System and program for autonomously constructing precast prestressed concrete structure

Abstract

To provide a system for autonomously constructing a precast prestressed concrete structure capable of efficient construction.SOLUTION: A system for autonomously constructing a precast prestressed concrete structure according to the present invention includes: member management means for managing a plurality of precast prestressed concrete members by associating image-based individual identification information with each of the members, and for autonomously simulating the positioning of the members to be joined for each construction process; 3D surveying means for acquiring 3D surveying data of precast prestressed concrete members placed in a structure under construction for each construction process; and construction information management means communicably connected to the member management means and the 3D surveying means; wherein data specifying the position and orientation of the member that minimizes deviation from the design data is output to a predetermined external device in association with image-based individual identification information, based on the result of the simulation of the alignment of the precast prestressed concrete members to be placed in the completed portion of the structure, which simulation is executed by the member management means.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous construction system and program for precast prestressed concrete structures, and more particularly to an autonomous construction system and program for precast prestressed concrete structures that manages each precast prestressed concrete member using image-based individual identification information, selects the member that fits best for each construction process through autonomous simulation, and records the placement positions of the selected precast prestressed concrete members in a traceable manner. [Background technology]

[0002] BACKGROUND ART When constructing a concrete structure, a construction method is known in which precast concrete members that have been manufactured in advance in a factory or the like are joined on-site (see, for example, Patent Document 1).

[0003] When multiple precast concrete members are erected or erected and joined, the precast concrete members must be positioned in predetermined positions based on the design drawings (design data) of the structure.

[0004] For this reason, for example, Patent Document 2 discloses a positioning device that adjusts the relative positional relationship between two members using a monitor image from a single image input device. This device detects the positions on the monitor screen of positioning marks that have been marked in advance on two members, and positions and moves the members so that the respective mark positions or relative positions satisfy predetermined conditions.

[0005] Alignment using such marks is performed by pattern matching using image recognition by a camera, but with this method, even if the exact same mark is attached to two components, depending on the camera position and angle when image recognition is performed on the mark, the marks may be recognized as different marks during pattern matching, and alignment may not be performed correctly.

[0006] On the other hand, because precast prestressed concrete members are manufactured to standards, their dimensions and shapes are guaranteed to meet the specifications when measured at specific locations according to predetermined measurement standards. However, each member contains tolerances within the standard range, and their three-dimensional shapes and inherent distortion and twisting conditions are never exactly the same. Therefore, when precast prestressed concrete members are actually joined at a construction site, even if they are made to the same standard, the direction of misalignment, the inclination of the joint surface, and the magnitude of the misalignment can vary between individual members. This requires skilled workers to adjust the position of the members based on experience and intuition, which increases the time and cost required for construction. Furthermore, this conventional construction method lacks a method for tracking and recording the results of individual adjustments between members. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 6-158716 [Patent Document 2] Japanese Patent Application Publication No. 7-72930 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made in consideration of the above-mentioned problems of the conventional technology, and an object of the present invention is to provide an autonomous construction system and program for precast prestressed concrete structures in which a computer autonomously simulates the alignment of components that occurs during construction at a construction site of a precast prestressed concrete structure, selects the components that fit best, outputs data specifying the position and orientation of the selected precast prestressed concrete components, and records their placement positions in a traceable manner. [Means for solving the problem]

[0009] In order to achieve the above object, one aspect of the present invention provides an autonomous construction system for a precast prestressed concrete structure, which is an autonomous construction system for a structure using precast prestressed concrete members, and which comprises: member management means for managing a plurality of precast prestressed concrete members of the same model number by associating image-based individual identification information with each of them, and autonomously simulating the positioning of members to be joined for each construction process; 3D surveying means for acquiring three-dimensional (3D) measurement data of precast prestressed concrete members placed in the structure under construction for each construction process; and construction information management means communicably connected to the member management means and the 3D surveying means, wherein the construction information management means is a computer that manages the construction progress and construction history of the structure under construction, and which manages a second precast prestressed concrete member to be joined to a first precast prestressed concrete member whose positioning has been identified by the 3D surveying data of the completed portion of the structure for each construction process. a model number of a stressed concrete member based on design data of the structure, transmitting the model number of the specified second precast prestressed concrete member to the member management means, causing the member management means to simulate the alignment of the first precast prestressed concrete member with each of a plurality of second precast prestressed concrete members corresponding to the specified model number, receiving results of the simulation from the member management means, selecting one second precast prestressed concrete member from the plurality of second precast prestressed concrete members based on the received results, and outputting data specifying the positions and attitudes of both the selected one second precast prestressed concrete member and the first precast prestressed concrete member based on the results of the simulation performed between them, associated with each image-based individual identification information, to a specified external device.

[0010] The component management means is a computer that manages each of the multiple precast prestressed concrete components of the same model number using the image-based individual identification information, and creates 3D shape data, dimensional data, and individual identification data based on the color unevenness and / or texture characteristics of the component surface from images taken of each of the precast prestressed concrete components, and stores the created 3D shape data, dimensional data, and individual identification data in a memory unit of the component management means in association with the same model number as the image-based individual identification information corresponding to each of the precast prestressed concrete components. The component management means is equipped with a hierarchical program that realizes the function of simulating the positioning of components to be joined, and the component management means can assign to each of the multiple precast prestressed concrete components a dedicated program that autonomously simulates alignment with other components, group precast prestressed concrete components of the same model number, and connect them to a lower level of the hierarchical program. The construction information management means can associate the 3D surveying data of the first precast prestressed concrete member of the completed portion of the structure obtained by the 3D surveying means with the individual identification information of the first precast prestressed concrete member and store it as construction history data in a specified memory means for each construction process.

[0011] It is preferable that the data specifying the position and attitude of both members is specified in a 3D coordinate system defined by a construction reference point set for the structure under construction, and the attitudes of the selected second precast prestressed concrete member and the selected first precast concrete member are specified by azimuth angles and attitude angles in the defined 3D coordinate system. The component management means is equipped with an artificial intelligence function that extracts feature points of color unevenness and / or texture on the component surface that can be used for individual identification of the precast prestressed concrete component from the captured image and calculates feature quantities of the extracted feature points, and can create the individual identification data that includes the feature points extracted by the artificial intelligence function and the calculated feature quantities. The component management means preferably acquires images of the precast prestressed concrete components using a camera capable of taking 2D or 3D images and / or a 3D laser scanner. The 3D surveying device preferably includes a total station, a 3D laser scanner, a camera capable of taking 2D or 3D images, or a 3D laser scanner or 3D camera mounted on a drone or self-propelled robot, and the 3D surveying data preferably includes 3D scan data of the structure under construction or 3D shape data, dimensional data, and data identifying the position and posture of the completed portion of the structure created from image data of the structure under construction.

