Unified coordinate measurement system and unified coordinate measurement method

Abstract

To provide a coordinate unified type measuring system capable of measuring an attitude with high accuracy by unifying coordinates of a plurality of measuring devices by a simple method.SOLUTION: A unified coordinate measurement system U for measuring an attitude of a building frame constructed in a construction process of a standing construction method includes a plurality of measurement units 40 installed around a building frame 1 and configured to scan a side wall 10 of the building frame 1, one or a plurality of collimation units 30 configured to specify a position and a rotation direction of each of the plurality of measurement units 40, a total station TS configured to measure a position and a direction of the one or the plurality of collimation units 30, and a control unit configured to, based on measurement results of a plurality of points on the side wall 10 of the building frame 1, and the control unit 60 as a calculation unit that calculates the settlement amount s, the inclination amount θ, and / or the eccentricity amount e, and the control unit 60 as the calculation unit specifies the positions and the rotation directions of the plurality of measurement units 40 in the unified coordinate system based on the measurement value of the reflection intensity from one or the plurality of collimation units 30.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a coordinate-integrated measurement system having multiple measuring devices that measure the amount of settlement, tilt, and / or eccentricity in a non-contact manner in work involving the sinking of a structure, such as pneumatic caisson construction or open caisson construction (hereinafter referred to as "sinking construction methods"). [Background technology]

[0002] Traditionally, in submerged excavation using the submerged construction method, construction is carried out while checking the eccentricity, settlement, and tilt of the caisson body in order to ensure the accuracy of the submerged construction. Generally, the amount of eccentricity is measured by attaching a target seal or the like to the body and using a total station (hereinafter referred to as TS) installed outside the caisson body, and the submerged construction work is carried out while checking the amount of eccentricity.

[0003] The amount of settlement is measured using a settlement meter or by measuring the frame directly with a level during the installation work. Furthermore, the tilt is measured by attaching an inclinometer to the frame, for example, and measuring the tilt during installation work (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-168532 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional measurement methods using TS, including those described in Patent Document 1, the target seal is sometimes shaded by scaffolding materials under construction, making it impossible to measure, and the target seal needs to be frequently replaced (see Figure 5). Also, for subsidence and tilt management, it is necessary to prepare separate settlement meters and inclinometers, which leads to increased costs.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a coordinate unified measurement system that can unify the coordinates of a plurality of measuring devices using a simple method and measure postures with high accuracy. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the coordinate-unified measurement system for the submerged construction method of the present invention comprises a plurality of measurement units installed around a structure constructed during the construction process of the submerged construction method, each measurement unit having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor by the rotation mechanism; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the amount of subsidence, tilt, and / or eccentricity based on the measurement results of a plurality of points on the side wall of the structure, wherein the calculation unit is configured to identify the position and rotation direction of the plurality of measurement units in a unified coordinate system based on the measurement values ​​of the reflection intensity from the one or more collimation units. [Effects of the Invention]

[0008] The coordinate-unified measurement system for the submerged construction method of the present invention includes multiple measurement units installed around a structure constructed during the submerged construction process, each measurement unit having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor caused by the rotation mechanism; one or more collimation units for determining the position and rotation direction of each of the multiple measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the amount of subsidence, tilt, and / or eccentricity based on the measurement results of multiple points on the side wall of the structure. The calculation unit is configured to determine the positions and rotation directions of the multiple measurement units in a unified coordinate system based on the measurement values ​​of the reflection intensity from the one or more collimation units. With this configuration, the coordinates of the multiple measurement units can be unified using a simple method, allowing for highly accurate posture measurement. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram illustrating the overall configuration of a coordinate unified measurement system. [Figure 2] FIG. 1 is an explanatory diagram illustrating the configuration of a stand-alone posture measurement system. [Figure 3] FIG. 2 is a block diagram illustrating the configuration of a control system of the coordinate unified measurement system. [Figure 4] FIG. 1 is an explanatory diagram illustrating the posture of the body in the submerged construction method. [Figure 5] FIG. 10 is an explanatory diagram illustrating the relationship between draft marks and scaffolding. [Figure 6] 1A is a front view illustrating the configuration of the collimation unit when the lines of the special figure are thin, and FIG. 1B is a front view illustrating the configuration of the collimation unit when the lines of the special figure are thick. [Figure 7] FIG. 10 is a front view showing a specific configuration of a special graphic. [Figure 8] 10A and 10B are explanatory diagrams illustrating angles when the collimation unit is scanned, where (a) illustrates points with high reflection intensity, and (b) illustrates angles θ1 and θ2. [Figure 9]FIG. 10 is an explanatory diagram of a method for determining θ1 and θ2 based on L1 to L4. [Figure 10] FIG. 10 is an explanatory diagram of a method for identifying points a, c, and e based on L1 to L4. [Figure 11] FIG. 10 is a front view showing a specific configuration of a special graphic in another form. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following examples are merely examples and are not intended to limit the technical scope of the present invention. [Example]

