Steel pipe column positioning accuracy control method and steel pipe column positioning accuracy control system

Abstract

To easily manage the erection accuracy and circumferential rotational deviation of a steel pipe column erected in an underground hole.SOLUTION: An erection accuracy management method of a steel-pipe column erected in an underground hole includes an information acquisition step of installing a measurement unit including a camera above the steel-pipe column, imaging a plurality of targets, which are installed at the same height in the steel-pipe column and of which plan view positions with respect to a central axis of the steel-pipe column are specified, using the camera, and acquiring captured image information, and a position detection step of detecting position information of the targets on the basis of the image information and detecting central axis position information of the steel-pipe column on an image on the basis of the position information of the targets.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a method for controlling the accuracy of erecting a steel pipe pole erected in an underground hole, and a system for controlling the accuracy of erecting a steel pipe pole. [Background technology]

[0002] For example, when constructing the underground skeleton of a building using the inverted construction method, the ground is excavated to create a borehole, and then inverted support columns consisting of steel pipe columns and piles are erected inside the borehole. Because these inverted support columns support the weight of the building, it is important to manage the pitching accuracy (vertical accuracy) of the columns erected inside the borehole. For this reason, many systems and methods for managing pitching accuracy are being considered.

[0003] Patent Document 1 discloses a method for measuring the plumbing error of steel pipes used as inverted support columns. Specifically, a target is attached to the top surface of the base plate of the steel pipe, and a camera is installed at the head of the steel pipe. After this, the camera captures an image of the inside of the steel pipe, and image processing is used to calculate the measurement coordinates of the target in the captured image. Furthermore, if the camera is not installed horizontally on the head of the steel pipe, the tilt angle of the camera is obtained, and the measurement coordinates of the target are corrected based on the tilt angle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-92463 Summary of the Invention [Problem to be solved by the invention]

[0005] According to Patent Document 1, even if the camera is not installed horizontally, it is possible to grasp the plumbing error with high accuracy by correcting the measurement coordinates of the target obtained from the captured image. However, the target is configured to be installed on the top surface of the base plate of the steel pipe that forms the inverted driving support, and only one target is installed on the central axis.

[0006] Therefore, if an unexpected event occurs during work, such as condensation or rust that occurs inside the steel pipe that forms the inverted driving support falling onto the target and adhering to it, the target cannot be confirmed on the captured image, making it impossible to manage the precision of the plumbing. Also, if the steel pipe is rotating on its central axis, the coordinates of the target do not change, so it is not possible to confirm any rotational deviation in the circumferential direction, and therefore it is not possible to correct any deviation in the rotational direction of the steel pipe itself.

[0007] The present invention has been made in consideration of such problems, and its main purpose is to easily manage the plumbing accuracy and circumferential rotational misalignment of steel pipe poles erected in underground holes. [Means for solving the problem]

[0008] In order to achieve this object, the method for controlling the accuracy of erection of a steel pipe pole of the present invention is a method for controlling the accuracy of erection of a steel pipe pole erected in an underground hole, and is characterized by comprising: an information acquisition process in which a measurement unit including a camera is installed above the steel pipe pole, and the camera images a plurality of targets installed at the same height within the steel pipe pole and whose planar positions relative to the central axis of the steel pipe pole are identified, and the imaged image information is acquired; and a position detection process in which position information of the targets is detected based on the image information, and central axis position information of the steel pipe pole is detected on the image based on the position information of the targets.

[0009] The method for controlling the accuracy of erection of a steel pipe pole of the present invention is characterized in that the steel pipe pole is made up of a plurality of connected steel pipes, and the plurality of targets are provided on any one of the plurality of steel pipes.

[0010] The method for controlling the erection accuracy of a steel pipe pole of the present invention is characterized in that the steel pipe pole is formed by connecting a plurality of steel pipes using threaded joints.

[0011] The method for controlling the accuracy of erection of a steel pipe column of the present invention includes a rotational misalignment detection process for detecting the amount of rotational misalignment in the circumferential direction of the steel pipe column or the steel pipe, and the rotational misalignment detection process is characterized in that the amount of rotational misalignment is calculated based on position information of the multiple targets on the image detected in the position detection process and central axis position information of the steel pipe column or steel pipe.

[0012] The method for controlling the precision of erection of a steel pipe column of the present invention is characterized in that the targets are provided at four locations at equal intervals.

[0013] The method for controlling the accuracy of erection of a steel pipe pole of the present invention is characterized in that the steel pipe pole is a column body of an inverted support pole.

[0014] The steel pipe pole installation accuracy control system of the present invention is a system for controlling accuracy of installation of steel pipe poles installed in underground holes, and comprises: a measurement unit installed above the steel pipe pole and including a camera that takes images inside the steel pipe pole; a plurality of targets installed inside the steel pipe pole; and an accuracy control device connected to the measurement unit, wherein the plurality of targets are installed at the same height and have specified planar positions relative to the central axis of the steel pipe pole; and the accuracy control device comprises an information acquisition unit that acquires image information of the inside of the steel pipe pole imaged by the camera, and a position detection unit that detects position information of the target based on the image information and detects central axis position information of the steel pipe pole on the image based on the position information of the target.

