Displacement calculation device, construction method and displacement calculating method

Abstract

To be able to improve work efficiency of let-off method.SOLUTION: A displacement calculation device, which is used in let-off method, includes an acquisition unit that acquires information from a positioning sensor that is provided on an extending machine and is used to measure the absolute positions in three-dimensional space of multiple characteristic parts that do not change position relative to the extending machine, a storage unit that stores the position of each characteristic part relative to the extending machine and the planned path that each characteristic part of the extending machine is going through, an identification unit that identifies the positions of the multiple characteristic parts provided on the extending machine based on the information acquired by the acquisition unit, a calculation unit that calculates the distance that the characteristic parts are shifted in the transverse direction from the path based on the position of the characteristic part and the path, and an output unit that outputs the calculation result.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a displacement calculation device, a construction method, and a displacement calculation method. [Background technology]

[0002] Conventionally, when erecting a bridge across a wide railway track, etc., it is difficult to create a working space within the track due to the running trains and overhead wires on the track, so a construction method that does not require creating a working space within the track, such as the launching method, is required. The launching method is a construction method in which a bridge girder, which serves to support the bridge deck when erecting a bridge, is launched from a working space on a pier at the source to the position of the pier at the destination, thereby placing the bridge girder over multiple piers (see, for example, Patent Document 1). For example, in launching construction, a hand-stretching machine that is lighter than the bridge girder is attached to the front of the bridge girder and launched. The launched hand-stretching machine is received by a synchronous jack placed on the pier at the destination, and launching continues until the tip of the bridge girder reaches the pier at the destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-313820 Summary of the Invention [Problem to be solved by the invention]

[0004] However, wind and temperature changes can deform the steel materials of the rails, hand-stretching machine, bridge girders, etc., which can cause the tip of the hand-stretching machine to end up in a different position than originally planned. Therefore, with the sending-off method, the hand-stretching machine's sending-off must be stopped just before it reaches the bridge pier where it is to be sent, the position of the hand-stretching machine's tip must be measured, and the synchronized jack must be repositioned to match the position where the hand-stretching machine's tip has reached, which takes time. Since construction on the tracks can only be carried out when the tracks are closed or power feeders are stopped, it is desirable to be able to improve work efficiency.

[0005] Therefore, the present invention has been made in consideration of the above points, and aims to provide a deviation calculation device, construction method, and deviation calculation method that can improve work efficiency in the launching construction method. [Means for solving the problem]

[0006] [1] One aspect of the present invention is a displacement calculation device used in a sending-off method in which a bridge girder with a hand-stretching machine attached to the front is sent from a source pier, which is a source pier, to a destination pier, which is a destination pier, and the bridge girder is then laid between the source pier and the destination pier. The device includes an acquisition unit that acquires information from one or more positioning sensors that are provided in the hand-stretching machine and are used to measure the absolute positions in three-dimensional space of multiple characteristic parts whose positions relative to the hand-stretching machine do not change, and a position calculation unit that calculates the positions of each of the characteristic parts relative to the hand-stretching machine and the position of the hand-stretching machine sent out in the sending-off method. This deviation calculation device includes a memory unit that stores the planned path of each of the characteristic features provided on the hand stretching machine; an identification unit that identifies the positions of the multiple characteristic features provided on the hand stretching machine based on information acquired by the acquisition unit; a calculation unit that calculates the distance that the characteristic features are shifted in the transverse direction from the path based on the positions of the characteristic features identified by the identification unit and the path stored in the memory unit, when the direction in which the bridge girder is fed is the feed direction and the direction perpendicular to the feed direction and the direction of gravity is the transverse direction; and an output unit that outputs the result calculated by the calculation unit.

[0007] [2] Furthermore, one aspect of the present invention is a construction method comprising a displacement identification process for identifying the distance by which the characteristic part is displaced from the path in the transverse direction based on the results output by the displacement calculation device described in [1], and a position adjustment process for adjusting the position of a jack placed to receive the hand-stretching machine according to the distance by which the characteristic part is displaced from the path in the transverse direction, in which the displacement identification process and the position adjustment process are carried out in sequence at least once within the time range until the hand-stretching machine reaches the destination pier.

