Method for calculating adjustment amount, method for constructing a structure, adjustment device, adjustment amount calculation system, and tilt adjustment system

Abstract

This invention provides a method for accurately measuring the displacement of the column heads of steel columns during the steel frame erection process. [Solution] Sensor devices are sequentially attached to each designated location on the column (object), and initial settings are performed on each sensor device (S2). Information on the inclination angle of each column is acquired using the sensor device (S4). The position and shape of the column top of each column to be measured are calculated using the acquired inclination angle information (S5). Based on the calculated shape, the amount of deviation of the column top from the reference and the point with the largest deviation from the reference, as well as the amount of that deviation, are determined (S6).

Description

[Technical Field]

[0001] The present invention relates to a method for acquiring shape, a method for managing an object, a method for constructing a steel frame structure, and a shape acquisition system. More specifically, it relates to a shape acquisition method, a method for managing an object, a method for constructing a steel frame structure using the shape acquisition method, and a shape acquisition system suitable for cases where at least a part of a structure (hereinafter also referred to as a building or structure, etc.) including steel frames is the object. This application claims priority based on Japanese Patent Application No. 2021-106519, filed on June 28, 2021, and the contents of that application are incorporated herein by reference. [Background technology]

[0002] Traditionally, when constructing building structures, it has been necessary to inspect whether the structural materials constituting columns, walls, etc., are assembled without tilting or distortion. For example, the accuracy of steel frame erection was generally measured using a three-dimensional surveying machine that optically measures the position of a target attached to a steel column. However, due to obstacles and other factors at actual construction sites, it was sometimes difficult to measure using a surveying machine that uses light. To improve this inconvenience, an invention has been made of a tilt measuring device that measures the tilt of steel columns using a tilt measuring instrument (sensor) that does not use light for measuring the accuracy of steel frame erection (see, for example, Patent Document 1).

[0003] However, while the device described in Patent Document 1 can measure the tilting of steel columns during the steel frame erection process, it cannot accurately measure the displacement of the column heads, nor can it measure the shape of the steel columns. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2018-179533 [Overview of the project] [Means for solving the problem]

[0005] According to a first aspect of the present invention, a measurement method for acquiring shape information of an object, comprising: acquiring tilt angle information of the object at each of the plurality of points on the object using sensors attached to the plurality of points on the object, which are located at different positions with respect to at least a first direction; acquiring position information of the object with respect to a second direction intersecting the first direction at each of the plurality of points based on the acquired tilt angle information; and determining shape information of the object based on the acquired position information. According to a second aspect of the present invention, a method for constructing a structure in which each of a plurality of columns has a plurality of sections, comprising: installing a plurality of lower section columns substantially parallel to a first direction; connecting the lower section columns and the upper section columns with a construction jig in order to erect a plurality of upper section columns on each of the plurality of lower section columns; acquiring inclination angle information of each of the plurality of upper section columns at a plurality of points on each of the plurality of upper section columns using sensors attached at a plurality of points that are at least different positions with respect to the first direction; acquiring position information of each of the plurality of upper section columns with respect to a second direction intersecting the first direction based on the acquired inclination angle information; determining shape information of the upper section columns based on the acquired position information; and adjusting the construction jig on the plurality of columns substantially parallel to each other based on the shape information obtained for the plurality of upper section columns. According to a third aspect of the present invention, a method for managing a structure includes repeatedly performing the above-described measurement method on at least a part of the structure as the object, and detecting shape change information of the object based on the shape information obtained each time the measurement is performed. According to a fourth aspect of the present invention, a shape acquisition system for acquiring shape information of an object comprises a sensor attached to the object for acquiring inclination angle information of the object, and an analysis device connected to the sensor via a network, wherein data including the inclination angle information, output from sensors attached to a plurality of points on the object at different positions with respect to at least a first direction, is transmitted to the analysis device via the network, and the analysis device acquires position information of the object with respect to a second direction intersecting the first direction at each of the plurality of points based on the inclination angle information, and determines the shape information of the object based on the position information. A fifth aspect of the present invention provides a shape acquisition method for acquiring shape information of an object, which includes acquiring information on the inclination angle of the object at multiple points using a plurality of sensors attached to the object, and calculating the shape information of the object using the acquired inclination angle information at the plurality of points.

[0006] According to a sixth aspect of the present invention, a method for managing an object is provided, which includes repeatedly performing the shape acquisition method described above and monitoring the change in the shape of the object over time based on the shape information obtained each time the method is performed.