[0015] The steel pipe column installation accuracy control system of the present invention is characterized in that the accuracy control device is provided with a rotational misalignment detection unit that detects the circumferential rotational misalignment of the steel pipe column on which the target is attached or the steel pipe that constitutes the steel pipe column based on the position information of the multiple targets on the image detected by the position detection unit and the central axis position of the steel pipe column or the steel pipe.

[0016] The steel pipe column erection accuracy control system of the present invention is characterized in that the targets are provided at four locations at equal intervals.

[0017] According to the steel pipe pole erection accuracy control method and steel pipe pole erection accuracy control system of the present invention, targets installed within the steel pipe pole are installed at the same height, and their planar positions relative to the central axis of the steel pipe pole are specified. As a result, if at least two targets can be imaged with a camera placed above the steel pipe pole, the central axis position information of the steel pipe pole in the image can be detected based on the position information, and this information can be used to control the pitching error (vertical error) of the steel pipe pole erected in the underground hole. Therefore, for example, by placing targets in three or more locations, even if an unexpected event such as condensation water accumulation or rust falling within the steel pipe pole occurs in one or more locations, as long as the two targets are not affected, the amount of circumferential rotational deviation at the height at which the targets are installed can be detected, thereby enabling efficient accuracy control of erected steel pipe poles.

[0018] Furthermore, when a steel pipe pole is constructed by connecting multiple steel pipes, any one of the steel pipes can be arbitrarily selected to set a target on it. Therefore, if the target is set on a steel pipe located at a desired depth, it becomes possible to control the planar position of the arbitrarily selected steel pipe with high precision based on the central axis position of the steel pipe on the image.

[0019] Furthermore, it is possible to grasp and manage the presence or absence of circumferential rotational misalignment of the entire steel pipe pole or one of the multiple steel pipes that make up the steel pipe pole as a rotation angle based on the central axis position information of the steel pipe pole or steel pipe on the image described above and the position information of the target. [Effects of the Invention]

[0020] According to the present invention, multiple targets are installed inside the steel pipe pole at the same height and their planar positions relative to the central axis of the steel pipe pole are identified.Therefore, even if an unexpected incident occurs inside the steel pipe pole erected in the underground hole, as long as at least two targets are not affected, these targets can be used to easily manage the installation accuracy and circumferential rotational deviation of the steel pipe pole erected in the underground hole. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram showing a method for constructing an inverted support pole in an embodiment of the present invention (part 1). [Figure 2] FIG. 10 is a diagram showing a method for constructing a reverse-cast support in an embodiment of the present invention (part 2). [Figure 3] FIG. 10 is a diagram showing a method for constructing a reverse-cast support in an embodiment of the present invention (part 3). [Figure 4] 1 is a diagram showing a threaded joint for steel pipes and a target according to an embodiment of the present invention. FIG. [Figure 5] FIG. 2 is a diagram showing details of a building accuracy control system according to an embodiment of the present invention. [Figure 6] 1 is a flow chart showing the procedure for constructing a reverse-cast support pillar in an embodiment of the present invention. [Figure 7] 1 is a flow chart showing the procedure for managing the installation accuracy of inverted support pillars in an embodiment of the present invention. [Figure 8] 1A and 1B are diagrams showing a captured image of a target in the embodiment of the present invention (part 1). [Figure 9] FIG. 2 is a diagram showing a captured image of a target in the embodiment of the present invention (part 2). [Figure 10] 1 is a diagram showing a procedure for attaching a target to a steel pipe in an embodiment of the present invention (part 1). [Figure 11] 5 is a diagram showing a procedure for attaching a target to a steel pipe in an embodiment of the present invention (part 2). FIG. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention provides a method and system that can manage both the plumbing accuracy (vertical accuracy) of a steel pipe pole erected in an underground hole and the circumferential rotational misalignment of the steel pipe pole (or one of the multiple steel pipes that make up the steel pipe pole) as the erection accuracy of the steel pipe pole. Below, the method and system for managing the erection accuracy of a steel pipe pole will be explained with reference to Figures 1 to 11, using as an example a steel pipe pole made of multiple connected steel pipes that is used as the column body of an inverted-cast support pole, with targets installed at four locations within this column body.

[0023] <<<<100 Reverse-Strike Supports>>>> The inverted support pillar 100 erected in the underground hole H according to the procedure shown in Figures 1 to 3 is composed of a column body 120 shown in Figures 1 and 2 and a pile body 110 shown in Figure 3(a). The pile body 110 is a cast-in-place pile made of reinforced concrete, and is composed of a reinforcing bar cage 111 having an outer shape that fits along the hole wall of the underground hole H, and concrete 112 in which the reinforcing bar cage 111 is buried.

[0024] As shown in FIG. 1(a), the column body 120 is composed of a column main body 130 and an anchoring portion 140, and the anchoring portion 140 is embedded in the pile body 110. For this reason, for example, a plurality of perforated steel plate dowels 141 are installed on the outer circumferential surface of the anchoring portion 140 in order to improve adhesion to the concrete 112. On the other hand, the column main body 130 is a steel pipe column formed by connecting a plurality of steel pipes 131 in the pipe axial direction using mechanical joints (so-called threaded joints). Therefore, the steel pipes 131 are provided at their ends with a female threaded joint 132 and a male threaded joint 133, as shown in FIG. 4(a).