[0008] [3] Also, one aspect of the present invention is a deviation calculation method used in a sending-out method in which a bridge girder having a hand-stretching machine attached to its front is sent out from a source pier, which is a source pier, to a destination pier, which is a destination pier, thereby connecting the bridge girder to the source pier and the destination pier, the method comprising: an acquisition step of acquiring information from one or more positioning sensors provided in the hand-stretching machine and used to measure the absolute positions in three-dimensional space of a plurality of characteristic parts whose positions relative to the hand-stretching machine do not change; The deviation calculation method includes a storage step of storing the route that each of the characteristic parts is expected to take; an identification step of identifying the positions of the plurality of characteristic parts provided in the hand stretching machine based on the information acquired by the acquisition step; a calculation step of calculating the distance that each of the characteristic parts is deviated from the route in the transverse direction based on the positions of the characteristic parts identified by the identification step and the route stored in the storage step, where the direction in which the bridge girder is fed is the feed direction and the direction perpendicular to the feed direction and the direction of gravity is the transverse direction; and an output step of outputting the result calculated by the calculation step. [Effects of the Invention]

[0009] According to the present invention, the work efficiency in the sending method can be improved. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an erection site using the launching method. [Figure 2] FIG. 1 is a block diagram of a system according to an embodiment. [Figure 3] FIG. 1 is a first diagram showing an example of the content displayed on the display device. [Figure 4] 10 is a flowchart illustrating an example of the flow of a construction method using the displacement calculation device. [Figure 5] FIG. 2 is a second diagram showing an example of the content displayed on the display device. DETAILED DESCRIPTION OF THE INVENTION

[0011] [Embodiment] The deviation calculation device, construction method, and deviation calculation method according to the present embodiment will be described in detail below with reference to the accompanying drawings, showing preferred embodiments. Note that the present embodiment is not limited to these embodiments, and includes various modifications and improvements. In other words, the components described below include those that can be easily imagined by a person skilled in the art and those that are substantially identical, and the components described below can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components of the present embodiment can be made without departing from the spirit of the present invention.

[0012] FIG. 1 is a diagram showing an erection site using the launching method. FIG. 1 shows an example of an erection site where construction is carried out to erect a bridge over a railway track 8 by launching a bridge girder 4 from a launching source pier (hereinafter sometimes referred to as a launching source pier 2) to a launching destination pier (hereinafter sometimes referred to as a destination pier 3). FIG. 1(A) is a plan view of the erection site seen from above. FIG. 1(B) is a longitudinal section showing a cross section of the erection site cut in the launching direction of the bridge girder 4. In the following description, the direction in which the bridge girder 4 is launched is referred to as the launching direction (X direction), the direction opposite to the direction of gravity is referred to as the height direction (Z direction), and the direction perpendicular to the launching direction and the height direction is referred to as the transverse direction (Y direction).

[0013] A hand-stretching machine 5, which is lighter than the bridge girder 4, is attached to the front of the bridge girder 4. The bridge girder 4 and the hand-stretching machine 5 are supported by the source pier 2 and a bend 7 near the source pier 2. The bend 7 is a temporary facility created for construction work, and serves the following functions: a space to place the bridge girder 4 and the hand-stretching machine 5, a space to place a jack that supports the bridge girder 4, and a temporary support pillar that supports the bridge body. The jack may be, for example, a synchronous jack with a caterpillar (e.g., a crawler) that can feed the girder. The jack can move the bridge girder 4 in the feed direction. The hand-stretching machine 5 has multiple characteristic parts. A characteristic part is a part whose position relative to the hand-stretching machine 5 does not change. A characteristic part is an object whose position is measured by a positioning sensor. A characteristic part may be something that the hand-stretching machine 5 has in advance, such as a characteristic shape or pattern on the surface of the hand-stretching machine 5. Furthermore, the characteristic portion may be, for example, a target covered with a retroreflective material that reflects incident light in the direction of a light source, a target that serves as a light source, or a landmark such as a marker. The positioning sensor measures the position of the characteristic portion in three-dimensional space. The positioning sensor may be, for example, an acceleration sensor that acquires the amount of movement from a reference position, a receiver that receives information transmitted from a GNSS (Global Navigation Satellite System) satellite or an UWB signal, or an imaging device that captures images of targets, markers, etc. The positioning sensor may be installed near the characteristic portion or at a position away from the characteristic portion, such as a vent 7. When the positioning sensor is installed near the characteristic portion, the positioning sensor may measure the position of the positioning sensor itself.