[0011] (Overall configuration of coordinate unified measurement system) First, the configuration of the unified coordinate measurement system U will be described using Fig. 1. As shown in Fig. 1, the unified coordinate measurement system U of this embodiment includes four measurement units 40,..., installed around the periphery of the skeleton 1 to measure the side walls of the skeleton 1, four collimation units 30,..., arranged corresponding to each of the four measurement units 40,..., two total stations TS for measuring the position and orientation of the collimation units 30, and a calculation unit (60; not shown, see Fig. 3) for calculating the amount of subsidence, tilt, and eccentricity. Although two total stations TS are depicted in Fig. 1, a single total station TS can be used by rearranging the units.

[0012] As shown in the figure, the four measurement units 40,... of this embodiment are arranged one by one at positions (north, south, east, and west) spaced apart by 90 degrees around the center of the body 1. Then, corresponding to each measurement unit 40, four collimation units 30,... are arranged in the opposite direction from the body 1. Note that the number of measurement units 40 and collimation units 30 is not limited to four, and it is sufficient that there are two or more measurement units and collimation units.

[0013] 2, the measuring unit 40 is disposed at a predetermined distance from the body 1 and on the periphery (outside) of the body 1. The collimating unit 30 is disposed at an even further distance from the measuring unit 40 and on the outside. Specifically, the measuring unit 40 including the distance sensor 41 is preferably supported and installed by a supporting means such as a tripod. As will be described later, the rotation axis of the measuring unit 40 (the distance sensor 41) is oriented perpendicular to the direction facing the body 1 and approximately parallel to the plate surface of the collimating unit 30. Therefore, the central measuring unit 40 can continuously measure both the side wall 10 of the body 1 and the collimating unit 30 in a series of operations.

[0014] Here, the distance of the measurement unit 40 from the skeleton 1 is determined by taking into consideration the most reasonable distance and direction, taking into account ground displacement, refilling frequency, and measurement accuracy. As mentioned above, in consideration of measurement accuracy, it is preferable that the four measurement units 40,... be installed in four locations near north (90 degrees), west (180 degrees), south (270 degrees), and east (0 degrees). Even if the measurement unit 40 is displaced due to subsidence and excavation of the skeleton 1, the collimation unit 30 is continuously scanning (in real time), so the position after displacement can be identified in real time, and measurement is not hindered.

[0015] (Configuration of a standalone attitude measurement device S) Next, the configuration of a single (single) attitude measurement device S will be described in more detail using Figures 2 and 3. As shown in Figure 3, the attitude measurement device S is mainly composed of a measurement unit 40 and a control unit 60 as a calculation unit. Then, by adding a collimation unit (30) and a total station (TS) to each of these components, a coordinate unified measurement system (U) is configured (see Figure 3).

[0016] The measurement unit 40 is a so-called 2D-LIDAR, and as shown in FIGS. 2 and 3, it has a non-contact distance sensor 41, a rotation mechanism 42 such as a motor and gear that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 caused by the rotation mechanism 42. Of these, the rotation mechanism 42 has a rotation axis that is perpendicular to the radial direction of the building 1. Therefore, the distance sensor 41 of the measurement unit 40 can continuously scan multiple points in the vertical direction on the side wall of the building 1. Furthermore, the measurement unit 40 is designed to measure the collimation unit 30 through a series of operations. In other words, the collimation unit 30 is placed on the scanning plane scanned by the measurement unit 40.