[0025] 2(a), one of the plurality of steel pipes 131 includes a measurement target steel pipe 131a. The measurement target steel pipe 131a is located at a depth that serves as a reference for measuring and managing the plumbing error (vertical error) of the column body 120, or at a depth where the highest accuracy is required. Alternatively, it is located at a depth where it is desired to grasp the circumferential rotational deviation. Such a measurement target steel pipe 131a has a plurality of position adjustment devices 210 and a column-side inclinometer 221 installed on the outer circumferential surface of the steel pipe 131, and also has an inner diaphragm 134 on which a target 30 (described later) is attached at a predetermined height position on the inside, as shown in FIG. 4(b).

[0026] As shown in Figure 2(b), the position adjustment devices 210 are a plurality of expansion devices that expand and contract in radial directions from the outer circumferential surface of the pillar 120 toward the wall of the underground hole H, and these position adjustment devices 210 are used to adjust the planar position of the steel pipe 131a to be measured within the underground hole H, thereby ensuring the verticality of the pillar 120. The pillar-side inclinometer 221 is, for example, a strain gauge-type inclinometer, which measures the inclination angles of the pillar 120 in two orthogonal directions and outputs this measurement information to a data logger 222 connected wirelessly or via a wire.

[0027] In the inverted driving support pillar 100 having the above-mentioned configuration, the pillar body 120 is suspended in an underground hole H filled with a stabilizing solution W via pliers 200 attached to the head until the pile body 110 is constructed. In this state, the plumbing error of the pillar body 120 and the circumferential rotational deviation of the steel pipe 131a to be measured are measured and managed by the plumbing accuracy control system 10.

[0028] <<<<<Construction Accuracy Control System 10>>>> As shown in Figures 2(a) and 5(a), the erection accuracy control system 10 comprises a measurement unit 20 installed at the head of the column body 120 via pliers 200, a target 30 provided on the inner diaphragm 134 of the steel pipe 131a to be measured, and an accuracy control device 40.

[0029] <<Measurement Unit 20>> As shown in Fig. 5(a), the measurement unit 20 is composed of a plate 21 installed on the upper end of the pliers 200 via a unit installation stand 50, and a camera 22 and a unit-side inclinometer 23 installed on the plate 21. The camera 22 is a so-called digital camera, and is positioned facing downward so as to photograph the inside of the column 120.

[0030] The unit-side inclinometer 23 is, for example, a strain gauge-type inclinometer, which measures the inclination of the plate 21 (installation surface) in two orthogonal directions (X-axis direction and Y-axis direction) relative to the horizontal plane, and outputs inclination information of the plate 21 as inclination data (αx, αy). Based on this inclination data (αx, αy), it is confirmed whether the camera 22 is inclined relative to the horizontal plane. For this reason, it is preferable that the two orthogonal directions (X-axis direction and Y-axis direction) measured by the unit-side inclinometer 23 correspond to the camera coordinate system (X-axis and Y-axis) of the camera 22.

[0031] <<Target 30>> As shown in Figure 4(b), multiple targets 30 are placed on the upper surface of the internal diaphragm 134 provided on the steel pipe 131a to be measured, and their positions in a plan view relative to the central axis Cv of the steel pipe 131a to be measured are specified. Here, an example is given in which four targets 30 located at the same height are placed at equal intervals of 90 degrees and at equal distances L in a radial direction from the central axis Cv of the steel pipe 131a to be measured in a plan view. Hereinafter, the central axis Cv of the steel pipe 131a to be measured will be referred to as the steel pipe central axis Cv.

[0032] These four targets 30 are also placed at positions on the design drawing where the perpendicular center lines a and b pass on the column body 120. Below, we will take as an example a case where the rotational deviation (rotation angle) in the circumferential direction (around the central axis) of the steel pipe 131a to be measured is measured with the center line a (or b) as the reference.

[0033] ≪≪Quality control device 40≫≫ The accuracy control device 40 may be any of a notebook PC, a tablet terminal, a smartphone, etc., and as shown in Fig. 5(b), it is equipped with an input unit 41, an output unit 42, a calculation processing unit 43, and a memory unit 44. It is also connected to the camera 22 and the unit-side inclinometer 23 of the measurement unit 20 wirelessly or by wire.

[0034] The input unit 41 receives, for example, image information input from the camera 22 and tilt information of the plate 21 output from the unit-side inclinometer 23. It is also configured to be connected to input devices such as a keyboard, mouse, scanner, and touch panel, and to receive information input thereto. The output unit 42 is connected to a display device 60 such as a display or printer, and outputs information received by the input unit 41 and information generated by the calculation processing unit 43 to the display device 60.

[0035] The display device 60 may be configured to include a touch panel, in which case the display device 60 is configured to serve as both the output unit 42 and the input unit 41. The storage unit 44 is made up of a semiconductor memory or a hard disk drive, etc., and stores information received by the input unit 41, information generated by the arithmetic processing unit 43, etc.

[0036] The calculation processing unit 43 is a computer that performs predetermined control according to a program, and includes a CPU (Central Processing Unit), storage devices such as a ROM (Read Only Memory) and a RAM (Random Access Memory), a hardware interface, etc. This storage device includes, for example, an information acquisition unit 431, a position detection unit 432, a measurement coordinate correction unit 433, a rotational misalignment amount detection unit 434, and an average value calculation unit 435.