[0014] In this embodiment, an example will be described in which an imaging device 10 is used as a positioning sensor, and a target 6 to be imaged is used as a characteristic portion. By using the imaging device 10 and the target 6, the displacement calculation device 20 can more accurately identify the position of the target 6. Furthermore, the target 6 may be covered with a retroreflective material, a light source, or the like. By using a target 6 covered with a retroreflective material or a target 6 that is a light source, the imaging device 10 can image the target 6 even during construction work at night, and the displacement calculation device 20 can identify the position of the target 6.

[0015] FIG. 2 is a block diagram of a system 1 according to an embodiment. The functional configuration of a displacement calculation device 20 will be described with reference to the same figure. The system 1 includes a plurality of imaging devices 10, a displacement calculation device 20, and a display device 30. The plurality of imaging devices 10 and the displacement calculation device 20, and the displacement calculation device 20 and the display device 30 are connected to each other via a network NW so as to be able to communicate with each other. The network NW is a predetermined communication network configured using lines, such as the Internet. Imaging devices 10-1 to 10-3 are examples of a plurality of imaging devices 10, and when there is no need to distinguish between them, they may be simply referred to as imaging devices 10.

[0016] The imaging device 10 captures an image of the target 6. The imaging device 10 is fixedly installed at any position where it can capture an image of the target 6 provided on the hand-stretching machine 5, such as the destination pier 3 or a bent 7 near the destination pier 3. In other words, the imaging device 10 acquires information for measuring the position of the tip of the hand-stretching machine 5 on a plane when viewed from the destination pier 3 side. The imaging device 10 outputs the captured image of the target 6 to the displacement calculation device 20.

[0017] The multiple imaging devices 10 may be installed, for example, such that the height or distance to the hand-stretching machine 5 of any one of the multiple imaging devices 10 is different from that of any other imaging device 10. When the multiple imaging devices 10 are installed such that the height or distance to the hand-stretching machine 5 of any one of the multiple imaging devices 10 is different from that of any other imaging device 10, each imaging device 10 can image the target 6 from an angle different from that of the other imaging devices 10. Based on the multiple captured images of the target 6 captured from different angles, the displacement calculation device 20 can identify the position of the target 6 more accurately.

[0018] The deviation calculation device 20 includes an acquisition unit 21, a storage unit 22, an identification unit 23, a calculation unit 24, and an output unit 25. Each functional unit of the deviation calculation device 20 may be realized using an electronic circuit as necessary. Furthermore, each functional unit does not have to be included in a single device, and the deviation calculation device 20 may be configured by a plurality of devices.

[0019] The acquisition unit 21 acquires captured images of the target 6 from each of the imaging devices 10. That is, the acquisition unit 21 acquires positioning results from a positioning sensor that measures the position of the tip of the hand stretching machine 5 on a plane when viewed from the destination pier 3 side. The acquisition unit 21 outputs the acquired captured images to the identification unit 23.

[0020] The memory unit 22 stores the position and posture of each of the multiple imaging devices 10, the planned path (hereinafter sometimes referred to as the planned path) along which the target 6 provided on the hand-stretching machine 5 sent out in the sending method will travel, and the positions of the start and end points of the planned path.

[0021] The identification unit 23 acquires captured images from the acquisition unit 21. The identification unit 23 also refers to the storage unit 22 to acquire information indicating the position and orientation of each of the multiple imaging devices 10. The identification unit 23 identifies the positions of the multiple targets 6 provided in the hand-stretching machine 5 based on at least the information acquired from the acquisition unit 21 out of the information acquired from the acquisition unit 21 and the information stored in the storage unit 22. In this embodiment, the identification unit 23 uses motion capture technology to identify the position of each of the targets 6 provided in the hand-stretching machine 5 based on the position at which the target 6 is represented in the captured image captured by each imaging device 10 and the position and orientation of each imaging device 10 stored in the storage unit 22. The identification unit 23 outputs information indicating the position of each target 6 to the calculation unit 24. In conventional let-off methods, in order to receive the hand-stretching machine 5 with a jack, it was necessary to stop the let-off just before the hand-stretching machine 5 reached the vent 7 where the jack was located, and measure the position of the tip of the hand-stretching machine 5. According to this embodiment, the deviation calculation device 20 can identify the position of the tip of the hand-stretching machine 5 in real time during let-off by identifying the position of the target 6. Therefore, in the let-off method according to this embodiment, it is not necessary to stop the let-off to measure the position of the tip of the hand-stretching machine 5, and the time required to stop the let-off and measure after stopping can be shortened. This improves the work efficiency of the let-off method.

