Position information acquisition system

Abstract

To provide a system with which, in a sounding survey of wall surfaces of a building by using a sounding rod, it is possible to acquire a position of a defective section efficiently with good accuracy.SOLUTION: Provided is a position information acquisition system for detecting a defective section of a wall surface of a building by using a sounding rod 1a equipped with a hitting part 12 at a tip, and acquiring position information of the defective section by locating the hitting part 12 at the defective section. The position information acquisition system comprises: a plurality of base stations BS1, BS2, BS3 installed at known positions and capable of communication by a radio wave; a terminal device provided on a rear side of the sounding rod 1a and capable of communicating with the plurality of base stations BS1, BS2, BS3 by a radio wave; position detection means for detecting a position of the terminal device from a plurality of pieces of distance measurement information based on communication with the plurality of base stations BS1, BS2, BS3 by a radio wave; attitude detection means for detecting an attitude of the sounding rod 1a in a three-dimensional space; and derivation means for deriving first position information of the hitting part 12 from the position of the terminal device on the basis of attitude information on the sounding rod 1a from an attitude detection unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a position information acquisition system, and more particularly to a system for acquiring position information of defective portions on the wall surface of a building.

Background Art

[0002] Exterior finishing materials such as tiles, stone veneers, and mortar in buildings such as condominiums may have their adhesive strength with the underlying concrete or mortar weakened due to various factors such as aging deterioration, poor construction, rusting of reinforcing bars, and earthquakes, resulting in gaps (lifting) or cracks between the underlying concrete and the exterior finishing materials. If the lifting of the exterior finishing materials is left unattended, there is a risk that the exterior finishing materials will peel off from the outer wall surface. In addition, if there are cracked portions in the exterior finishing materials, there is a risk that rainwater and the like will penetrate through the cracked portions and corrode the frame portion made of the steel frame of the building. For this reason, regarding the investigation of the deterioration and damage conditions of exterior finishing materials and the like, in addition to tapping within reach about once every six months to three years, a comprehensive tapping of portions that may pose a hazard to pedestrians or the like due to falling is generally carried out about once every ten years.

[0003] Conventional general investigation methods have been that an investigator taps each tile with a tapping bar and discriminates defects such as the lifting of the tile from the tapping sound, and the investigator manually records the position of the defective portion on paper, a tablet, or the like. In such an investigation, the burden on the investigator is large, the investigation takes a long time, and there is also a risk of misrecording.

[0004] In recent years, infrared surveys using drones have also been carried out (for example, Patent Document 1), but in such surveys, defect determination may become impossible depending on the weather at the time of the survey, the type of tile, etc., so tapping surveys are still widely carried out.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, an object of the present invention is to provide a system that can accurately and efficiently acquire the position of a defective portion in a percussion inspection using a percussion rod on the wall surface of a building.

Means for Solving the Problems

[0007] A position information acquisition system according to an aspect of the present invention that achieves the above object is a system that detects a defective portion on the wall surface of a building using a percussion rod having a striking portion at its tip, positions the striking portion at the defective portion, and acquires position information of the defective portion. The system includes a plurality of base stations installed at known positions and capable of communication by radio waves, a terminal device provided on the rear end side of the percussion rod and capable of communication by radio waves with the plurality of base stations, position detection means for detecting the position of the terminal device from a plurality of distance measurement information based on radio wave communication between the terminal device and the plurality of base stations, attitude detection means for detecting the attitude of the percussion rod in a three-dimensional space, and derivation means for deriving first position information of the striking portion from the position of the terminal device based on the attitude information of the percussion rod from the attitude detection unit.

[0008] In the position information acquisition system having the above configuration, the system further includes a total station installed at a known position, an actuator for changing the distance measurement direction of the total station, a first control unit for controlling the actuator, and a reflection means provided on the percussion rod at a predetermined distance from the striking portion. The first control unit controls the actuator based on the first position information of the striking portion derived by the derivation means, so that the distance measurement direction of the total station is the direction of the striking portion of the percussion rod. The total station measures the slant distance, vertical angle, and horizontal angle to the reflection means to acquire the position of the reflection means, and the derivation means derives second position information of the striking portion from the position of the reflection means based on the attitude information of the percussion rod from the attitude detection unit.

[0009] In the position information acquisition system having the above-described configuration, it is preferable that the communication between the terminal device and the plurality of base stations is communication by UWB.