[0017] As described above, the measurement unit 40 including the distance sensor 41 is arranged on the periphery (outside) of the body 1. More specifically, the measurement unit 40 (distance sensors 41) of this embodiment is arranged at four locations around the body 1, each spaced apart by a central angle of 90 degrees, with the body 1 as the center, as shown in Fig. 1 .

[0018] The measurement value (reflected pulse) by the distance sensor 41 has a reflection intensity (relative strength and magnitude of the reflected pulse). Possible object characteristics that affect this reflection intensity include the reflectivity of the material at the wavelength of the LIDAR, the smoothness or roughness of the surface, and the orientation of the reflecting surface relative to the sensor. In this embodiment, the difference in reflectivity based on whether or not a special shape is scanned is detected as the reflection intensity. The special shape will be described later.

[0019] In this embodiment, two or more (plural) collimating units 30 are used as the collimating unit 30. When using multiple collimating units 30, as shown in the figure, it is preferable that each collimating unit 30 is placed at a north, south, east, west, or other position outside the measuring unit 40, corresponding to the measuring unit 40 placed at a north, south, east, or west position. However, the multiple collimating units 30 may be placed anywhere as long as they are visible from the total station TS and can be scanned by the corresponding measuring unit 40.

[0020] The collimation unit 30 of this embodiment is composed of a plurality of measurement units 40, an identifying means for identifying the position and rotation direction of each, and a measured means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. In other words, the measurement units 40 are positioned indirectly via the collimation unit 30. The specific configurations of the identifying means and measured means will be described later.

[0021] The control unit 60 serving as a calculation unit is, for example, a general-purpose personal computer having a memory, a CPU, an SSD, etc. The control unit 60 has, as its functional units, a subsidence amount calculation unit 61 that calculates the subsidence amount s based on the measurement results of multiple points on the side wall of the skeleton 1, an inclination amount calculation unit 62 that calculates the inclination amount θ, an eccentricity amount calculation unit 63 that calculates the eccentricity amount e based on measurement data from the multiple measurement units 40, ..., and a coordinate unification unit 64 that specifies the coordinates of each of the multiple measurement units 40, ... in a unified coordinate system. (See FIG. 4 for the subsidence amount s, the inclination amount θ, and the eccentricity amount e.)

[0022] The settlement amount calculation unit 61 measures the positions of multiple draft marks 10a, ..., which are placed at equal intervals on the side walls 10 of the skeleton 1 so that light and dark (e.g., black and white) can be distinguished, and calculates the amount of change, thereby calculating the amount of settlement s. The tilt amount calculation unit 62 calculates the amount of tilt θ by measuring the angle based on the distance to the side walls 10. The eccentricity calculation unit 63 calculates the center of the skeleton 1 based on the measurement results of the distances to the multiple side walls 10, and calculates the amount of eccentricity. Of these, the settlement amount s can also be calculated as a value on the central axis or a value at each corner after calculating the posture of the skeleton 1 based on each measurement value. The function of the coordinate unification unit 64 will be described later.

[0023] The control unit 60 as a calculation unit may be installed in a remote location, near the site, or both. That is, the measurement data from the distance sensor 41 is sent to the control unit 60 via a cable. Furthermore, the data sent to the control unit 60 via the cable can be transferred to a remote terminal via the Internet.

[0024] In addition to the above, the control unit 60 is connected to input means such as a keyboard 65 and a mouse 66, as well as input values ​​from the measurement unit 40. Furthermore, the control unit 60 is connected to output means such as a monitor 71 and a separate PC 72 for subsidence management. The point cloud data acquired on the side wall 10 of the skeleton 1 becomes singular points at the top and bottom ends (ground surface), so the side wall of the skeleton 1 can be clearly recognized on the coordinate axes of the distance sensor 41.

