measurement sensors (distance sensors, optical sensors) 30 Transmitting and receiving antenna 40 Flying Units 50 Drive unit 60 Battery 70 Processors 71 Memory section 72 Data receiving section 73 Data transmission section 80 Protective Guard 81 Upper extension part 82 Guard body 90 weight 91 Downward extension part 92 Weight body part 92a Contact surface 100 Data Logger 110 Optical Sensor 120 Controller 121 Storage section 122 Communications Department 200 Information processing device 210 Monitor 220 Storage section 221 Communications Department 222 Screen Output Section 223 Object Judgment Unit 224 Attitude Control Unit 225 Arithmetic section 300 Operation Controller B Building (building structure) B1 Steel pipe (column) B1a diaphragm B1b opening B2 Concrete (filler) L1, L2, L3 distance H Height 1A, 1B Unmanned aerial vehicle (drone) 2A, 2B Aircraft body 10A, 10B Imaging camera 20A, 20B Measurement Sensor 30A, 30B Transmitting and receiving antennas 40A, 40B flying units 50A, 50B drive unit 60A, 60B battery 70A, 70B Processors 80A, 80B Protective Guard 90A, 90B weight 91A Downward extension 92A Weight body part 92Aa Contact surface

Claims

1. A height measurement system used when filling a filler material inside a steel pipe constituting a building, the height measurement system measuring the height of the top end of the filler material filled in the steel pipe, an unmanned aerial vehicle equipped with a measurement sensor and flying inside the steel pipe; and an information processing device that is connected to the unmanned aerial vehicle by communication and acquires information on the height of the top end of the filler based on the measurement results measured by the measurement sensor; A filler height measurement system characterized in that the unmanned aerial vehicle flies within the steel pipe at a position above the filler material being filled into the steel pipe, and uses the measurement sensor to measure the vertical distance between the unmanned aerial vehicle and the filler material.

2. The unmanned aerial vehicle comprises an air vehicle body and a weight attached to the air vehicle body and extending downward from the air vehicle body; 2. The filler height measurement system according to claim 1, wherein the unmanned aerial vehicle measures the distance using the measurement sensor while flying with the weight in contact with the top edge of the filler.

3. The weight has a downward extension portion attached to a lower portion of the aircraft body and extending downward from the aircraft body, and a weight main body portion provided at an extension end portion of the downward extension portion, The downward extension is formed to be narrower in the horizontal direction than the aircraft body and to extend longer than the vertical length of the aircraft body, the weight body portion has a contact surface that is wider in the horizontal direction than the aircraft body, The filler height measurement system described in claim 2, characterized in that the unmanned aerial vehicle measures the distance using the measurement sensor while flying with the contact surface in contact with the top edge of the filler.

4. The unmanned aerial vehicle includes an aerial vehicle body and a protective guard attached to the aerial vehicle body and covering the aerial vehicle body from above; The protective guard has an upward extension portion attached to an upper portion of the aircraft body and extending upward from the aircraft body, and a guard main body portion that spreads horizontally from an extension end portion of the upward extension portion to cover the aircraft body from above, 2. The filler height measurement system according to claim 1, wherein the guard body portion extends downward while widening in a horizontal direction from the extension end portion of the upper extension portion.

5. A data logger is connected to the unmanned aerial vehicle by communication, is provided at or near the upper portion of the steel pipe, and acquires measurement result data measured by the measurement sensor; The information processing device includes: a data logger connected by communication with the unmanned aerial vehicle; A filler height measurement system as described in any one of claims 1 to 4, characterized in that information on the height of the top of the filler is obtained based on relative position information of the unmanned aerial vehicle with respect to the data logger and information on the vertical distance between the unmanned aerial vehicle and the filler measured by the unmanned aerial vehicle.

6. The height measurement system includes: an object determination unit that determines the type of object detected in the steel pipe based on the detection results detected by the measurement sensor or based on the detection results detected by a detection sensor mounted on the unmanned aerial vehicle; an attitude control unit that controls the attitude of the aircraft body to be corrected when the object determination unit determines that the object is the steel pipe; A filler height measurement system as described in any one of claims 1 to 4, characterized in that it is further characterized by a communication unit that receives information on the distance between the unmanned aerial vehicle and the filler measured by the measurement sensor when the object determination unit determines that the object is the filler.

7. A height measurement method used when filling a filler inside a steel pipe constituting a building, the method measuring the height of the top end of the filler filled in the steel pipe, Filling the inside of the steel pipe with the filler material; Flying an unmanned aerial vehicle equipped with a measurement sensor within the steel pipe at a position above the filler; and obtaining information on the height of the top end of the filler based on the measurement results obtained by the measurement sensor.

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