[0037] Although details will be described later, the information acquisition unit 431 acquires image information of the target 30 captured and output from the camera 22, and tilt information of the plate 21 output from the unit-side inclinometer 23. The position detection unit 432 acquires the measurement coordinates (position information) of the target 30 based on the image information, and also acquires the measurement coordinates (position information) of the steel pipe central axis Cv on the image based on the measurement coordinates of the target 30.

[0038] When tilt information of the plate 21 measured by the unit-side inclinometer 23 exceeds the allowable range, the measurement coordinate correction unit 433 corrects the measurement coordinates of the steel pipe central axis Cv acquired on the image based on this tilt information. At the same time, it corrects the measurement coordinates of the target 30 acquired by the position detection unit 432. The rotational deviation detection unit 434 acquires the rotational deviation (rotation angle) in the circumferential direction of the steel pipe 131a to be measured based on the measurement coordinates (or the corrected measurement coordinates) of the target 30 and the measurement coordinates (or the corrected measurement coordinates) of the steel pipe central axis Cv acquired on the image.

[0039] << ... The procedure for measuring and managing the plumbing error of the column body 120 erected in the underground hole H and the circumferential rotational deviation of the steel pipe 131a to be measured using the above-mentioned erection accuracy control system 10 will be described below along with the procedure for constructing the inverted driving column 100, following the flow shown in Figures 6 and 7. Additionally, the details of the erection accuracy control system 10 will also be described with reference to the configuration diagram shown in Figure 5(b).

[0040] <<<Drilling holes and erecting rebar cages: STEP 1>> As shown in Figure 1(a), the ground is excavated to construct an underground hole H filled with a stabilizing solution W, and a reinforcing bar cage 111 that constitutes a pile body 110 is lowered into the underground hole H and erected. As shown in Figure 4(b), an example is given in which the underground hole H is circular in plan view, but an underground trench that is rectangular in plan view, such as a square or rectangular, may also be used.

[0041] In parallel with or before or after these operations, as explained with reference to Figure 4(b), a plurality of position adjustment devices 210 and column-side inclinometers 221 are installed on the outer circumferential surface of the steel pipe 131 to prepare a steel pipe 131a to be measured. In addition, four targets 30 are installed at equal intervals on the upper surface of the inner diaphragm 134 at positions where the center lines a and b are expected to pass.

[0042] <<Column construction process: STEP 2>> After this, multiple steel pipes 131 including the steel pipe 131a to be measured are successively connected in the pipe axial direction using threaded joints (female thread joint 132 and male thread joint 133), and are erected into the underground hole H using a crane or erection machine 250. At this time, the connecting work is performed while checking the verticality of the steel pipes 131 based on the output value of the column side inclinometer 221 attached to the outer surface of the steel pipe 131a to be measured, which is output to a data logger 222. For example, a steel pipe joining device 230 and an erection machine 250 installed on the ground are used for these works.

[0043] The construction machine 250 is positioned so as to straddle the underground hole H, and any lifting machine capable of suspending the steel pipe 131 in an upright position, such as a gantry crane, may be used. The steel pipe joining device 230 is positioned so as to surround the underground hole H, and any equipment may be used so long as it has a gripping function for gripping the upper end side of the steel pipe 131 inserted into the underground hole H, and a torque introducing function for introducing torque into the threaded joints (the female thread joint 132 and the male thread joint 133) when joining a new steel pipe 131 to the steel pipe 131 gripped by this gripping function.

[0044] As shown in FIG. 1(b), a column 120 having a desired member length is constructed in the underground hole H by connecting multiple steel pipes 131, including the steel pipe 131a to be measured, and then the column 120 is suspended by a construction machine 250 via pliers 200. Furthermore, a steel pipe fixing stand 240 is placed in place of the steel pipe jointing device 230, and as shown in FIG. 2(a), this steel pipe fixing stand 240 supports the column 120. Furthermore, the head of the column 120 is adjusted to a predetermined height position, and the pliers 200 are adjusted to a predetermined position in a plan view (i.e., a position where the axis of the head of the column 120 coincides with the column center on the design drawing), and then the pliers 200 are fixed in place.

[0045] The steel pipe fixing stand 240 is disposed on the ground surface so as to surround the underground hole H, and has the function of fixing and supporting the position of the pliers 200. Additionally, if a lifting device such as a journal jack that can be extended and retracted in the vertical direction is installed, the height position of the head of the column body 120 can be adjusted using this lifting device. Furthermore, if an extension device such as a hydraulic cylinder that can be extended and retracted in the horizontal direction is installed, the planar position of the pliers 200 can be adjusted using this extension device. In this way, the column body 120, in which the steel pipe to be measured 131a is disposed, is suspended and supported in the underground hole H via the pliers 200 at a depth that serves as a reference for measuring and managing plumbing errors (vertical errors), a depth where the highest accuracy is required, or a depth where circumferential rotational deviation is desired to be determined.

[0046] ≪≪Calculating the plumbing error and rotational deviation of the steel pipe being measured: STEP 3≫≫ For the column body 120 suspended in the underground hole H via the pliers 200, the position of the target explained with reference to Fig. 4(b) and the position of the steel pipe central axis Cv are acquired on the image, thereby managing the plumbing error of the column body 120, the planar position of the steel pipe 131a to be measured, and further the circumferential rotational deviation of the steel pipe 131a to be measured on the image. The procedure is explained below according to the flow shown in Fig. 7.