[0025] (Specific configuration of the collimation unit) As shown in Figures 6 and 7, the collimation unit 30 of this embodiment is composed of multiple measurement units 40, an identification means for determining the position and rotation direction of each measurement unit 40 by reverse calculation, and a measurement means for measuring the position and orientation of the collimation unit 30 itself by the total station TS.

[0026] 7, the collimation unit 30 has a collimation plate 31 on which a special figure is drawn as the identifying means, and three prisms 33, 34, and 35 fixed to the collimation plate 31 as the measured means. On the collimation plate 31, vertical lines 31a, horizontal lines 31b, and diagonal lines 31c are drawn with clearly distinguished light and dark as special figures for back-calculating the positions of each measurement unit 40. Furthermore, prisms 33, 34, and 35 are installed at three of the four corners of the collimation plate 31.

[0027] More specifically, as shown in Fig. 7, a figure is drawn on the collimation plate 31, in which two diagonal rectangles are arranged one above the other, facing the same direction and sharing one side. Therefore, the sides of each rectangle are vertical lines 31a, 31a and horizontal lines 31b, 31b, and the diagonal line is oblique line 31c. Prisms 33, 34, and 35 are disposed at the upper left, upper right, and lower right positions of the collimation plate 31, respectively. Note that the prisms serving as the measurement means are not limited to these positions, and there need only be at least three, and there may be four or more.

[0028] When in use, the measuring unit 40 continuously scans the side wall 10 of the body 1, and also continuously scans a special figure on the sighting plate 31, and the total station TS measures the direction and distance to the three prisms 33, 34, and 35.

[0029] (Method of identifying measurement position using reflection intensity) Next, a method for identifying a measurement position using reflection intensity will be described.

[0030] 1) The distance sensor 41 of the measurement unit 40 rotates the measurement device, for example, at a recognition angle of 0.125 degrees, measures the direction (angle), irradiates a laser in each direction, receives the reflected light, and measures (scans) the distance to the object corresponding to the angle.

[0031] 2) At this time, the distance sensor 41 also measures the reflection intensity, which is affected by the reflectance of the reflected light. For example, in the case of a monochrome figure, the whiter the object, the higher the reflectance, and the darker the object, the lower the reflectance.

[0032] 3) Therefore, by drawing a white line on a black background, the reflection intensity can be perceived as a particularly large value only when the angle passes through this line. Note that as long as the reflectivity varies in strength, it is not necessary to limit it to a combination of white and black.

[0033] 4) As explained above, there is no need to identify the position on the board when the rotation of the distance sensor 41 is stopped, as in the existing method. It is possible to identify the own measurement position while continuing continuous measurements, making it possible to unify coordinates more efficiently.

[0034] 5) It is also possible to improve accuracy by drawing thicker lines to prevent non-detection of the measurement position or by recognizing the measurement as an average value of multiple positions (see FIGS. 6(a) and 6(b)). In addition, it is also preferable to improve the precision of reflection intensity measurement by relatively slowing down the rotation speed of the distance sensor 41.

[0035] The calculation unit, which is a functional unit of the control unit 60, has functional units 61-63 that calculate the amount of subsidence s, the amount of tilt θ, and the amount of eccentricity e, and a functional unit 64 that unifies the coordinates of the multiple measurement units 40, ... (i.e., the function of specifying the positions and rotation directions of the multiple measurement units 40, ... in a unified coordinate system). The control unit 60's function of calculating the amount of subsidence s, the amount of tilt θ, and the amount of eccentricity e and its function of unifying the coordinates of the multiple measurement units 40, ... enable accurate measurement (actual measurement and estimation) of the posture of the building frame 1. Of these, the function of calculating the amount of subsidence s, the amount of tilt θ, and the amount of eccentricity e has been described above, so a description thereof will be omitted. Below, a method for unifying the coordinates of the multiple measurement units 40, ... will be described.

[0036] (Coordinate unification method) Here, we will explain an example of a coordinate unification method when using multiple measurement units 40, ... to measure the posture of the body 1. This coordinate unification method is realized by executing the following steps 1) to 5).