[0012] In order to achieve the above object, one aspect of the present invention provides a computer program that causes a computer to autonomously calculate the position and orientation of components in each construction step during the construction of a structure using precast prestressed concrete components. The computer system includes: component management means that manages each of the precast concrete components of the same model number using image-based individual identification information, and autonomously simulates an individual program that realizes the positioning of components to be joined in each construction step; and construction information management means that is communicably connected to 3D surveying means that acquires three-dimensional (3D) surveying data of a structure being constructed using the precast concrete components for each construction step, and that calculates the position and orientation of a second precast prestressed concrete component to be joined to a first precast prestressed concrete component whose position has been identified by the 3D surveying data acquired by the 3D surveying means in each construction step of the structure being constructed, the computer program comprising: component management means that manages each of the precast concrete components of the same model number using image-based individual identification information, and autonomously simulates an individual program that realizes the positioning of components to be joined in each construction step; and construction information management means that is communicably connected to 3D surveying means that acquires three-dimensional (3D) surveying data of a structure being constructed using the precast concrete components for each construction step, the construction information management means a function of specifying a second precast prestressed concrete member based on the model number of the specified second precast prestressed concrete member; a function of transmitting the model number of the specified second precast prestressed concrete member to the member management means and causing the member management means to simulate the alignment of the first precast prestressed concrete member with each of the plurality of second precast prestressed concrete members corresponding to the specified model number; a function of receiving the results of the simulation from the member management means and, based on the received results, selecting from the plurality of second precast prestressed concrete members one second precast prestressed concrete member that has the smallest deviation from the design data; and a function of associating data specifying the positions and attitudes of both the selected one second precast prestressed concrete member and the first precast prestressed concrete member based on the results of the simulation performed between them with their respective image-based individual identification information and outputting to a predetermined external device.

[0013] It is preferable that the construction information management means is a computer that manages the construction progress and construction history of the structure under construction, and the component management means is a computer that manages the position of each of the multiple precast prestressed concrete components using the image-based individual identification information. [Effects of the Invention]

[0014] According to the present invention, in the construction of precast prestressed concrete structures, a computer can autonomously attempt to select and position components in each construction process and provide optimal components and their positioning specification data, thereby making construction work more efficient, improving construction accuracy, and significantly reducing construction time and costs. Furthermore, according to the present invention, construction history data recording the alignment results between components in each construction process can be saved for each component, making it possible to easily and quickly provide evidential data related to the maintenance and quality assurance of constructed structures. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing the overall configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention. [Figure 2] 1 is a diagram showing an example of the hardware configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention. FIG. [Figure 3] 1 is a block diagram showing an example of the functional configuration of a component management server included in an autonomous construction system for precast prestressed concrete structures according to this embodiment. FIG. [Figure 4] FIG. 1 is a diagram showing an example of the connection configuration of a component placement program implemented in an autonomous construction system for a precast prestressed concrete structure according to this embodiment. [Figure 5] FIG. 2 is a diagram showing an example of the functional configuration of a construction information management server included in the autonomous construction system for precast prestressed concrete structures according to this embodiment. [Figure 6] 10 is a flowchart showing an example of the operation of registering a new precast prestressed concrete member in the autonomous construction system for precast prestressed concrete structures according to this embodiment. [Figure 7] 10 is a diagram for explaining the correspondence between individual identification data and dedicated programs created by the component management server according to the present embodiment. FIG. [Figure 8] FIG. 1 is a conceptual diagram for explaining an example of the operation of placing members in an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention. [Figure 9] 9 is a flowchart showing an example of an operation in which the autonomous construction systems for precast prestressed concrete structures according to this embodiment cooperate to select optimal members in the construction process shown in FIG. 8. [Figure 10] FIG. 2 is a diagram showing an example of a data configuration of construction history data in the present embodiment. [Figure 11] 9 is a flowchart for explaining the operation of placing members selected by the autonomous construction system for a precast prestressed concrete structure according to this embodiment in the structure in the construction process shown in FIG. 8. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, specific examples of embodiments of the present invention will be described in detail with reference to the drawings.

[0017] FIG. 1 is a schematic diagram showing the overall configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention.

[0018] As shown in Figure 1, an autonomous construction system 1 for precast prestressed concrete structures according to one embodiment of the present invention comprises a construction information management means 10, a component management means 20, and a three-dimensional (3D) surveying means 30, which are connected via a predetermined communication line or a communication network 5. Furthermore, the construction information management means 10 is connected via a wireless or wired line to an external device control means 40 that controls an external device such as a crane, and can be configured to transmit component position instruction data (data that specifies the position and posture at which a component is to be placed, details of which will be described later) used to control the external device from the construction information management means 10. The completed state refers to the part of the construction work where construction work has been completed.

[0019] The construction information management means 10 and the component management means 20 may be configured as separate computers (hardware) or integrated into a single computer. The component management means 20 may also be configured in the form of cloud computing.

[0020] In the following description, an embodiment will be described in which the construction information management means 10 and the component management means 20 are configured as separate computers, but the present invention is not limited to this.

[0021] FIG. 2 is a diagram showing an example of the hardware configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention.

[0022] As shown in Figure 2, the autonomous construction system 1 for precast prestressed concrete structures according to this embodiment includes a computer (hereinafter referred to as a construction information management server) 100 constituting the construction information management means 10, a computer (hereinafter referred to as a component management server) 200 constituting the component management means 20, a 3D surveying instrument (hereinafter referred to as a 3D surveying device) 300 constituting the 3D surveying means 30, and a computer (hereinafter referred to as an external device control computer) 400 constituting an external device control means 40 (e.g., a controller) that controls external devices such as a lifting machine (crane).

[0023] The construction information management server 100 according to this embodiment is made up of a general computer, and includes a control device 110, a storage device 120, an input device 130, a display device 140, an output device 150, and a communication device 160.

[0024] The control device 110 has a central processing unit (CPU) and memories such as ROM and RAM (not shown), and constitutes the control unit of the construction information management server 100, which realizes each functional unit described below and controls each functional unit and each device (120-160) by reading an OS (Operating System), predetermined programs and data and having the CPU execute them.

[0025] The storage device 120 stores various data and programs and constitutes the storage unit of the construction information management server 100. The storage device 120 is preferably a non-volatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive). Furthermore, it does not have to be a single storage device, but may be multiple storage devices distributed across a communication network. In other words, the storage device 120 can be built into the main body of the construction information management server 100 or configured as a data server connected to a network.

[0026] The input device 130 is a means for accepting various inputs including instructions from a user, and is composed of a keyboard, a pointing device such as a mouse, a touchpad, etc., and constitutes an input unit of the construction information management server 100.