[0022] The identification unit 23 can more accurately identify the absolute position of the target 6 in three-dimensional space based on multiple captured images of one target 6 captured by three or more imaging devices. In this embodiment, an example is shown in which the target 6 is provided near the tip of the hand-stretching machine 5 on the delivery direction side (hereinafter, may be referred to as the tip of the hand-stretching machine 5). By providing the target 6 near the tip of the hand-stretching machine 5, all of the imaging devices 10 fixedly installed on the destination pier 3, vent 7, etc. can capture images of each target 6. According to this embodiment, because all of the imaging devices 10 can capture images of each target 6, there is no need to install an imaging device 10 for each target 6, and the number of imaging devices 10 can be reduced. Furthermore, in this embodiment, an example is shown in which the target 6 is provided on the height direction side (upper side) near the tip of the hand-stretching machine 5. By providing the target 6 on the height direction side near the tip of the hand-stretching machine 5, it is possible to prevent the target 6 from interfering with the synchronous jack when receiving the synchronous jack.

[0023] The calculation unit 24 acquires information indicating the position of each target 6 from the identification unit 23. The calculation unit 24 also acquires information indicating the planned route by referencing the storage unit 22. Based on the position of the target 6 and the planned route, the calculation unit 24 calculates the distance (deviation) that the target 6 deviates from the planned route in both the horizontal and vertical directions. The deviation is the difference between the planned route and the position of the target 6 in the horizontal and vertical directions. If this difference is within an allowable range that allows the hand stretcher 5 to be received without moving the jack in the horizontal direction, there will be no problem in construction. In other words, if this difference is within an allowable range, there is no need to move the jack in the horizontal direction. Based on the start point of the planned route and the position of the target 6, the calculation unit 24 also calculates the amount (feed-out amount) of the bridge girder 4 and the hand stretcher 5 that has been fed, and the remaining amount (remaining distance) that needs to be fed before reaching the destination pier 3. Furthermore, based on the change in the position of the identified target 6 over time, the calculation unit 24 calculates the speed (feed-out speed) at which the hand stretcher 5 equipped with the target 6 is fed. Furthermore, the calculation unit 24 calculates the predicted arrival time of the hand stretching machine 5 at the destination pier 3 based on the delivery speed, the remaining distance, and the current time. The calculation unit 24 outputs the calculation result to the output unit 25.

[0024] The output unit 25 acquires the calculation result from the calculation unit 24. The output unit 25 outputs the calculation result to the display device 30.

[0025] The display device 30 acquires the calculation results from the deviation calculation device 20. The display device 30 displays content corresponding to the calculation results to workers engaged in construction using the sending-off method. The display device 30 is a device owned by the worker, and may be, for example, a personal computer, tablet computer, smartphone, or other device. This allows the worker to understand the difference in the transverse direction between the planned path and the position of the target 6 by looking at the display content on the display device 30. Furthermore, if the display device 30 is a portable display device 30 such as a smartphone, the worker can understand the difference in the transverse direction between the planned path and the position of the target 6, for example, near the jack, and can easily adjust the position of the jack at any time, even during the sending-off of the hand-stretching machine 5. Therefore, during the sending-off of the hand-stretching machine 5, the worker can adjust the difference between the position where the jack is installed and the position where the tip of the hand-stretching machine 5 reaches so that it falls within the allowable range at which the jack can receive the hand-stretching machine 5, thereby improving work efficiency in the sending-off method.