[0010] In the position information acquisition system having the above-described configuration, it is preferable that the attitude detection means includes an angular velocity sensor and a geomagnetic sensor.

[0011] In the position information acquisition system having the above-described configuration, it is preferable that the terminal device includes an instruction unit that instructs acquisition of position information of a defective portion on a wall surface of a building, and a display unit that displays information regarding the wall surface of the building portion and information regarding the defective portion.

Effect of the Invention

[0012] According to the position information acquisition system according to the present invention, in the tapping inspection using a tapping rod on the wall surface of a building, the position of the defective portion can be accurately and efficiently acquired.

Brief Description of the Drawings

[0013]

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Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to these embodiments at all.

[0015] (First Embodiment) In FIGS. 1 and 2, schematic diagrams showing an embodiment of a position information acquisition system according to the present invention are shown. FIG. 1 is a front view of a building that is a building, and FIG. 2 is a left side view thereof. Tiles are attached to the outer wall of the building shown in these figures. An inspector taps each tile with a percussion hammer 1a, and determines defects such as tile lifting from the percussion sound.

[0016] (Base Station) Three base stations BS1, BS2, and BS3 (hereinafter, may be collectively referred to as "base station BS") are installed at positions a predetermined distance away from the front side from the outer wall surface of the building. The number of base stations BS installed may be two, but when the wall surface of the building is a three-dimensional surface with unevenness, it is desirable to have three or more. When the number of base stations BS installed is two, it is desirable to install them at positions at the same distance in the direction perpendicular to the outer wall surface. When the number of base stations BS installed is three or more, it is desirable to install them at positions at different distances in the direction perpendicular to the outer wall surface.

[0017] As shown in Fig. 4, each base station BS includes a control unit 30 and a communication unit 31, and is capable of communicating with a terminal device 2 attached to the rear end side of the percussion hammer 1a by radio waves. From the perspective of obtaining relatively high ranging accuracy, UWB (Ultra-Wide Band) is preferred as the radio wave communication. The UWB signal only needs to have a bandwidth of 500 MHz or more, and may have a bandwidth of 1.5 GHz or more. More specifically, examples of the UWB band include bands such as 3.1 GHz to 10.6 GHz, 3.4 GHz to 4.8 GHz, 7.25 GHz to 10.25 GHz, and 22 GHz to 29 GHz.

[0018] (Percussion hammer) The percussion hammer 1a is used when an investigator examines defects such as the looseness of tiles on the outer wall surface of a building. As shown in Fig. 3, the percussion hammer 1a has a rod-shaped portion 11, a striking portion 12 provided on the front end side of the rod-shaped portion 11, and a gripping portion 13 provided on the rear end side of the rod-shaped portion 11. Since the striking portion 12 is the part that strikes the tiles on the outer wall surface of the building, it is made of a high-strength material such as stainless steel. The shape of the striking portion 12 is usually spherical. The rod-shaped portion 11 usually has a length of about several tens of centimeters to several meters and is made of a high-strength material such as stainless steel. The rod-shaped portion 11 may be telescopic. The gripping portion 13 is the part where the investigator grips the percussion hammer 1a. The gripping portion 13 generally has a larger diameter than the rod-shaped portion 11 and is made of resin or the like.

[0019] (Terminal device) The terminal device 2 is capable of communicating with each base station BS by radio waves. As shown in Fig. 3, the terminal device 2 is provided on the rear end side of the percussion hammer 1a. And as shown in Fig. 4, the terminal device 2 includes a control unit 20, a communication unit 21, an instruction unit 22, a display unit 23, a ranging unit 24, and a storage unit 25. Note that the terminal device 2 may be integrated with the gripping portion 13, may be provided at the boundary portion between the rod-shaped portion 11 and the gripping portion 13, or may be provided on the rear end side of the gripping portion 13. The specific installation position of the terminal device 2 may be appropriately determined in consideration of the operability by the investigator.

[0020] The distance measurement unit 24 receives UWB signals that are periodically transmitted while synchronizing from three base stations BS installed at known positions, and calculates the distances between each base station BS and the terminal device 2.