[0027] The display device 140 includes an input screen generated by the control device 110 and a display that visually displays acquired information and calculation results to the user, and constitutes the display unit of the construction information management server 100. The display device 140 can also be configured to share some of the functions with the input device 130 as a touch panel combined with a touch pad that allows touch input.

[0028] The output device 150 constitutes an output unit of the construction information management server 100 that converts the result data processed by the construction information management server 100 into a data format usable by the external device control means 40 and outputs it to the corresponding external device. The data format of the output data can be set in advance to correspond to the external device to which it is to be sent.

[0029] The communication device 160 includes a communication device that connects and communicates with the component management server 200, the 3D surveying device 300, and the external device control computer 400, and constitutes the communication unit of the construction information management server 100. The communication device 160 may be, for example, a communication card for a wired LAN or a wireless LAN (Local Area Network), Bluetooth (registered trademark), or Wi-Fi (registered trademark), or may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various types of communication. The communication device 160 may also be configured to perform a communication interface function.

[0030] The component management server 200 and the external device control computer 400 are also each configured as a general-purpose computer and can be equipped with hardware similar to that of the construction information management server 100 described above, so duplicate explanations of these servers will be omitted.

[0031] Next, the functional configuration of the autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention will be described with reference to FIGS.

[0032] FIG. 3 is a block diagram showing an example of the functional configuration of a component management server included in the autonomous construction system for a precast prestressed concrete structure according to this embodiment.

[0033] As shown in Figure 3, the component management server 200 according to this embodiment includes a control unit 210 consisting of a control device, a memory unit 220 consisting of a memory device, an input unit 230 consisting of an input device, a display unit 240 consisting of a display device, an output unit 250 consisting of an output device, and a communication unit 260 consisting of a communication device, and includes a component registration unit 211, an image analysis unit 212, an individual identification data creation unit 213, a dedicated program implementation unit 214, and a placement simulation control unit 215 as functional units realized by executing a predetermined program on the CPU constituting the control unit 210.

[0034] The component management server 200 is connected to the construction information management server 100 and the component photographing device 500 via a predetermined communication line or a wireless / wired communication network, and can also be connected to a component database (data server) 600 that stores various data on precast prestressed concrete components (component model numbers and individual identification information, and construction history data associated therewith).The component management server 200 can also be connected to an input mobile terminal 550 for inputting instructions and data to the component management server 200 from a remote location.

[0035] The component management server 200 registers a plurality of precast prestressed concrete components of the same model number that have been delivered so that each can be individually identified, and manages their locations so that they can be traced.

[0036] When the component management server 200 receives a command (instruction input) from a user (e.g., a component manager) via the input unit 230 to register a new precast prestressed concrete component, the control unit 210 causes each functional unit (211 to 215) to function, generating an image-based identifier (referred to as individual identification data) for the precast prestressed concrete component to be registered (hereinafter abbreviated as the component itself) that enables the component to be distinguished from other precast prestressed concrete components (hereinafter abbreviated as other components), and assigns to each precast prestressed concrete component to be registered a dedicated program written to autonomously attempt (simulate) position adjustment between the component itself and other components (alignment between components).

[0037] The dedicated program that autonomously simulates position adjustment in this embodiment is connected to a program (referred to as a component placement program) that is a higher level program of the dedicated program in the computer (i.e., component management server 200) on which the dedicated program is installed. In this case, the dedicated programs assigned to multiple precast prestressed concrete components of the same model number are grouped by model number and placed in parallel on the same level.

[0038] The dedicated program in this embodiment is created (programmed) so that when simulating the alignment between precast prestressed concrete components in accordance with instructions from a higher-level program (component placement program), the dedicated programs assigned to the component itself and other components specified by the component placement program exchange data representing their own 3D shapes and dimensions with each other, and autonomously perform alignment with the specified other components (hereinafter referred to as alignment simulation).

[0039] When a component is to be joined to another component specified by the component placement program, multiple precast prestressed concrete components with the same model number as the component may be available as candidate components. Therefore, the dedicated programs for the other components and the dedicated programs for the component and candidate components with the same model number as the component perform alignment simulations independently and in parallel, and output the results of each simulation to the component placement program at a higher level. The component placement program outputs the results of the alignment simulations performed by each dedicated program to the placement simulation control unit 215. When all simulations by the dedicated programs associated with each component to be aligned are completed, the placement simulation control unit 215 may transmit the results of all the simulations by these dedicated programs together to the construction information management server 100.

[0040] The dedicated program may include, in addition to the source code for the alignment simulation, a data statement recording the model number of the precast prestressed concrete member. It may also include a link or call statement specifying the storage location of the individual identification data for the precast prestressed concrete member and the data specifying its current position and orientation (position coordinate data and orientation angle and azimuth angle data). Details of the connection structure between multiple dedicated programs and the upper-level component placement program will be described later.

[0041] When the component management server 200 receives, via the communication unit 260, from the construction information management server 100, an instruction specifying the precast prestressed concrete components to be used in each construction process of the structure under construction, the control unit 210 activates the placement simulation control unit 215, and based on the information (model number) contained in the instruction, the dedicated programs assigned to each precast prestressed concrete component of the corresponding model number each autonomously and in parallel align them with the precast prestressed concrete component to be joined, thereby performing a high-speed simulation, and the results of the executed simulation are sent to the construction information management server 100.

[0042] Hereinafter, the respective functional units in the component management server 200 that are responsible for implementing the dedicated programs and managing component information will be described.

[0043] When the component registration unit 211 receives information specifying the model number, manufacturing number (or serial number) and image of the precast prestressed concrete component to be registered via the input unit 230, it transmits the model number from the received model number, manufacturing number and image specifying information to the dedicated program implementation unit 214. The component registration unit 211 also transmits the information specifying the image to the image analysis unit 212. The manufacturing number is transmitted to the individual identification data creation unit 213. Note that location coordinate data of the location where the component is stored may be received as information specifying the current location of the precast prestressed concrete component to be registered. If the component is stored in a location remote from the construction site during the component registration stage, the location coordinate data may be provided in geodetic coordinates. Note that in this specification, geodetic coordinates are coordinates based on latitude and longitude.

[0044] Here, the information specifying the image mentioned above is information specifying the image of the precast prestressed concrete member to be registered photographed (or scanned) by the member photographing device 500 and its storage location, and includes an identifier (ID) assigned to the image data (or point cloud data) and a storage address. The identifier (ID) can be, for example, a file name or a header name.

[0045] The component photographing device 500 may be configured with a camera and / or a 3D laser scanner capable of photographing 2D or 3D images, but in this embodiment, a case will be described in which the component photographing device 500 is configured with a camera capable of photographing 3D images. Image data of an image taken of a precast prestressed concrete component to be registered may be stored in a storage device built into the component photographing device 500, or may be stored in an external storage device (e.g., component database 600) accessible by the component management server 200.