[0037] 1) After constructing a lot partway through the skeleton 1, multiple measurement units 40 (range sensors) are fixed at planned positions. Specifically, for example, four measurement units 40 are installed using tripods or the like at four locations: near the 0 degree (east) position, near the 90 degree (north) position, near the 180 degree (west) position, and near the 270 degree (south) position.

[0038] 2) Furthermore, in correspondence with the measurement units 40, collimation units (dedicated panels) 30, ... for unifying coordinates are installed outside the respective measurement units 40. After that, the body 1 is actually lowered.

[0039] 3) Each measuring unit 40 (range sensor) continuously scans the side wall 10 of the body 1 and the corresponding collimation unit (dedicated panel) 30, measuring the angle and distance. That is, the distance sensor 41 is rotated by the rotation mechanism 42 to measure the distance, while the rotation position detection unit 43 measures the rotation angle. In this case, a special figure (see Figures 6 and 7) is drawn on the collimation unit (dedicated panel) 30 for unifying coordinates, and prisms 33, 34, and 35 for the total station TS are attached to three of the four corners. Therefore, the positional relationship between the position scanned by the measurement unit 40 and the prisms 33, 34, and 35 can be recognized.

[0040] 4) Without moving the position of the collimation unit (dedicated panel) 30, for example, a total station TS installed in a position overlooking the two collimation units 30, 30 is used to measure the three prisms 33, 34, 35 (see Figure 7).

[0041] 5) Then, the three-dimensional coordinates of each measurement unit 40 are analyzed from the measurement results of 2) to 4) above, and the coordinates are unified. The steps of 2) to 4) can be performed using four collimation units 30. Furthermore, the collimation units 30 can also be performed electronically using commercially available tablet terminals or the like. Regarding the coordinate unification method, various assumptions can be used to simplify the calculation conditions if necessary. The coordinate unification can be performed before the start of settlement, and can also be performed during construction for the purpose of calibration.

[0042] The specific calculation can be performed as follows. a) Based on the measurement values, the relative positional relationship between the positions and angles of the four measurement units 40 (distance sensors 41) and the positions of the four collimation units 30, ... is calculated. This method will be explained next. b) Based on the measurement values, the relative positional relationship between the positions of the four collimation units 30, ... and the total station TS is calculated. c) Based on the two positional relationships calculated in a) and b), the relative positional relationship between the position of the total station TS and the positions and angles of the four measuring units 40 (distance sensors 41) is calculated. In other words, coordinate unification is achieved.

[0043] (Identifying the position and angle of the measurement part using special graphics) Here, a method for specifying the position and angle of the measurement part using a special graphic will be described. 1) An example of a special shape is shown in Figure 7. This figure is made up of two identical right-angled triangles with their hypotenuses overlapping each other, and the background of the board is black, and the figure is drawn in white. 2) When the distance sensor 41 is continuously scanned over the dedicated board, the reflection intensity is recognized as a prominent value only at the position of the figure drawn in white, and five points can be recognized as shown in Figure 8(a). 3) It is possible to calculate the distance L based on the recognized points. 4) If L can be determined, the angle can be determined (see Figure 8(b)). θ=sin -1 (A / L)=θ1 or θ2 θ1+θ2=180° 5) Furthermore, if L1, L2, L3, and L4 can be identified, X1, Y1, X3, and Y3, i.e., points b and d, can be identified (see Figure 9). X1=B×L1 / (L1+L2) Y1=A×L1 / (L1+L2) X3=B×L3 / (L3+L4) Y3=A×L3 / (L3+L4) Furthermore, if X1 and X3 can be identified, it can be determined whether θ is θ1 or θ2 depending on the magnitude of X1 and X3. 6) Also, if L1, L2, L3, and L4 can be identified, ΔX 11 , ΔX 12 , ΔX 21 , ΔX 22 , i.e., points a, c, and e can be identified (see Figure 10). X 01 =cosθ×(L1+L2) X 02 =cosθ×(L3+L4) ΔX 11 =X 01 ×L2 / (L1+L2) ΔX 12 =X 01 ×L1 / (L1+L2) ΔX 21 =X 02 ×L4 / (L3+L4) ΔX 22 =X 02 ×L3 / (L3+L4) 7) As a result of the above, it is possible to identify the measurement coordinates of five points on the dedicated board. Since the positional relationships between multiple dedicated boards are identified using a separately prepared transit or the like, it is possible to unify the coordinates of multiple distance sensors 41. 8) Although the explanation of the procedure is omitted, it is also possible to unify the coordinates using shapes other than those shown here (see, for example, Figure 11), and the shape is not limited.