[0026] FIG. 3 is a first diagram showing an example of the content displayed on the display device 30. FIG. 3 shows an example in which a plan view 1001, a longitudinal section 1002, a cross section 1003, and a calculation result 1004 are displayed. The plan view 1001 shows the construction site as viewed from above (in the height direction). The longitudinal section 1002 shows the construction site as viewed from the cross direction. The plan view 1001 and the longitudinal section 1002 display the hand stretching machine 5 located in a position corresponding to the position of each target 6, the vent 7 where the jack will be placed, the current position 1102 of the target 6, the planned route 1104, the start point 1101 and end point 1103 of the planned route 1104, and a direction display 1105. The cross section 1003 shows the tip of the hand stretching machine 5 as viewed from the direction in which the destination pier 3 is located (the sending direction). The cross-sectional view 1003 displays the hand-stretching machines 5 in positions corresponding to the positions of the respective targets 6, the starting point 1101, the current positions 1102 of the targets 6, and a direction display 1105. The plan view 1001, longitudinal section 1002, and cross-sectional view 1003 allow the worker to visually understand the difference between the positions of the targets 6 and the planned route 1104, as well as the progress of the hand-stretching machine 5 being sent out. This allows the worker to adjust the position of the jack during sending out so that the jack can receive the hand-stretching machine 5, thereby improving work efficiency in the sending-out method.

[0027] The calculation result 1004 displays a measurement value 1201, a feed amount 1202, a remaining distance 1203, a calculated deviation value 1204, a feed speed 1205, an estimated arrival time 1206, and a current time 1207. The measurement value 1201 indicates the three-dimensional position of each target 6 identified by the identification unit 23 using the position in the feed direction, the position in the transverse direction, and the position in the height direction. The feed amount 1202 indicates the distance the target 6 has traveled from the start point 1101. The remaining distance 1203 indicates the distance from the target 6 to the end point 1103. The calculated deviation value 1204 indicates the distance the target 6 has deviated from the planned path 1104 in the transverse direction and the height direction. By looking at the calculated deviation value 1204, an operator can identify the position of the tip of the hand stretching machine 5 and adjust the position of the jack to match the position of the hand stretching machine 5. The delivery speed 1205 indicates the speed at which the target 6 moves, i.e., the speed at which the hand-stretching machine 5 is delivered. The estimated arrival time 1206 indicates the time at which the target 6 will reach the end point 1103, i.e., the time at which the hand-stretching machine 5 will reach the vent 7 where the jack is placed. The current time 1207 indicates the current time. By looking at the remaining distance 1203, the estimated arrival time 1206, the current time 1207, etc., the worker can determine whether or not to start adjusting the jack.

[0028] FIG. 4 is a flowchart for explaining an example of the flow of a construction method using the displacement calculation device 20. A worker attaches multiple targets 6 to the hand-stretching machine 5 and measures the position of each target 6 relative to the hand-stretching machine 5. The worker also measures the position and posture of each of the imaging devices 10 installed on the bents 7 near the destination pier 3. The worker stores the measured information and information indicating the planned route that was set in advance during the planning stage, etc., in the memory unit 22 (step S101). Since construction work on the tracks can only be carried out when the tracks are closed or power supply is stopped and time is limited, the time required for the sending-out method can be shortened by storing the information in the memory unit 22 in advance of the construction time. Step S101 is called the storage process.

[0029] The bridge girder 4 and the hand-stretching machine 5 begin to be sent out toward the destination pier 3 (step S102). The displacement calculation device 20 identifies the three-dimensional position of the target 6 attached to the hand-stretching machine 5 based on the images captured by the multiple imaging devices 10. The displacement calculation device 20 also calculates the distance by which the position of the target 6 is displaced in the horizontal and vertical directions from the planned path along which the target 6 will pass (step S103). The processing of step S103 may be repeated at regular intervals from the time the bridge girder 4 and the hand-stretching machine 5 are sent out until the hand-stretching machine 5 reaches the bent 7 where the jack is located, or may be performed once or multiple times after the hand-stretching machine 5 has approached the bent 7 to a certain extent. The worker identifies the position of the target 6 and the distance by which the target 6 is displaced in the horizontal direction using the display device 30 on which the results calculated by the displacement calculation device 20 are displayed. Hereinafter, the process of identifying the distance by which the hand-stretching machine 5 deviates from the planned path using the deviation calculation device 20 will be referred to as the deviation identification process. Based on the position of the target 6 and the distance by which the target 6 deviates in the lateral direction, the operator can identify the position of the tip of the hand-stretching machine 5 equipped with the target 6.