[0046] Upon receiving information specifying an image of a precast prestressed concrete component to be registered from the component registration unit 211, the image analysis unit 212 acquires image data of the image (in this embodiment, a 3D image) of the precast prestressed concrete component to be registered captured by the component photographing device 500 via the communication unit 260. The image analysis unit 212 performs image analysis on the acquired image data to digitize the 3D shape and dimensions of the precast prestressed concrete component. The image analysis unit 212 also extracts feature points from color variations and patterns (e.g., monochrome gradation patterns) and surface textures that appear on the component surface and can be used for individual identification. The image analysis unit 212 calculates the feature values ​​of the extracted feature points and transmits the extracted feature values ​​to the individual identification data creation unit 213. The image analysis unit 212 may have an artificial intelligence function for extracting feature points and calculating the feature values. The image used to extract feature points and calculate the feature values ​​may be an image of a predetermined partial region of the component, rather than the entire component.

[0047] The individual identification data creation unit 213 creates individual identification data including the feature points and feature amounts of the surface of the component received from the image analysis unit 212.

[0048] The individual identification data enables the identification of the relevant component from a photographed image of the component when selecting precast prestressed concrete components to be used at a later date, without relying on identification means such as specific markers or markings. For example, when distinguishing between multiple precast prestressed concrete components of the same model number stored in a materials storage yard, each precast prestressed concrete component can be photographed using the component photographing device 500 and queried with the component management server 200, which then analyzes the photographed image and performs a matching process with multiple individual identification data of the same model number that have been registered in advance, thereby enabling each component to be identified.

[0049] The individual identification data creation unit 213 associates the created individual identification data, along with the 3D shape data and dimensional data digitized by image analysis, with the model number and manufacturing number of the component, and stores it in the memory unit 220 (or component database 600) as individual identification information for the precast prestressed concrete component to be registered.

[0050] The individual identification information may include the model number and serial number of the component as well as the program name of the dedicated program as an index so that the component can be accessed from the dedicated program assigned to the component. The individual identification information is also associated with information on the current location where the component is stored or located (e.g., location coordinate data in geodetic coordinates). The current location information for each component is updated as the component moves.

[0051] When the dedicated program implementation unit 214 receives the model number of the precast prestressed concrete member to be registered from the member registration unit 211, it copies a template program for a newly registered member that has been stored in advance in the storage unit 220, and creates a dedicated program to be assigned to the precast prestressed concrete member to be registered. Then, in order to identify which type (kind) of member the created dedicated program corresponds to, for example, a serial number is associated with the received model number as the program name of the dedicated program (see FIG. 4), and the dedicated program is connected (added) to a program group with the same model number in a higher-level program (member placement program) that is configured to include multiple dedicated programs. Details of the member placement program will be described later.

[0052] The placement simulation control unit 215 manages the execution of a component placement program that includes the dedicated programs described above at a lower level. When it receives from the construction information management server 100 via the communication unit 260 the model number of a precast prestressed concrete element (hereinafter referred to as a second precast prestressed concrete element) to be joined to a precast prestressed concrete element (hereinafter referred to as a first precast prestressed concrete element) of a finished portion of a specific construction process of a structure under construction, it executes the component placement program and performs an alignment simulation based on the design data of the structure under construction between the dedicated programs for multiple second precast prestressed concrete elements included in the program group corresponding to the received model number and the dedicated program for the first precast prestressed concrete element to be joined. The design data is provided as three-dimensional (3D) design data and may include a 3D model created using BIM or CAD.

[0053] FIG. 4 is a diagram showing an example of the program structure of a component placement program implemented in the component management server according to this embodiment.

[0054] 4, in the component placement program (hierarchical / parallel processing program) 2150 according to this embodiment, a plurality of dedicated programs for precast prestressed concrete components (2151s-1, . . . , 215Ns-m) are divided into groups by model number (for example, 2152s) and connected below a placement master program 2150M. The component placement program 2150 is a program configured to simulate the position adjustment between specified components in three-dimensional space based on the design data of the structure and output the simulation results.

[0055] Each dedicated program (2151s-1, ..., 215Ns-m) is assigned (associated) with each precast prestressed concrete member (member 1-1, ..., member Nm), and when the model number of a second precast prestressed concrete member to be joined to a first precast prestressed concrete member (e.g., member 1-1) of the finished part of the structure under construction is received from the construction master program 1120M implemented in the construction information management server 100 described later, the placement master program 2150M instructs the dedicated programs (2152s-1 to 2152s-m) assigned to each of the multiple second precast prestressed concrete members (e.g., members 2-1 to 2-m) divided into a member group (e.g., 2152s) corresponding to the specified model number to attempt (simulate) alignment with the first precast prestressed concrete member (member 1-1).

[0056] The dedicated programs (2152s-1 to 2152s-m) assigned to the second precast prestressed concrete members each execute simulations autonomously and independently, i.e., the dedicated programs can execute processing in parallel, which significantly reduces the overall processing time.

[0057] At the same time as issuing a command to execute a simulation to the dedicated programs assigned to the plurality of second precast prestressed concrete members, the placement master program 2150M also outputs a command to the dedicated program (2151s-1) of the first precast prestressed concrete member (member 1-1) to be joined, in response to alignment with the plurality of second precast prestressed concrete members (e.g., members 2-1 to 2-m).

[0058] In response to requests (calls) from the dedicated programs (2152s-1 to 2152s-m) of multiple second precast prestressed concrete members, the dedicated program (2151s-1) for the first precast prestressed concrete member (member 1-1) provides the 3D shape data, dimensional data, and data identifying the current position and posture of member 1-1 to each of the requesting dedicated programs (2152s-1 to 2152s-m).

[0059] Each of the multiple dedicated programs for the second precast prestressed concrete members uses the design data of the structure as a reference to determine the position and orientation of the first precast prestressed concrete member and the second precast prestressed concrete member that best fit the members, and calculates their coordinate and angle (attitude angle and azimuth angle) data. The 3D coordinate system used during the simulation can be the on-site coordinate system, which will be described later. In this case, the 3D coordinate data of the member placement positions specified in the design data of the structure is converted into the on-site coordinate system and provided.

[0060] The placement simulation control unit 215 transmits the results of each simulation executed by the dedicated program for the plurality of second precast prestressed concrete members to the construction information management server 100 via the output unit 250. The output unit 250 may output the results of each individual simulation together in a predetermined data format.