[0047] <Installation of the measurement unit: STEP 3-1> First, as shown in Figures 2(a) and 5(a), the measurement unit 20 is installed via a unit installation stand 50 on the upper end of the pliers 200 connected to the head of the column body 120. Any unit installation stand 50 may be used as long as it can be installed on the upper end of the pliers 200 and has a structure that allows the planar view position of the measurement unit 20 to be freely moved on the pliers 200.

[0048] The camera 22 is positioned with its optical axis Oa on the central axis of the pillar 120. In other words, the Z axis of the camera coordinate system is aligned with the pillar center. In addition, in this embodiment, the X and Y axes of the camera coordinate system are positioned to align with the center lines a and b. In parallel with or before or after these operations, information such as the vertical distance from the camera 22 to the inner diaphragm 134 on which the target 30 is installed (e.g., the depth of the inner diaphragm 134 and the installation height of the camera 22), the diameter of the target, etc. are input into the memory unit 44 of the accuracy control device 40.

[0049] Furthermore, information regarding the planar position of the target 30 relative to the steel pipe central axis Cv is input to the memory unit 44 of the accuracy control device 40. In this embodiment, an example is given in which four targets 30 are placed at equal intervals of 90 degrees and at equal distances L in a radial direction from the steel pipe central axis Cv in a planar view.

[0050] <Image acquisition inside the cylinder: STEP 3-2> After the installation of the measurement unit 20 is completed, the camera 22 captures an image of the interior of the column 120, and the image information is input into the accuracy control device 40. Then, the calculation processing unit 43 of the accuracy control device 40 receives a command from the information acquisition unit 431 to acquire the image information, store it in the memory unit 44, and output the image information from the output unit 42 to the display device 60, such as a display. This allows the work manager to visually recognize on the image the four targets 30 installed on the inner diaphragm 134 of the steel pipe 131a to be measured.

[0051] For example, when the optical axis Oa of the camera 22 described with reference to FIG. 5(a) is parallel to the vertical axis and the column 120 is accurately plumbed (no plumbing error occurs), the steel pipe center axis Cv in the captured image displayed on the display device 60 coincides with the intersection (0, 0) of the X-axis and Y-axis of the camera coordinate system, as shown in FIG. 8(a). Furthermore, when there is no rotational misalignment in the steel pipe 131a to be measured, the four targets 30 are positioned on the X-axis and Y-axis. Note that FIG. 8(a) shows an example in which the steel pipe center axis Cv is displayed on the image.

[0052] On the other hand, in the captured image shown in Figure 8(b), the four targets 30 are not positioned on the X-axis and Y-axis, and there is a possibility that there is a plumbing error or a rotational misalignment of the steel pipe 131a to be measured. Such a case will be explained below as an example.

[0053] <<Selecting a Target: STEP 3-3>> When the image information is acquired, the calculation processing unit 43 receives a command from the information acquisition unit 431 and arbitrarily selects at least two targets 30 from the acquired image information, and stores the selected information in the storage unit 44. Furthermore, as shown in FIG. 8(b), target frames T1 and T2 indicating the selected targets 30 are output to the display device 60 via the output unit 42. At this time, the target frames T1 and T2 are displayed so that their centers are positioned on the centers of the targets 30.

[0054] Alternatively, the work manager may select two or more targets 30 on the image. In this case, the selection information is input to the accuracy control device 40 via the input unit 41. Then, based on the input information, the calculation processing unit 43 receives a command from the information acquisition unit 431 and stores the selection information in the memory unit 44. In addition, target frames T1 and T2 indicating the selected targets 30 are output to the display device 60 via the output unit 42. Figure 8(b) shows an example in which two targets 30 located on the lower and left sides are selected.

[0055] <<Acquisition of measurement coordinates on the image of the selected target and steel pipe central axis Cv: STEP 3-4>> When the target frames T1 and T2 are displayed, the calculation processing unit 43 receives a command from the position detection unit 432 and stores the measurement coordinates (x1, y1) and (x2, y2) of the target 30 enclosed by the target frames T1 and T2 based on the image information in the memory unit 44. In addition, the measurement coordinates are output from the output unit 42 to the display device 60 together with the image information, as shown in Fig. 9(a), for example.

[0056] Furthermore, based on the measurement coordinates (x1, y1) and (x2, y2) of the target 30 enclosed by the target frames T1 and T2 and information relating to the planar view position of the target 30 relative to the steel pipe central axis Cv that has been stored in advance in the memory unit 44, the planar view position of the steel pipe central axis Cv is calculated and stored as measurement coordinates (xc, yc) in the memory unit 44. Furthermore, as shown in Fig. 9(a), this is output to the display device 60 via the output unit 42.

[0057] <<Correction of measurement coordinates: STEP 3-5>> The accuracy control device 40 receives not only image information captured by the camera 22, but also tilt data (αx, αy) of the plate 21 relative to the horizontal plane measured by the unit-side inclinometer 23 provided in the measurement unit 20 as tilt information. When the plate 21 is tilted relative to the horizontal plane, the optical axis Oa of the camera 22 installed on the plate 21 is also tilted relative to the vertical axis. As a result, the measurement coordinates (x1, y1) and (x2, y2) of the target 30 enclosed by the target frames T1 and T2 obtained in STEP 3-4 and the measurement coordinates (xc, yc) of the steel pipe center axis Cv are both shifted from the actual position coordinates by the tilt angle of the camera 22.