[0030] In order to receive the hand-stretching machine 5 with the jack, the worker adjusts the position of the jack according to the position of the tip of the hand-stretching machine 5 (step S104). Hereinafter, the process of adjusting the position of the jack according to the calculation results will be referred to as the position adjustment process. The jack whose position has been adjusted receives the hand-stretching machine 5 and continues sending out the hand-stretching machine 5 until it reaches the destination pier 3 (step S105).

[0031] The deviation identification process and the position adjustment process are performed sequentially during the time from when the bridge girder 4 and the hand-stretching machine 5 are sent out until the hand-stretching machine 5 reaches the bent 7 where the jack is located (hereinafter, this may be referred to as the sending-out time). In other words, the deviation identification process and the position adjustment process are performed while the bridge girder 4 and the hand-stretching machine 5 are being sent out. By being able to identify the position of the tip of the hand-stretching machine 5 without stopping the sending-out, the worker can adjust the position of the jack to match the position of the tip of the hand-stretching machine 5 until the hand-stretching machine 5 reaches the bent 7 where the jack is located. Therefore, with the deviation calculation device 20 according to this embodiment, it is not necessary to measure the position of the tip of the hand-stretching machine 5 or adjust the position of the jack after stopping the sending-out of the bridge girder 4 and the hand-stretching machine 5, and therefore the construction time can be shortened.

[0032] In this embodiment, an example is shown in which the two targets 6 are provided on the height direction side near the tip of the hand-stretching machine 5, near both ends in the transverse direction of the hand-stretching machine 5. By providing the targets 6 near both ends in the transverse direction of the hand-stretching machine 5, the operator can more accurately identify the left and right tilt of the hand-stretching machine 5 compared to when the targets 6 are provided close together near the center of the hand-stretching machine 5 in the transverse direction. Furthermore, by measuring the position of the target 6 relative to the hand-stretching machine 5 before the bridge girder 4 and the hand-stretching machine 5 are sent out, the worker can identify the position of any point within the hand-stretching machine 5 based on the left-right tilt of the hand-stretching machine 5 and the position of the target 6 relative to the hand-stretching machine 5. This makes it possible to reduce the number of targets 6 provided on the target 6.

[0033] In this embodiment, the display device 30 displays the calculated distance by which the target 6 deviates from the planned path. However, this embodiment is not limited to this example. The display device 30 may also display information that allows the operator to determine whether or not the jack placement position needs to be adjusted. The deviation calculation device 20 may generate information based on, for example, the current position of the target 6 and the intersection of a cross section that is perpendicular to the feed direction and includes the current position of the target 6 with the planned path. FIG. 5 is a second diagram showing an example of the content displayed on the display device 30. FIG. 5 illustrates an intersection 2001, a current position 1102, the hand stretcher 5 in a position corresponding to the position of each target 6, a direction display 1105, and auxiliary lines 2002. The auxiliary lines 2002 are straight lines parallel to the height direction in the cross section and displayed at regular intervals in the cross direction. The worker may determine whether or not it is necessary to adjust the position of the jack based on whether the intersection 2001 and the current point 1102 are in the same area divided by the auxiliary lines 2002. The worker may also adjust the position of the jack, for example, by calculating the distance between the intersection 2001 and the current point 1102, the distance by which the position of the tip of the hand stretching machine 5 deviates in the transverse direction from the predetermined planned path, based on the number of areas divided by the auxiliary lines. The interval between the auxiliary lines may be determined arbitrarily.

[0034] In this embodiment, a case where construction work using the launching method is performed on a railroad has been described. However, this embodiment is not limited to this example, and any construction work using the launching method may be performed. For example, construction work using the launching method may be performed on a highway, etc.

[0035] Note that all or part of the functions of each unit included in the deviation calculation device 20 in the above-described embodiment may be realized by recording a program for realizing these functions on a computer-readable recording medium, and reading and executing the program recorded on this recording medium into a computer system. Note that the term "computer system" here includes hardware such as an OS and peripheral devices.