[0061] The placement simulation control unit 215 temporarily stores in the memory unit 220 the data of the alignment simulation results (data specifying the position and posture of each member and dimensional data of the joints (gaps at the joint ends) between the two members based on the 3D shape) using the dedicated programs for each of the multiple second precast prestressed concrete members and the first precast prestressed concrete member to which they are to be joined, in association with the dedicated program name for each of the second precast prestressed concrete members.

[0062] FIG. 5 is a diagram showing an example of the functional configuration of a construction information management server included in the autonomous construction system for a precast prestressed concrete structure according to this embodiment.

[0063] As shown in Figure 5, the construction information management server 100 according to this embodiment includes a control unit 110 consisting of a control device, a memory unit 120 consisting of a memory device, an input unit 130 consisting of an input device, a display unit 140 consisting of a display device, an output unit 150 consisting of an output device, and a communication unit 160 consisting of a communication device, and includes a construction data acquisition unit 111, a construction instruction unit 112, a placement component determination unit 113, and a component position management unit 114 as functional units realized by executing a predetermined program on the CPU constituting the control unit 110.

[0064] The construction information management server 100 is connected to a component management server 200, a 3D surveying device 300, and an external device control computer 400 via a predetermined communication line or a wireless / wired communication network, and may also be connected to a design / construction data management server 700 that stores construction management data (design data and finished form measurement data) for structures under construction, and a component photographing device 500 that takes images for identifying and selecting precast prestressed concrete components to be used from inventory.The construction information management server 100 may also be connected to an input mobile terminal 550 for inputting instructions and data to the construction information management server 100 from a remote location.

[0065] The construction information management server 100 is a server that manages the construction progress and construction history of a structure using precast prestressed concrete members under construction.

[0066] When a user (e.g., a site supervisor) inputs a completion report of one of the construction processes of the structure via the input unit 130, the construction data acquisition unit 111 of the construction information management server 100 acquires, from the 3D surveying device 300, 3D surveying data obtained by measuring the precast prestressed concrete members of the completed portion of the construction process. The completion report may include a process number or identification data for identifying which of the construction processes of the structure under construction the completed construction process corresponds to. The completion report may also be input from the input mobile terminal 550.

[0067] Here, the 3D surveying device 300 includes a total station, a 3D laser scanner, a camera capable of taking 2D or 3D images, or a 3D laser scanner or 3D camera mounted on a drone or self-propelled robot, and creates 3D surveying data from 3D scan data or 3D image data of the structure under construction, including 3D shape data and dimensional data of the precast prestressed concrete members of the completed portion of the structure, as well as data specifying their position and orientation on the 3D coordinates of the site coordinate system. The site coordinate system is a 3D coordinate system defined by construction reference points set for the structure under construction.

[0068] A dedicated program is assigned in advance to the precast prestressed concrete components of the completed part by the component management server 200, and the acquired 3D surveying data is stored in the memory unit 220 (or component database 600) of the component management server 200 so that it can be accessed from the dedicated program for that component.

[0069] The construction instruction unit 112 manages the execution of the construction master program 1120M, which realizes the function of managing the construction plan for a structure under construction (consisting of a series of construction processes in which specified precast prestressed concrete members are assembled in sequence in accordance with design data), and when a completion report is input, executes the construction master program 1120M and, based on the process number included in the input completion report, selects, based on the design data of the structure, the model number of a precast prestressed concrete member (referred to as the second precast prestressed concrete member) to be joined to the precast prestressed concrete member (referred to as the first precast prestressed concrete member) of the completed portion of that construction process in the next construction process, and sends a command specifying the model number of the selected second precast prestressed concrete member to the placement simulation control unit 215 of the component management server 200.

[0070] In addition, the construction instruction unit 112 sends a command to the placement simulation control unit 215 of the component management server 200 to specify the dedicated program for the finished part, i.e., the precast prestressed concrete component to be joined (first precast prestressed concrete component), at the same time as sending a command to specify the model number of the selected second precast prestressed concrete component.

[0071] The component placement determination unit 113 receives from the component management server 200 the results of an alignment simulation performed between the dedicated program for the multiple second precast prestressed concrete components and the dedicated program for the first precast prestressed concrete component. The simulation results include data specifying the positions and orientations of the multiple second precast prestressed concrete components when each of the multiple second precast prestressed concrete components is temporarily positioned relative to the first precast prestressed concrete component so as to minimize deviation from the placement position (three-dimensional object placement) specified in the design data, and the value of the gap between the joint ends based on the 3D shape between the two components (i.e., the joint dimensions). The design position and orientation (in three-dimensional space) of each component specified in the design data are converted into 3D coordinates in the on-site coordinate system and used in the simulation.

[0072] Based on the results of the received alignment simulation, the placement component determination unit 113 determines the second precast prestressed concrete component, to which a dedicated program has been assigned that has shown results that minimize deviation from the design data of the structure under construction, as the optimal component, i.e., the component that fits best, and obtains data specifying the position and posture of both the determined second precast prestressed concrete component and the first precast prestressed concrete component to be joined, as well as joint dimension data, from the memory unit 220 of the component management server 200 and transmits this to the output unit 150.

[0073] The component position management unit 114 transmits to the component management server 200 a command to reset the results of the alignment simulation associated with the dedicated programs for multiple second precast prestressed concrete components of the same model number other than the determined second precast prestressed concrete component. The component position management unit 114 may also obtain information on the current location where the determined second precast prestressed concrete component is stored (position coordinate data of the storage location) from the memory unit 220 of the component management server 200, display this on the display unit 140, and transmit it to the external device control computer 400.

[0074] When the placement simulation control unit 215 of the component management server 200 receives a reset command from the component position management unit 114, it resets (erases) the simulation results other than the determined second precast prestressed concrete component that were temporarily stored in the memory unit 220.

[0075] The output unit 150 creates component placement instruction data by reconstructing data (specified in the site coordinate system) specifying the position and posture of the determined second precast prestressed concrete member and the first precast prestressed concrete member to be joined into a specified data format compatible with the external device control computer 400, and transmits this data to the external device control computer 400 via the communication unit 160.

[0076] Next, an example of the operation of the autonomous construction system for precast prestressed concrete structures according to one embodiment of the present invention will be described.

[0077] FIG. 6 is a flowchart showing an example of operational steps for registering a new precast prestressed concrete element in the autonomous construction system for precast prestressed concrete structures according to this embodiment.

[0078] When registering a new precast prestressed concrete member in the autonomous construction system 1 for precast prestressed concrete structures according to this embodiment, the user inputs information specifying the model number and serial number of the precast prestressed concrete member to be registered into the input unit 230 of the member management server 200 shown in Fig. 3 (step S100). In addition, if an image of the precast prestressed concrete member to be registered has been prepared in advance, the user inputs the prepared image and information specifying where to save it.