[0058] Therefore, when tilt information of the plate 21 relative to the horizontal plane is input from the unit-side inclinometer 23 to the accuracy control device 40, the calculation processing unit 43 receives a command from the measurement coordinate correction unit 433 and calculates the tilt angle of the camera 22 based on the tilt information of the plate 21 relative to the horizontal plane. If the tilt angle exceeds the allowable range, the measurement coordinates (xc, yc) of the steel pipe central axis Cv are corrected based on the tilt angle of the camera 22, and the measurement coordinates (x1, y1) and (x1, y1) of the target 30 enclosed by the target frames T1 and T2 are also corrected. Details of the correction method are given in Japanese Patent No. 5786644.

[0059] In this way, corrected measurement coordinates (xcr, ycr) are obtained for the steel pipe central axis Cv, and corrected measurement coordinates (x1r, y1r) and (x2r, y2r) are obtained for the target 30 surrounded by the target frames T1 and T2. These are stored in the memory unit 44 and output from the output unit 42 to the display device 60 together with image information. On the other hand, if the tilt angle of the camera 22 calculated based on the tilt information of the plate 21 with respect to the horizontal plane falls within the allowable range, a signal is output to omit the process of correcting the measurement coordinates.

[0060] <Calculating the amount of rotational misalignment: STEP 3-6> Thereafter, the calculation processing unit 43 receives a command from the rotational deviation detection unit 434 and calculates the rotational deviation (rotation angle) in the circumferential direction of the steel pipe 131a to be measured. Here, an example will be described in which no correction of the measurement coordinates was required in STEP 3-5.

[0061] As shown in Figure 9(a), the amount of rotational misalignment (rotation angle θ) relative to the X-axis is calculated based on the measurement coordinates (xc, yc) of the steel pipe central axis Cv and the measurement coordinates (x2, y2) of the target 30 enclosed by the target frame T2. Alternatively, the amount of rotational misalignment (rotation angle θ) relative to the Y-axis may be calculated based on the measurement coordinates (xc, yc) of the steel pipe central axis Cv and the measurement coordinates (x1, y1) of the target 30 enclosed by the target frame T1. The calculated amount of rotational misalignment is stored in the memory unit 44 and, as shown in Figure 9(a), is output from the output unit 42 to the display device 60 together with image information.

[0062] <Calculating the average value of the measurement coordinates and rotational deviation (rotation angle): STEP 3-7> In response to a command from the average value calculation unit 435, the calculation processing unit 43 executes the above-mentioned steps from STEP 3-2 to STEP 3-6 multiple times to calculate average values, thereby calculating the average measurement coordinate value (xcave, ycave) of the steel pipe central axis Cv and the average rotational deviation amount θave. The calculation results are stored in the memory unit 44 and are output together with image information to the display device 60 via the output unit 42. Figure 9(b) shows an example in which the process of calculating the measurement coordinate value (xc, yc) of the steel pipe central axis Cv and the amount of rotational deviation (rotation angle θ) is repeated 10 times to calculate the average values.

[0063] <<Control of Plumbing Error of Column 120 (Measurement Target Steel Pipe 131a): STEP 4>> The average value of the measurement coordinates (xcave, ycave) of the steel pipe central axis Cv calculated in STEP 3-7 above is the plumbing error. Therefore, if this exceeds the range of the control target value, the position of the steel pipe 131a to be measured in plan view is corrected using a position adjustment device 210 as shown in Figure 2(b) so that it falls within the range of the control target value. Here, the control target value is the allowable value of the plumbing error calculated from the construction accuracy control value of the column body 120 set based on the construction record.

[0064] This eliminates the plumbing error and allows the column body 120 to be plumbed accurately. In addition, the presence or absence of a circumferential rotational misalignment of the steel pipe 131a to be measured relative to the center line a (or center line b) can be accurately grasped in terms of the rotation angle as the average rotational misalignment amount θave. In this embodiment, the process of STEP 3-7 for calculating the average value is performed, but this may be omitted and the measurement coordinates (xc, yc) of the steel pipe center axis Cv obtained in STEP 3-4 or the corrected measurement coordinates (xcr, ycr) of the steel pipe center axis Cv obtained in STEP 3-5 may be treated as the plumbing error.

[0065] <<Construction of the pile body: STEP 5>> After the above work, as shown in FIG. 3(a), the tremie pipe 70 is erected in the underground hole H, and concrete 112 is poured so as to bury the reinforcing bar cage 111 and the anchoring part 140 of the column body 120.

[0066] During the pouring of the concrete 112, the above-mentioned steps 3-2 to 3-7 are carried out continuously or intermittently using the pouring accuracy control system 10 to control the pitching accuracy of the column 120. In other words, it is confirmed that the steel pipe central axis Cv on the captured image is within the range of the control target value. For example, the concrete pouring work is carried out while correcting the planar view position of the steel pipe 131a to be measured so that the steel pipe central axis Cv does not deviate from the range of the control target value due to the lateral pressure of the concrete 112 discharged from the tremie pipe 70, thereby eliminating the pitching error of the column 120.