[0036] Although one embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications can be made without departing from the spirit of the present invention. Furthermore, the configurations described in the above-described embodiments and examples can be combined. [Explanation of symbols]

[0037] 2...Source pier, 3...Destination pier, 4...Bridge girder, 5...Hand stretching machine, 6...Target, 10...Imaging device, 20...Displacement calculation device, 21...Acquisition unit, 22...Storage unit, 23...Identification unit, 24...Calculation unit, 25...Output unit, 30...Display device

Claims

1. A displacement calculation device used in a launching method in which a bridge girder is spanned between a source pier, which is a source pier, and a destination pier, which is a destination pier, by sending out a bridge girder with a hand stretching machine attached to the front, An acquisition unit that acquires information from one or more positioning sensors that are included in the hand-stretching machine and are used to measure the absolute positions in three-dimensional space of multiple characteristic portions whose positions relative to the hand-stretching machine do not change; A memory unit that stores the positions of each of the characteristic parts relative to the hand-stretching machine and the planned paths along which each of the characteristic parts provided in the hand-stretching machine that is sent out in the sending method will pass; An identification unit that identifies the positions of the plurality of characteristic parts provided in the hand-stretching machine based on the information acquired by the acquisition unit; a calculation unit that calculates a distance by which the characteristic portion is displaced from the path in the transverse direction based on the position of the characteristic portion identified by the identification unit and the path stored in the storage unit, where the direction in which the bridge girder is fed out is defined as a feed-out direction and a direction perpendicular to the feed-out direction and the direction of gravity is defined as a transverse direction; an output unit that outputs the result calculated by the calculation unit; Equipped with Deviation calculation device.

2. the positioning sensor is an imaging device fixedly installed at a position where it can image the characteristic portion, the acquisition unit acquires, from the imaging device, captured images in which the plurality of characteristic portions are captured; The storage unit further stores the position and orientation of the imaging device, The identification unit identifies the positions of the plurality of characteristic portions based on positions in the captured image in which the plurality of characteristic portions captured by the imaging device are represented and the position and orientation of the imaging device stored in the storage unit. The deviation calculation device according to claim 1 .

3. The hand-stretching machine has the characteristic portion at a position of the leading end of the hand-stretching machine in the delivery direction and near both ends in the cross direction. The deviation calculation device according to claim 1 .

4. The output unit outputs the result calculated by the calculation unit to a display device held by a worker engaged in construction work using the sending construction method, The display device displays content according to the result to the worker. The deviation calculation device according to claim 1 .

5. a deviation specifying step of specifying a distance by which the characteristic portion is displaced from the path in the transverse direction based on the result output by the deviation calculation device according to any one of claims 1 to 4; a position adjusting step of adjusting a position of a jack arranged to receive the hand stretcher in accordance with a distance by which the characteristic portion is displaced from the path in the transverse direction; and The deviation identification step and the position adjustment step are performed in sequence at least once within the time range until the hand stretching machine reaches the destination pier. Construction method.

6. Further comprising a storage step of storing information in the storage unit before the time. The construction method according to claim 5.

7. A method for calculating a deviation used in a launching method in which a bridge girder is spanned between a source pier, which is a source pier, and a destination pier, which is a destination pier, by sending out a bridge girder with a hand stretching machine attached to the front, An acquisition process for acquiring information from one or more positioning sensors that are provided in the hand-stretching machine and are used to measure the absolute positions in three-dimensional space of a plurality of characteristic portions whose positions relative to the hand-stretching machine do not change; A storage step of storing the positions of each of the characteristic parts relative to the hand-stretching machine and the planned paths along which each of the characteristic parts provided in the hand-stretching machine sent out in the sending method will pass; An identification process for identifying the positions of the plurality of characteristic portions provided in the hand-stretching machine based on the information acquired by the acquisition process; a calculation step of calculating a distance by which the characteristic part is displaced from the path in the transverse direction based on the position of the characteristic part identified in the identification step and the path stored in the storage step, where the direction in which the bridge girder is fed out is defined as a feed direction and the direction perpendicular to the feed direction and the direction of gravity is defined as a transverse direction; an output step of outputting the result calculated by the calculation step; have The method of calculating the deviation.

Images