[0079] The control unit 210 of the component management server 200 activates the component registration unit 211 to send the model number from the input information to the dedicated program implementation unit 214, and when information specifying an image of the precast prestressed concrete component to be registered and its storage location is input, it sends the information to the image analysis unit 212 together with the model number and manufacturing number.

[0080] Based on the image of the precast prestressed concrete component to be registered and information specifying its storage location, the image analysis unit 212 acquires image data of the precast prestressed concrete component to be registered based on the model number and manufacturing number, either directly from the component photographing device 500 or from an image file photographed by the component photographing device 500 and then stored in a specified storage means (e.g., component database 600) (step S111).

[0081] The image analysis unit 212 performs image analysis on the acquired image data to digitize the 3D shape and dimensions of the precast prestressed concrete member to be registered, and extracts feature points from the color unevenness patterns and patterns appearing on the surface of the member, surface texture, etc., for individual identification using the image, calculates the feature values ​​of the extracted feature points, and sends them to the individual identification data creation unit 213 together with the model number and manufacturing number.

[0082] The individual identification data creation unit 213 creates individual identification data including the received feature points and feature amounts of the surface of the component (step S112).

[0083] Meanwhile, when the dedicated program implementation unit 214 receives the model number, it creates a dedicated program for the precast prestressed concrete member to be registered by duplicating a template program for the newly registered member that has been stored in advance in the storage unit 220. The created dedicated program is then added to the program group with the same model number in the member placement program (step S120). At this time, the received model number and serial number are added to the program name of the dedicated program so that the added new dedicated program can be identified within the member placement program, for example.

[0084] Thereafter, the individual identification data creation unit 213 links the created individual identification data to the model number and serial number of the component, associates it with the 3D shape data and dimensional data, and stores it as individual identification information in the storage unit 220 (or component database 600). In addition, the dedicated program implementation unit 214 sets a link or path to the dedicated program assigned to the component so that the individual identification information can be referenced and updated from the dedicated program (step S130).

[0085] 7 is a diagram for explaining the correspondence between the individual identification data and the dedicated program created by the component management server according to this embodiment. However, this is an example for the sake of convenience, and the present invention is not limited to this.

[0086] Figure 7 shows an example in which individual identification data and dedicated programs are created and registered by the component management server 200 for multiple precast prestressed concrete components of the same model number manufactured based on the same design data.

[0087] Figure 7(a) shows a 3D structural drawing (D101) based on design data for a precast prestressed concrete member, Figure 7(b) shows 3D images (P101a, P101b) of two precast prestressed concrete members manufactured based on the same design data taken with a camera (3D camera), and Figure 7(c) shows images (IM101a, IM101b) illustrating feature points extracted from the 3D images. Then, as shown in Figure 7(d), links or paths to the corresponding dedicated programs (2151s-1, 2151s-2) are set in the individual identification data including the feature points and feature quantities extracted from the 3D images.

[0088] Although multiple precast prestressed concrete members manufactured based on the same design data each meet the specified standard values ​​for shape and dimensions, each member contains errors within the standard range, and their three-dimensional shape, distortion, and twist state will not be exactly the same.

[0089] Therefore, the autonomous construction system 1 for precast prestressed concrete structures according to the present invention digitizes the 3D shape and dimensions from 3D images (or 3D point cloud data) taken (or scanned) of the precast prestressed concrete components to be registered, and uses this data for component identification and alignment processing by computer, thereby enabling the adjustment of component positions, which was previously performed on-site by skilled construction workers through empirical trial and error, to be performed more accurately and efficiently.

[0090] FIG. 8 is a conceptual diagram for explaining an example of a method for controlling the arrangement of members in an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention.

[0091] In the example shown in Figure 8, we will explain the construction process of erecting a third precast prestressed concrete member 803 on a first precast prestressed concrete member 801 and a second precast prestressed concrete member 802 that are placed (erected) within a construction site 800 at a construction site.

[0092] FIG. 9 is a flowchart for explaining the process of operation in which the autonomous construction system for a precast prestressed concrete structure according to this embodiment cooperates to select the optimum members in the construction process shown in FIG.

[0093] The construction process shown in Figure 8 is a process that takes place immediately after a first precast prestressed concrete member 801 and a second precast prestressed concrete member 802 are erected (set up) at a construction site 800. In this process, a procedure is carried out to erect (join) a precast prestressed concrete member (a third precast prestressed concrete member 803) of a model number specified based on design data to the first and second precast prestressed concrete members (801, 802).

[0094] When the second precast prestressed concrete member 802 is erected (placed) at the construction site 800, a user (e.g., a site supervisor) of the autonomous construction system 1 for a precast prestressed concrete structure according to this embodiment inputs a completion report for the construction process (the process immediately preceding the construction process shown in FIG. 8 ) into the input unit 130 of the construction information management server 100. The completion report includes, for example, the process number of the construction process and individual identification information for the second precast prestressed concrete member 802. The completion report may also be input using the input mobile terminal 550.

[0095] When the control unit 110 of the construction information management server 100 receives the completion report (step S200), it instructs the construction data acquisition unit 111 to acquire 3D survey data for the completed portion of the construction process (second precast prestressed concrete member 802), and at the same time instructs the construction instruction unit 112 to specify, based on the setting data, the model number of the precast prestressed concrete member to be used in the next construction process (third precast prestressed concrete member 803).In addition, in Figure 9, precast-prestressed concrete is abbreviated as PCaPC.

[0096] In response to the command to acquire 3D surveying data, the construction data acquisition unit 111 sends a command to the 3D surveying device 300 requesting 3D surveying data for the completed part of the construction process (second precast prestressed concrete member 802) (step S211).

[0097] The 3D surveying device 300 photographs the completed precast prestressed concrete member using a 3D camera mounted on a total station 900T and / or drone 900D shown in Fig. 8, creates 3D surveying data from the photographed images, and transmits the data to the construction information management server 100 (step S220). Note that the 3D surveying device 300 performs surveying for position adjustment during the construction process in which the second precast prestressed concrete member 802 is erected, and therefore the construction data acquisition unit 111 may acquire the 3D surveying data created immediately before the completion report of the construction process.

[0098] The construction data acquisition unit 111 transmits the 3D survey data received from the 3D surveying device 300 to the component management server 200 as data for determining the current position of the precast prestressed concrete component (second precast prestressed concrete component 802) of the completed portion, and the control unit 210 of the component management server 200 associates the data for specifying the position and orientation in three-dimensional space contained in the received 3D survey data with the individual identification information and stores it in the storage unit 220 (or component database 600) as construction history data, or updates the data for specifying the position and orientation that has already been stored (step S231). Note that when storing the data in the storage unit 220 (or component database 600), the data for specifying the position and orientation may be converted from the on-site coordinate system to a geodetic coordinate system and stored, in terms of traceability after construction is completed.