[0021] The instruction unit 22 is for instructing the acquisition of the position information of the defective part on the wall surface of the building. The instruction unit 22 may be different depending on the type of defect such as peeling or cracking of tiles. Also, a speaker (not shown) may be provided in the device terminal 2 so that the type of defect input from the instruction unit 22 is emitted from the speaker for the inspector to confirm, thereby preventing input errors of the type of defect. The instruction unit 22 may be a conventionally known one such as a switch, a touch panel integrated with a panel, or a jog dial, but it is preferably operable by the inspector with one hand. Further, a microphone (not shown) may be provided in the device terminal 2, and the inspector instructs the acquisition of the position information by the instruction unit 22 and pronounces the type of defect, and the type of defect pronounced by the inspector is collected by the microphone and stored in the storage unit 25, or the type of defect (voice) collected by the microphone is code-converted using artificial intelligence or the like and then stored in the storage unit 25.

[0022] The display unit 23 displays information regarding the wall surface of the building and information regarding the defective part. The inspector can confirm the position of the defective part and the type of defect input by the instruction unit 22 through the display unit 23.

[0023] The storage unit 25 stores distance measurement information, the position of the defective part, the type of defect, and the like. In this embodiment, the storage unit 25 is provided in the terminal device 2, but the storage unit 25 may be possessed by any of the base stations BS, or may be possessed by other devices.

[0024] (Posture detection means) The posture detection means 4 detects the posture of the percussion hammer 1a in the three-dimensional space. As the posture detection means 4, a known one can be used, but preferably one equipped with at least an angular velocity sensor and a geomagnetic sensor is used. For example, a commercially available 9-axis sensor can also be used. The posture detection means 4 may be provided in the terminal device 2 or may be provided in the percussion hammer 1a.

[0025] (Position detection means) The position detection means 3 detects the position of the terminal device 2 based on the ranging information between the plurality of base stations BS and the terminal device 2 calculated by the ranging unit 24 of the terminal device 2. The detected position may be detected, for example, in a global coordinate system composed of a Y-axis extending north-south, an X-axis extending east-west, and a Z-axis extending in the vertical direction. Let the three-dimensional coordinate positions of the respective base stations BS in the global coordinate system be (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and the three-dimensional coordinate position of the terminal device 2 be (a, b, c), and the distances between the respective base stations BS and the terminal device 2 be D1, D2, D3. Then, the following three equations hold. From these three equations, the three-dimensional coordinate position (a, b, c) of the terminal device 2 can be obtained. (a - x1) 2 +(b - y1) 2 +(c - z1) 2 = D1 2 (a - x2) 2 +(b - y2) 2 +(c - z2) 2 = D2 2 (a - x3) 2 +(b - y3) 2 +(c - z3) 2 = D3 2

[0026] Alternatively, the position of the terminal device 2 may be detected in the local coordinate (building coordinate) system. In that case, for example, the position may be detected as follows. First, as a preliminary preparation for the position detection work, the three-dimensional coordinates of each base station BS with respect to the three-dimensional coordinates of the building are measured with a measurer or the like, communicated to the terminal device 2, and recorded. Next, with the striking part 12 in contact with the building wall surface, the percussion bar 2 is made perpendicular to the building wall surface, and the attitude angle of the percussion bar 12 is measured with a three-axis angular velocity (gyro) sensor provided in the terminal device 2, and the value is recorded in the terminal device 2. Then, the distance between the striking part 12 of the percussion bar 2 and the terminal device 2 is recorded in the terminal device 2. For the position detection of the defective part on the building wall surface in the local coordinates, first, the coordinates of the terminal device 2 in the local coordinates are calculated and recorded from the distances between each base station BS and the terminal device 2. Next, using the values obtained by the three-axis angular velocity (gyro) sensor and the three-axis azimuth (geomagnetic) sensor provided in the terminal device 2, the values obtained in the preliminary preparation, and the distance between the terminal device 2 and the striking part 12, the coordinates of the striking part 12 (the defective part on the wall surface) are converted from the coordinates of the terminal device 2 and recorded.

[0027] Note that the position detection means 3 may be provided in the terminal device 2 or in any of the plurality of base stations BS. Alternatively, it may further have a control unit capable of communicating with the base station BS and the terminal device 2, and the control unit may serve as the position detection means 3.