[0067] <<<Backfilling the underground hole: STEP 6>> After the pouring of the concrete 112 has been completed and a predetermined curing period has elapsed, backfilling work is carried out to fill the underground hole H with backfill material S, as shown in Figure 3(b). Any backfill material S may be used, but for example, liquefied treated soil is used, and the underground hole H is filled using the tremie pipe 70 in the same way as when pouring the concrete 112.

[0068] According to the method for controlling accuracy of plumbing of a steel pipe column and the system for controlling accuracy of plumbing of a steel pipe column of the present invention, if at least two targets 30 whose planar position relative to the steel pipe central axis Cv is specified can be captured by the camera 22 provided in the measurement unit 20, the measurement coordinates (xc, yc) of the steel pipe central axis Cv can be obtained based on these measurement coordinates on the captured image, and the plumbing error can be controlled using these measurement coordinates of the steel pipe central axis Cv. Therefore, even if an unexpected event occurs, such as the accumulation of condensation water or the dropping of rust inside the column body 120, it is possible to efficiently measure and control the plumbing accuracy by using the targets 30 that are not affected by these events.

[0069] Furthermore, by setting the steel pipe 131 located at the depth where the highest accuracy is required as the steel pipe to be measured 131a, and providing an inner diaphragm 134 inside it and installing the target 30, it becomes possible to grasp and manage the planar view position of the steel pipe to be measured 131a and the presence or absence of circumferential rotational deviation of the steel pipe to be measured 131a relative to the center line a (or center line b) as a rotation angle.

[0070] The method for controlling the accuracy of erection of steel pipe columns and the system for controlling the accuracy of erection of steel pipe columns of the present invention are not limited to the above-described embodiments, and it goes without saying that various modifications are possible within the scope of the present invention.

[0071] For example, in the present embodiment, an example has been given in which the column 120 is made up of a plurality of connected steel pipes 131, but it may also be made up of a single steel pipe 131. Also, an example has been given in which a circular steel pipe is used as the steel pipe 131 that makes up the column 120, but this is not limited to this, and it is also possible to use a square steel pipe or the like. Furthermore, the target 30 was attached to the inner diaphragm 134 provided on the steel pipe 131a to be measured, but it may be attached at any position on the steel pipe 131a to be measured in any form as long as it is in a position where it can be imaged by the camera 22.

[0072] 5(a), the measurement unit 20 is provided with a camera 22 and a unit-side inclinometer 23, but if the camera 22 can automatically control the optical axis Oa to be vertical, the unit-side inclinometer 23 may be omitted. In this case, the work of STEP 3-5 for correcting the measurement coordinates can be omitted in the process of STEP 3 for calculating the plumbing error and the rotational deviation of the steel pipe 131a to be measured, which was described with reference to the flow in FIG.

[0073] 4(b) shows an example in which four targets 30 are installed at equal intervals of 90 degrees and at equal distances L in the radial direction from the central axis Cv of the steel pipe, but the positions may be set at any position as long as they are at the same height. The number of targets 30 to be installed may also be any number as long as it is two or more.

[0074] When four targets 30 are placed at equal intervals of 90 degrees and at equal distances L in a radial direction from the central axis Cv of the steel pipe as shown in Figure 4(b) in a plan view, it is advisable to attach them to the inner diaphragm 134 using, for example, a laser level 80 and a cross jig 90 in the following procedure.

[0075] <<<<How to install the target>>>> First, as shown in Figure 10(a), a laser La is irradiated from a laser marker 80 toward the outer surface of a steel pipe 131a to be measured that has been laid on its side. Markings M parallel to the steel pipe center axis Cv have been partially provided in advance on the female thread joint 132 and the male thread joint 133 of the steel pipe 131a to be measured, and the markings M on the male thread joint 133 side and the markings M on the female thread joint 132 side are arranged on the same line. The irradiated laser La is irradiated so as to connect the markings M on the male thread joint 133 side and the markings M on the female thread joint 132 side.

[0076] Next, as shown in Figure 10(b), the markings M on the outer surface of the female joint are extended to the mouth along the laser La so that the position of the markings M can be confirmed when the steel pipe 131a to be measured is visually observed from the central axis direction. Since the markings M on the outer surface of the female thread joint 132 and the male thread joint 133 are provided in four locations at equal intervals in the circumferential direction, the markings M are extended to the mouth for at least two opposing markings M.

[0077] Then, the laser marking device 80 is moved to connect the markings M extending to the opposing ends of the pipe, and the laser La is applied. As a result, the laser La is also applied to the inner diaphragm 134 provided inside the steel pipe 131a to be measured, and the target 30 is attached to this irradiation position. As a result, two targets 30 can be attached to the inner diaphragm 134 on an imaginary line forming the diameter of the steel pipe 131a to be measured, as shown in Figure 10(c).

[0078] 11(a), two more targets are placed using the two targets 30 and a cross-shaped jig 90. As shown in FIG. 11(b), the cross-shaped jig 90 includes a jig body 91 having a cross shape in a plan view, four arms 92 protruding in all directions on the same plane from the jig body 91, and fasteners 93 for fixing the arms 92 to the jig body 91. The arms 92 have through holes 921 formed at their tips. The arms 92 are slidably mounted relative to the jig body 91, allowing the amount of protrusion of the arms 92 relative to the jig body 91 to be freely adjusted.