[0099] FIG. 10 is a diagram showing an example of the data structure of construction history data in this embodiment. As shown in FIG. 10, the construction history data 1000 in this embodiment is configured as a data tuple containing a model number of a precast prestressed concrete member set as an index for reference (search), i.e., a root node, a serial number for identifying the member associated with the model number, a storage address of individual identification information including individual identification data, plane coordinates, altitude, and angle (attitude angle and azimuth angle) for identifying the position and attitude of the member, the process number of the construction process in which the member was used, the registrant number who submitted the completion report, and the data registration date and time (update date and time if a change in position, etc. occurs). In FIG. 10, the position coordinate data is recorded using geodetic coordinates, but this is not limited to this. If the construction history is saved including data that ensures traceability after the construction period (e.g., geodetic coordinate data of the construction reference point), a site coordinate system may be used.

[0100] In step S231, when the process (registration or update) of reflecting the received 3D survey data in the data (coordinate and angle data) specifying the position and posture of the precast prestressed concrete member 802 of the completed portion is completed, the construction data acquisition unit 111 sends a completion notification to the construction instruction unit 112. Note that the data specifying the position and posture of the first precast prestressed concrete member 801 erected in an earlier construction process similarly reflects the 3D survey data from the earlier process, and if the position and posture are corrected in the current construction process, the data is updated to the corrected data.

[0101] Meanwhile, the construction instruction unit 112, based on the design data of the structure stored in the memory unit 120 (or the design and construction data management server 700), specifies the model number of the precast prestressed concrete member (third precast prestressed concrete member 803) to be joined to the finished portion in the next construction process (step S212).At this time, the construction instruction unit 112 checks, based on the design data, whether there are any precast prestressed concrete members to be joined simultaneously to the finished portion other than the finished portion.In the example shown in Figure 8, this is the first precast prestressed concrete member 801.

[0102] Thereafter, when the construction instruction unit 112 receives from the construction data acquisition unit 111 a completion notification informing it that the process of registering or updating the data specifying the position and posture of the precast prestressed concrete member 802 of the completed portion has been completed, it sends the model number of the specified third precast prestressed concrete member 803 and the individual identification information of the second precast prestressed concrete member 802 of the completed portion to the component management server 200 (step S232), and at the same time sends a command to simulate the alignment of these members. Note that if there are precast prestressed concrete members to be joined simultaneously other than the completed portion, the individual identification information of those members is also sent to the component management server 200 at the same time.

[0103] The component management server 200 autonomously executes alignment simulations in parallel between the dedicated programs for the multiple third precast prestressed concrete components corresponding to the received model numbers and the dedicated program for the second precast prestressed concrete component 802 of the completed portion (step S240), and transmits the results of each simulation to the component placement determination unit 113 of the construction information management server 100. In the example shown in Fig. 8 , at the same time as aligning with the second precast prestressed concrete component 802 of the completed portion, a simulation is performed in parallel to align with the first precast prestressed concrete component 801 erected in a previous construction process.

[0104] Based on the received result of the alignment simulation, the placement member determination unit 113 determines the optimum member (the member that minimizes deviation from the design data of the structure under construction) from among the plurality of third precast prestressed concrete members (step S250). Note that the positions and orientations of the first and second precast prestressed concrete members are also reviewed from the viewpoint of minimizing deviation from the design data of the structure under construction (placement deviation).

[0105] Then, the placement component determination unit 113 determines data (coordinates and angles (attitude angle and azimuth angle)) specifying the position and posture of each component based on the results of a simulation performed between the determined third precast prestressed concrete component and the first and second precast prestressed concrete components to be joined, as component position indication data, and transmits this data to the output unit 150 (step S260).

[0106] The placement component determination unit 113 instructs the component management server 200 to associate the data specifying the position and posture and the joint dimension data based on the simulation results of the determined third precast prestressed concrete component with the individual identification information of the component, and to save or update the data in the memory unit 220 (or the component database 600) of the component management server 200. The placement component determination unit 113 also instructs the component management server 200 to update and save the data specifying the position and posture and the joint dimension data revised by the simulation for the first and second precast prestressed concrete components, by associating them with the individual identification information of the component, in the memory unit 220 (or the component database 600) of the component management server 200 (step S265).

[0107] Therefore, according to the present invention, it is possible to manage the history of multiple precast prestressed concrete members of the same model number after manufacturing, including their location (installation location) within the structure in which they are used. In particular, while it was difficult to record the gap values ​​at the joint ends based on the 3D shapes between members (i.e., joint dimensions) using conventional manual adjustment work, according to the present invention, it is possible to record joint dimension data, which can be used for maintenance information, etc.

[0108] The output unit 150 of the construction information management server 100 reconstructs the component position instruction data for each of the first to third precast prestressed concrete components into a predetermined data format corresponding to the control data for the external device, and transmits the data as component placement instruction data to the external device control computer 400 via the communication unit 160 (step S270). Thereafter, an external device (e.g., a crane) controlled by the external device control computer 400 proceeds to place the selected component in the structure.

[0109] FIG. 11 is a flowchart for explaining the operation of placing designated members in the structure by the autonomous construction system for a precast prestressed concrete structure according to this embodiment in the construction process shown in FIG.

[0110] 8, a material storage yard adjacent to the construction site 800 stores a plurality of third precast prestressed concrete members (803a to 803d) of the same model number to be used in the structure under construction. The storage location for the materials is not limited to the area adjacent to the construction site 800, and may be any location that can be managed so that the necessary materials can be provided when needed.

[0111] When the third precast prestressed concrete member to be used in the next construction process is determined (step S250) according to the flowchart shown in Fig. 9, the construction information management server 100 can proceed to the preparation work for transporting the determined third precast prestressed concrete member from the material storage yard. Alternatively, after step S270 is completed (A), the process may proceed to the preparation work for transporting the determined third precast prestressed concrete member from the material storage yard ((A) and subsequent steps in Fig. 11).

[0112] The construction information management server 100 receives an input commanding the start of the operation of placing the determined third precast prestressed concrete member on the structure (step S300). This is a step for the user (site supervisor) to check whether there is a problem with the processing up to step S270, and can be omitted.

[0113] When the control unit 110 of the construction information management server 100 receives an input via the input unit 130 (or the input mobile terminal 550) instructing the start of the operation of placing the determined third precast prestressed concrete member in the structure, it activates a specified component photographing device 500 connected to the construction information management server 100 to photograph multiple third precast prestressed concrete members (803a to 803d) placed in the material storage area, and sends the photographed images to the component management server 200 to identify the determined third precast prestressed concrete member (step S310).