[0028] (Derivation means) Based on the attitude information of the percussion bar 1a from the attitude detection means 4, the derivation means 5 derives the first position information of the striking part 12 from the three-dimensional coordinate position of the terminal device 2. As shown in FIG. 5, the distance L from the terminal device 2 to the striking part 12 in the percussion bar 1a is known. Also, the attitude information (horizontal angle α, vertical angle β) of the percussion bar 1a is obtained from the attitude detection means 4 provided in the terminal device 2. The derivation means 5 derives the three-dimensional coordinate position of the striking part 12 from this information. Specifically, the three-dimensional coordinate position of the striking part 12 can be derived from the following formula. (a + L×sinβcosα, b + L×sinβsinα, c + L×cosβ) Note that the derivation means 5 may be provided in the terminal device 2 or in any of the plurality of base stations BS. Alternatively, the base station BS and the terminal device 2 may further have a control unit capable of communication, and the control unit may serve as the derivation means 5.

[0029] Fig. 6 shows a flowchart showing the operation process of the position information acquisition system according to the first embodiment. When an inspector finds a defect such as tile lifting from the tapping sound of the outer wall tiles of a building (step S101), the striking part 12 at the tip of the tapping rod 1a is positioned at or near the position where it contacts the defective part (step S102). Then, the inspector presses the switch (indicating part) of the terminal device 2 (step S103). Thereby, the distance measuring unit 24 calculates the distances between the plurality of base stations BS and the terminal device 2 (step S104). Then, the position detection means 3 detects the position of the terminal device 2 based on the distance measurement information between the plurality of base stations BS and the terminal device 2 (step S105). Also, the attitude detection means 4 detects the attitude of the tapping rod 1a in the three-dimensional space (step S106). Next, the derivation means 5 derives the first position information of the striking part 12 from the three-dimensional coordinate position of the terminal device 2 based on the attitude information of the tapping rod 1a from the attitude detection means 4 (step S107). The first position information of the striking part 12 is displayed on the display unit 23 of the terminal device 2 (step S108) and stored in the storage unit 25 (step S109). Such an operation is repeated every time a defective part of the outer wall tiles is detected. The position information of the defective parts of the outer wall tiles accumulated and stored in the storage unit 25 can be displayed on the display unit 23 with coloring, marking, etc. in a state where it is superimposed on the outer wall surface of the building.

[0030] (Second Embodiment) In the first embodiment, since the distance between the base station BS and the terminal device 2 is measured by UWB (radio wave) communication, an error of about several tens of centimeters may occur in the derived position information of the terminal device 2. In order to reduce the error of the position information, measures such as increasing the number of installed base stations BS and using highly accurate attitude detection means 4 can be considered, but such measures cannot always be taken from the viewpoints of the location environment of the building and the portability of the device. Therefore, in this embodiment, a configuration is adopted in which a total station TS is used to improve the accuracy of the position information of the defective part. The total station TS is a device that can simultaneously perform distance measurement by light and angular measurement (horizontal angle and vertical angle). Hereinafter, the position information acquisition system according to the second embodiment will be described. The same members and the same parts as those in the position information acquisition system according to the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted.

[0031] The position information acquisition system according to the second embodiment includes, in addition to the configuration of the position information acquisition system according to the first embodiment, a total station TS, an actuator 8, a first control unit 7 that controls the actuator 8, and a reflection means 6 provided in the vicinity of the striking portion 12 of the percussion bar 1b.

[0032] FIG. 7 shows a schematic diagram of the position information acquisition system according to the second embodiment. The total station TS is installed at a position a predetermined distance away from the front side of the outer wall surface of the building. A conventionally known total station TS can be used.

[0033] The actuator 8 has a function of changing the distance measurement direction of the total station TS. For example, the actuator 8 can be a rotatable and tiltable base on which the total station TS is placed, or a tracking mechanism of an existing tracking type total station TS.

[0034] The first control unit 7 controls the movement of the actuator 8 to change the distance measurement direction of the total station TS. A block diagram is shown in FIG. 8. The first control unit 7 acquires the first position information of the striking portion 12 derived by the derivation means 5 from the terminal device 2 via the communication unit 9, and controls the actuator 8 based on the first position information to set the distance measurement direction of the total station TS to the direction of the striking portion 12 of the percussion bar 1b.

[0035] The reflecting means 6 reflects the laser (light wave) emitted from the total station TS, and a prism or the like can be preferably used. As shown in FIG. 9, the reflecting means 6 is provided at a position separated from the striking portion 12 of the percussion hammer 1b by a predetermined distance. Originally, if the reflecting means 6 is attached to the striking portion 12, the position information of the striking portion 12 can be directly obtained by the total station TS. However, since the striking portion 12 is in contact with or near the outer wall tile, the laser emitted from the total station TS may be reflected by the outer wall tile and become a disturbance factor for measurement. Therefore, in the present embodiment, the reflecting means 6 is provided on the percussion hammer 1b separated from the striking portion 12 by a predetermined distance.