[0044] (effect) Next, the effects achieved by the coordinate unified measurement system U of this embodiment will be listed and explained.

[0045] (1) As described above, the coordinate unified measurement system U of this embodiment is a coordinate unified measurement system U that measures the posture of the skeleton 1 in a submerged construction method, and includes a plurality of measurement units 40,..., that are installed around the skeleton 1 and scan the side wall 10 of the skeleton 1, and that have a non-contact distance sensor 41, a rotation mechanism 42 that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 by the rotation mechanism 42; and the positions of the respective measurement units 40,... The system includes one or more collimation units 30 for determining the position and rotation direction of each of the collimation units 30; a total station TS for measuring the position and orientation of the one or more collimation units 30; and a control unit 60 as a calculation unit that calculates the amount of subsidence s, the amount of tilt θ, and / or the amount of eccentricity e based on the measurement results of multiple points on the side wall 10 of the building structure 1. The control unit 60 as a calculation unit determines the positions and rotation directions of the multiple measurement units 40 in a unified coordinate system based on the measurement values ​​of the reflection intensity from the one or more collimation units 30. With this configuration, the coordinates of the multiple measurement units 40 can be unified using a simple method, allowing for highly accurate posture measurement. Furthermore, by unifying the coordinates in this manner, multiple measurement values ​​can be linked with other multiple measurement values, and the posture of the building structure 1 can be predicted based on the measurement values.

[0046] (2) Furthermore, one or more collimation units 30 are provided with an identifying means for identifying the position and rotation direction of each of the multiple measurement units 40, and a measured means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. In this way, by using an identifying means and a measured means along the way, it becomes possible to indirectly measure and calculate the relative positions of the multiple measurement units 40 from the total station TS.

[0047] (3) Furthermore, one or more collimation units 30 have, as a specifying means, a collimation plate 31 on which a special figure including vertical lines 31a, horizontal lines 31b, and diagonal lines 31c is drawn, and at least three prisms 33, 34, and 35 fixed to the collimation plate 31 as a measured means, thereby making it possible to realize the specifying means and the measured means with a relatively simple configuration.

[0048] (4) Furthermore, the sighting plate 31, which serves as an identification means, has a figure drawn on it of two rectangles with diagonals drawn on them, facing the same direction and sharing one side, so that a special figure can be constructed extremely easily and accurately, and the position and direction of the measuring unit 40 can be easily identified.

[0049] (5) Furthermore, one or more collimation units 40, ... are arranged on the scanning plane of the measurement unit 40, ... and are arranged so that their position and orientation can be observed by the total station TS. Therefore, measurement of the side wall 10 and self-positioning can be completed as a series of operations with a single scanning operation, making real-time measurement possible, enabling accurate measurement, and extremely high work efficiency.

[0050] (6) Furthermore, in the body 1, draft marks 10a are drawn at predetermined heights on the surfaces of the side walls facing the multiple measuring units 40, so the amount of subsidence s can be measured in real time with almost no error. Furthermore, one measuring unit 40 can measure not only the distance (the amount of tilt θ in the front-to-back direction) but also the left-to-right tilt.