[0114] In the example shown in Figure 8, one third precast prestressed concrete member 803a is identified from among multiple third precast prestressed concrete members (803a to 803d), and storage location information for the identified third precast prestressed concrete member 803a is sent to the external device control computer 400 (step S320). The storage location information (location coordinate data) is associated with the individual identification information and stored in advance in the memory unit 220 of the member management server 200 (or the member database 600). At this stage, the storage location information for the member may be converted from the geodetic coordinate system to the site coordinate system, and subsequent on-site work may be carried out based on coordinates in the site coordinate system.

[0115] Based on the storage location information, the external device control computer 400 controls (or transmits control data to) an external device consisting of a lifting machine (crane) or a specified transport device, and transports the identified third precast prestressed concrete member 803a from the material storage area and moves it to the structure's placement position (step S330).

[0116] Furthermore, the external device control computer 400 uses the component placement instruction data for each of the first to third precast prestressed concrete components to adjust the placement position and posture of each precast prestressed concrete component by an external device such as a winch that is directly controlled by the external device control computer 400 or controlled by control data transmitted from the external device control computer 400 (step S340). Note that a 3D surveying device 300 may operate in conjunction with the external device 400 to adjust the position and posture, and 3D surveying data obtained by measuring each component during placement work may be fed back to the construction information management server 100.

[0117] Thereafter, the control unit 110 of the construction information management server 100 monitors the placement status of each component measured by the 3D surveying device 300, and determines whether the position and posture of each component are placed as specified in the component position indication data or within predetermined standards for the design data. If they are placed as specified or within standards, it notifies the user (site supervisor) that the construction process is complete (for example, by displaying on the display unit 140) (step S350), and returns to (B) before step S200 in Figure 9, and waits until the completion report is input. If they are not placed as specified or not within standards, it returns to step S340 and makes readjustments.

[0118] After notifying the user (site supervisor) of the completion in step S350, the construction instruction unit 112 of the construction information management server 100 refers to the design data to check whether there is a next construction process. If the next construction process is not found (i.e., all construction processes have been completed), the construction instruction unit 112 proceeds to a construction completion decision step (step S360).

[0119] If the next construction process cannot be found, the construction instruction unit 112 notifies the user (site supervisor) of the completion of the entire construction process along with the completion of the current construction process (for example, by displaying this on the display unit 140), and returns to step S200 in FIG. 9 to wait for input of a completion report. After that, when the completion report is input from the user (site supervisor), the construction history data of the components placed in each construction process is saved as final information in the component database and / or the design and construction data management server 700, and then the system operation is terminated. At this time, the data specifying the position and orientation of the components placed in each construction process may be converted from the site coordinate system to a geodetic coordinate system and saved.

[0120] As described above, the autonomous construction system for precast prestressed concrete structures according to the present invention assigns to each precast prestressed concrete member a program configured to autonomously simulate the alignment of the members. This allows the computer to autonomously perform member selection and placement adjustment, which was previously performed by skilled workers at the construction site, and provide optimized member position indication data, thereby significantly improving the efficiency of construction work for precast prestressed concrete structures. Furthermore, placement control based on computer simulation results, rather than relying on the empirical intuition or know-how of skilled workers, is possible, improving construction accuracy and significantly reducing construction time and costs. Furthermore, because construction performance data for each construction process is automatically and traceably recorded, data that can be used for post-construction maintenance and quality assurance can be easily and quickly provided.

[0121] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments and can be modified in various ways without departing from the technical scope of the present invention. [Explanation of symbols]

[0122] 1 Autonomous construction system for precast prestressed concrete structures 100 Construction information management server 110 Control device (control unit) 120 Storage device (storage unit) 130 Input device (input section) 140 Display device (display section) 150 Output device (output section) 160 Communication device (communication unit) 200 Material management server 210 Control Unit 211 Material Registration Department 212 Image Analysis Unit 213 Individual Identification Data Creation Department 214 Dedicated Program Implementation Unit 215 Placement simulation control unit 220 Storage section 230 Input section 240 Display section 250 Output section 260 Communications Department 300 3D surveying equipment 400 External device control computer 500 Component photography device 550 Portable input terminal 600 parts database 700 Design and construction data management server 801, 802, 803 Precast prestressed concrete members 900D Drone 900T Total Station

Claims

1. A program for causing a computer to function as a means for autonomously simulating the placement position and posture of components in each construction process during the construction of a structure using precast prestressed concrete components, and outputting data specifying the positions and postures of the components based on the results of the simulation, A computer system comprising: a member management means configured to manage each of a plurality of precast prestressed concrete members of the same model number using image-based individual identification information and to autonomously simulate the positioning of members to be joined for each construction process; and a construction information management means communicably connected to a 3D surveying means that acquires three-dimensional (3D) surveying data of a structure being constructed using the precast prestressed concrete members for each construction process, The construction information management means a function of specifying, in each construction process of the structure under construction, a model number of a second precast prestressed concrete member to be joined to a first precast prestressed concrete member whose placement position has been identified by the 3D surveying data acquired by the 3D surveying means, based on design data of the structure; a function of transmitting the model number of the specified second precast prestressed concrete member to the member management means and causing the member management means to simulate the alignment of the first precast prestressed concrete member with each of the plurality of second precast prestressed concrete members corresponding to the specified model number; a function of receiving the results of the simulation from the component management means, and selecting, based on the received results, one second precast prestressed concrete component from among the plurality of second precast prestressed concrete components that has the smallest deviation from the design data; and a function of outputting to a predetermined external device, data specifying the positions and orientations of the selected one second precast prestressed concrete member and the first precast prestressed concrete member based on the results of the simulation performed between the selected one second precast prestressed concrete member and the first precast prestressed concrete member, in association with the image-based individual identification information of each member; Furthermore, the member management means is provided with a hierarchical program that realizes a function of simulating the arrangement position of members to be joined, A function of assigning a dedicated program to each of the plurality of precast prestressed concrete members that autonomously simulates alignment with other members, grouping precast prestressed concrete members of the same model number, and connecting them to a lower level of the hierarchical program; a function of executing a program at a higher level in the hierarchical program when the model number of the specified second precast prestressed concrete member is received from the construction information management means, and commanding the dedicated program assigned to the first precast prestressed concrete member and the dedicated programs assigned to each of the plurality of second precast prestressed concrete members corresponding to the specified model number to exchange data representing their own 3D shapes and dimensions and autonomously simulate alignment; and a function of transmitting the results of the simulation to the construction information management means.

2. the construction information management means is a computer that manages the construction progress and construction history of the structure under construction, 2. The computer program according to claim 1, wherein the component management means is a computer that manages each of the plurality of precast prestressed concrete components using the image-based individual identification information.

Images