[0079] 11(a), a cross-shaped jig 90 is placed on the inner diaphragm 134 of the steel pipe 131a to be measured so as to connect the two targets 30 that were previously attached to the inner diaphragm 134, and the four arms 92 are extended until they contact the inner surface of the steel pipe 131a to be measured. As a result, the tips of the four arms 92 are arranged at equal intervals on the inner diaphragm 134, and the two following targets 30 are attached to the inner diaphragm 134 using the through holes 921 formed at the tips of these arms 92. As a result, as shown in FIG. 4(b), four targets 30 can be placed on the inner diaphragm 134 at equal intervals of 90 degrees in the radial direction from the steel pipe central axis Cv, at equal distances L. [Explanation of symbols]

[0080] 10. Construction accuracy control system 20 measurement units 21 Plate 22 Camera 23 Unit side inclinometer 30 Targets 40 Quality control device 41 Input section 42 Output section 43 Processing unit 431 Information Acquisition Department 432 Position detection unit 433 Measurement coordinate correction unit 434 Rotational deviation detection unit 435 Average Value Calculation Department 44 Memory section 50 unit installation stand 60 Display device 70 Ptolemie tube 80 Laser Level 90 Cross Jig 91 Jig body 92 Arm 921 Through hole 93 Fasteners Cv Steel pipe central axis (center axis of the steel pipe to be measured) H underground hole L: Distance between the center axis of the steel pipe and the target La laser M scribing Oa optical axis S Backfill material T1 Target Frame (Bottom) T2 target frame (left) W stabilizer 100 Reverse-strike support 110 Pile body 111 Reinforced Concrete Cage 112 Concrete 120 Column 130 Pillar body 131 Steel pipe 131a Steel pipe to be measured 132 Female thread joint 133 Male threaded joint 134 Inner diaphragm 140 Fixing unit 141 Steel Plate Dowel 200 Yattoko 210 Position adjustment device 221 Column side inclinometer 222 Data Logger 230 Steel pipe joining device 240 Frame for fixing steel pipes 250 Construction Machine

Claims

1. A method for controlling the accuracy of erecting a steel pipe pole erected in an underground hole, comprising: An information acquisition process in which a measuring unit including a camera is installed above the steel pipe column, and a plurality of targets installed at the same height within the steel pipe column and whose planar view positions relative to the central axis of the steel pipe column are identified are imaged with the camera, and image information is acquired. A position detection process for detecting position information of the target based on the image information and detecting central axis position information of the steel pipe pole on the image based on the position information of the target.

2. The method for controlling the erection accuracy of a steel pipe pole according to claim 1, The steel pipe column is formed by connecting a plurality of steel pipes, A method for controlling the accuracy of erection of a steel pipe column, characterized in that the multiple targets are provided on any one of the multiple steel pipes.

3. The method for controlling the accuracy of erection of a steel pipe column according to claim 2, A method for controlling the accuracy of erection of a steel pipe column, characterized in that the steel pipe column is formed by connecting a plurality of steel pipes using threaded joints.

4. The method for controlling the erection accuracy of a steel pipe pole according to any one of claims 1 to 3, A rotational misalignment detection step is included, which detects the amount of rotational misalignment in the circumferential direction of the steel pipe column or the steel pipe, The rotational misalignment detection process calculates the rotational misalignment based on the position information of the multiple targets on the image detected in the position detection process and the central axis position information of the steel pipe column or steel pipe. This is a method for managing the accuracy of erecting a steel pipe column.

5. The method for controlling the erection accuracy of a steel pipe pole according to claim 1, A method for controlling the accuracy of erection of a steel pipe column, characterized in that the targets are provided at four locations at equal intervals.

6. The method for controlling the erection accuracy of a steel pipe pole according to claim 1, A method for controlling the accuracy of erection of a steel pipe column, wherein the steel pipe column is a column body of an inverted support column.

7. A system for controlling the accuracy of erecting steel pipe poles erected in underground holes, A measurement unit installed above the steel pipe column and including a camera that captures images of the inside of the steel pipe column; A plurality of targets installed in the steel pipe column; a quality control device connected to the measurement unit, The targets are installed at the same height, and their planar positions relative to the central axis of the steel pipe column are specified, The accuracy control device is a steel pipe column installation accuracy control system characterized by comprising an information acquisition unit that acquires image information of the inside of the steel pipe column captured by the camera, and a position detection unit that detects position information of the target based on the image information and detects central axis position information of the steel pipe column on the image based on the position information of the target.

8. The steel pipe column erection accuracy control system according to claim 7, A steel pipe column installation accuracy control system characterized in that the accuracy control device is equipped with a rotational misalignment detection unit that detects the circumferential rotational misalignment of the steel pipe column on which the target is attached or the steel pipe that constitutes the steel pipe column based on the position information of the multiple targets on the image detected by the position detection unit and the central axis position information of the steel pipe column or the steel pipe.

9. The steel pipe column erection accuracy control system according to claim 7, A steel pipe column erection accuracy control system characterized in that the targets are set at four equally spaced locations.

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