[0051] (7) The coordinate unified measurement method using the coordinate unified measurement system U of this embodiment is a coordinate unified measurement method using the coordinate unified measurement system of (5) above, and includes the steps of installing a plurality of measurement units 40,...; the plurality of measurement units 40,... measuring one or more collimation units 30,...; the total station TS measuring one or more collimation units 30,...; the control unit 60 as a calculation unit specifying the positions and rotation directions of the plurality of measurement units 40,... in the unified coordinate system based on the measurement values ​​of the reflection intensity from the one or more collimation units 30,...; the plurality of measurement units 40,... whose positions and rotation directions have been specified in the unified coordinate system scanning the side wall of the body 1; and the control unit 60 calculating the amount of subsidence s, the amount of tilt θ, and / or the amount of eccentricity e based on the measurement results. With this configuration, the coordinates of the multiple measurement units 40 can be unified using a simple method, allowing for highly accurate posture measurement. Furthermore, by unifying the coordinates in this way, multiple measurement values ​​can be linked with other multiple measurement values, allowing the posture of the building 1 to be predicted based on the measurement values.

[0052] Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention. [Explanation of symbols]

[0053] 1: Body; 10: Side wall; 10a: Draft mark; 30: Collimation section; 31: collimation plate; 31a: vertical line; 31b: horizontal line; 31c: diagonal line; 33, 34, 35: Prism; 40: Measurement section; 41: distance sensor; 42: rotation mechanism; 43: rotation position detection unit; 60: Control unit (calculation unit); 61: Subsidence amount calculation unit; 62: Inclination amount calculation unit; 63: Eccentricity amount calculation unit; 64:Coordinate Unification Department; 65: keyboard; 66: mouse; 71: monitor; S: Posture measurement device; TS: total station; U: Coordinate Unified Measurement System; s: Settlement amount; θ: Inclination amount; e: Eccentricity amount

Claims

1. A coordinate unified measurement system for submerged construction; a plurality of measuring units that are installed around a skeleton constructed in a construction process using the submerged construction method and scan a side wall of the skeleton, the measuring units having a non-contact distance sensor, a rotation mechanism that rotates the distance sensor, and a rotation position detection unit that detects the rotation position of the distance sensor caused by the rotation mechanism; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of one or more of the collimation units; a calculation unit that calculates the amount of subsidence, the amount of tilt, and / or the amount of eccentricity based on the measurement results of multiple points on the side wall of the body; A coordinate unified measurement system, wherein the calculation unit is configured to identify the positions and rotation directions of the multiple measurement units in a unified coordinate system based on measurement values ​​of reflection intensity from one or more of the collimation units.

2. 2. The coordinate-integrated measurement system according to claim 1, wherein one or more of the collimation units comprises an identifying means for identifying the position and rotational direction of each of the plurality of measurement units, and a measured means for measuring the position and orientation of the collimation unit itself by the total station.

3. 3. The coordinate-integrated measurement system according to claim 2, wherein one or more of the collimation units have, as the identification means, a collimation plate on which vertical lines, horizontal lines, and diagonal lines are drawn, and as the measurement means, at least three prisms fixed to the collimation plate.

4. 4. The coordinate unified measurement system according to claim 3, wherein the sighting plate as the identifying means has a figure drawn on it in which two rectangles with diagonals drawn thereon are arranged in the same direction and share one side.

5. 5. A coordinate-integrated measurement system according to claim 1, wherein one or more of the collimation units are arranged on a scanning plane of the measurement unit and are arranged so that their position and orientation can be observed by the total station.

6. 6. The coordinate unified measurement system according to claim 5, wherein draft marks are drawn on the side walls of the body facing the plurality of measurement units at predetermined heights so that light and dark can be distinguished.

7. A coordinate unified measurement method using the coordinate unified measurement system according to claim 5, a step of installing a plurality of the measurement units; A step in which the plurality of measurement units measure one or more collimation units; The total station measures one or more collimation units; a step in which the calculation unit specifies positions and rotation directions of the plurality of measurement units in a unified coordinate system based on measurement values ​​of reflection intensities from one or more of the collimation units; a step of scanning a side wall of the body with a plurality of the measurement units whose positions and rotation directions are specified in a unified coordinate system; and a step in which the calculation device calculates the amount of subsidence, tilt, and / or eccentricity based on the measurement results.

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