[0036] FIG. 10 shows a flowchart showing the operation process of the position information acquisition system according to the second embodiment. Until the deriving means 5 derives the first position information of the striking portion 12 (steps S101 to S107), it is the same as the flowchart shown in FIG. 5.

[0037] The first control unit 7 controls the actuator 8 based on the first position information of the striking portion 12 derived by the deriving means 5, and sets the ranging direction of the total station TS to the direction of the striking portion 12 of the percussion hammer 1b (step S110). Then, the total station TS measures the slant distance, vertical angle, and horizontal angle to the reflecting means 6 to obtain the three-dimensional coordinate position of the reflecting means 6 (step S111). Next, the deriving means 5 derives the second position information of the striking portion 12 from the three-dimensional coordinate position of the reflecting means 6 based on the attitude information of the percussion hammer 1b from the attitude detecting means 4 (step S112). Since the distance between the reflecting means 6 and the striking portion 12 is known, deriving the second position information of the striking portion 12 from the three-dimensional coordinate position of the reflecting means 6 is the same as the calculation method for deriving the first position information of the striking portion 12 from the three-dimensional coordinate position of the terminal device 2 in the first embodiment. The second position information of the striking portion 12 is displayed on the display unit 23 of the terminal device 2 (step S113) and stored in the storage unit 25 (step S114). Such an operation is repeated each time a defective portion of the outer wall tile is detected.

[0038] (Other modifications) The preferred embodiments of the present invention have been described above. However, the present invention is not limited to these embodiments. Additions, omissions, substitutions, and other modifications of the configuration are possible without departing from the spirit of the present invention. The present invention is not limited by the above description and is limited only by the appended claims.

[0039] In addition, without departing from the spirit of the present invention, it is possible to appropriately replace the components in the above-described embodiments with well-known components, and the above-described modification examples may be appropriately combined.

Industrial Applicability

[0040] According to the position information acquisition system according to the present invention, in the tapping inspection using a tapping hammer on the wall surface of a building, the position of the defective part can be accurately and efficiently acquired.

Explanation of Signs

[0041] 1a, 1b Tapping hammer 2 Terminal device 3 Position detection means 4 Attitude detection means 5 Derivation means 6 Reflection means 7 First control unit 8 Actuator 12 Striking part 22 Instruction part 23 Display part BS, BS1, BS2, BS3 Base station TS Total station

Claims

1. A system for detecting a defective portion of a building wall using a percussion hammer having a striking portion at its tip, positioning the striking portion at the defective portion, and obtaining position information of the defective portion, comprising: a plurality of base stations installed at known positions and capable of communication by radio waves; a terminal device provided on the rear end side of the percussion hammer and capable of communication by radio waves with the plurality of base stations; position detection means for detecting the position of the terminal device from a plurality of ranging information based on radio wave communication between the terminal device and the plurality of base stations; posture detection means for detecting the posture of the percussion hammer in a three-dimensional space; derivation means for deriving first position information of the striking portion from the position of the terminal device based on the posture information of the percussion hammer from the posture detection unit; A position information acquisition system, characterized by comprising the above.

2. a total station installed at a known position; an actuator for changing the ranging direction of the total station; a first control unit for controlling the actuator; reflecting means provided on the percussion hammer at a predetermined distance from the striking portion; further comprising: The first control unit controls the actuator based on the first position information of the striking portion derived by the derivation means, and sets the ranging direction of the total station to the direction of the striking portion of the percussion hammer; The total station measures the slant distance, vertical angle, and horizontal angle to the reflecting means to obtain the position of the reflecting means; The derivation means derives second position information of the striking portion from the position of the reflecting means based on the posture information of the percussion hammer from the posture detection unit. The position information acquisition system according to Claim 1.

3. The position information acquisition system according to Claim 1 or 2, wherein the communication between the terminal device and the plurality of base stations is communication by UWB.

4. The position information acquisition system according to Claim 1 or 2, wherein the posture detection means includes an angular velocity sensor and a geomagnetic sensor.

5. The position information acquisition system according to Claim 1 or 2, wherein the terminal device has an instruction unit for instructing the acquisition of position information of a defective portion of a building wall, and a display unit for displaying information regarding the wall of the building portion and information regarding the defective portion.

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