[0007] According to a seventh aspect of the present invention, a method for erecting a steel frame structure including columns of multiple sections is provided, in which, when individually erecting multiple upper sections on each of multiple lower sections erected in a predetermined arrangement, the method includes: acquiring shape information of one surface extending in the longitudinal direction of each of the multiple lower sections using the shape acquisition method according to the first aspect; determining a first positional displacement amount from a reference of the column head in a direction perpendicular to the one surface of each of the multiple lower sections based on the acquired shape information; and newly determining an erection target value for each of the multiple upper sections considering the determined first positional displacement amount. Here, "erection" is a term meaning the degree of verticality of the column, and the erection target value means the target value of the degree of verticality of the column, i.e., the target value of the inclination angle.

[0008] According to an eighth aspect of the present invention, a method for erecting a steel frame structure including columns of multiple sections is provided, which involves individually erecting multiple upper sections on each of multiple lower sections erected in a predetermined arrangement, wherein the multiple upper sections are individually placed on each of the multiple lower sections, and the lower sections and upper sections are connected using multiple erection jigs; shape information of a first surface and a second surface extending in the longitudinal direction and intersecting each other is acquired for each of the multiple upper sections using the shape acquisition method described in claim 4; and based on the acquired shape information of the first and second surfaces for each of the multiple upper sections, a control device controls multiple drive devices individually provided on the multiple erection jigs in parallel to automatically adjust the position of the column heads of the multiple upper sections.

[0009] According to a ninth aspect of the present invention, a shape acquisition system for acquiring shape information of an object is provided, comprising: an analysis device and a terminal device connected to each other via a wide-area network; and a plurality of sensor devices, each connected to the terminal device via a communication line and attached to different locations on the object when in use, outputting sensor data including information on the inclination angle at each attachment location via the communication line, wherein each of the plurality of sensor devices outputs the sensor data based on an external command or at a predetermined timing; the terminal device transmits the sensor data output from each of the plurality of sensor devices to the analysis device via the wide-area network; and the analysis device calculates the shape information of the object using the inclination angle information included in the plurality of sensor data received via the wide-area network, and stores the obtained shape information in storage.

[0010] Here, the communication line and the wide-area network may be part of the same network. [Brief explanation of the drawing]

[0011] [Figure 1]This diagram schematically shows the overall configuration of a shape acquisition system according to the first embodiment for implementing a shape acquisition method. [Figure 2] This block diagram shows an example of the configuration of the sensor device shown in Figure 1. [Figure 3] This is a perspective view showing a steel-framed building, including numerous steel columns which are the objects of shape measurement, with some parts omitted. [Figure 4] Part (A) of Figure 4 is a side view showing the sensor device fixed to the steel column, and part (B) of Figure 4 is a bottom view showing the sensor device. [Figure 5] This is a flowchart showing the flow of the shape acquisition method according to this embodiment. [Figure 6] This figure shows a column selected as the measurement target and three sensor devices attached to the column, used to explain the shape acquisition method according to this embodiment. [Figure 7] This flowchart shows the processing algorithm executed by the CPU of the sensor device's processing unit. [Figure 8] This flowchart shows the processing algorithm for the interrupt handling routine executed by the server's CPU. [Figure 9] This diagram explains the meaning of the tilt angle output from the sensor device. [Figure 10] This diagram illustrates a method for calculating the shape of the measurement surface (first surface) of the column 1001 to which sensor devices 181-183 are attached. [Figure 11] This figure shows an example where sensor devices are placed at the same height on two mutually orthogonal surfaces extending along the longitudinal direction of a column. [Figure 12] This figure shows an example of a system configuration for constructing steel-frame buildings. [Figure 13] This diagram illustrates a construction jig, showing the jig in a state where the erection piece 102a of column 100m and the erection piece 102b of column 100n are connected. [Figure 14]This diagram shows a construction jig assembled to the erection piece 102a at the top of a 100m column, and also shows the construction jig in an open state. [Figure 15] This is a flowchart showing the process for erecting the n-section column. [Figure 16] This is a diagram illustrating the steel frame used for beams. [Figure 17] This diagram illustrates the new setting of target values ​​for the installation of a second column to compensate for the positional displacement of the first column's head in the X-axis direction when a second column is erected on top of a first column. [Modes for carrying out the invention]

[0012] 《First Embodiment》 The first embodiment will be described below with reference to Figures 1 to 11. Here, as an example, the case in which the object is a steel column 100 constituting a steel frame building 110 shown in Figure 3 will be described, but the object is not limited to a steel column. In the following, as shown in Figure 3, the vertical direction (direction of gravity) will be defined as the Z-axis direction, the left-right direction in the plane of the paper in Figure 3 will be defined as the X-axis direction, the direction perpendicular to the Z-axis and the X-axis will be defined as the Y-axis direction, and the inclination (rotation) directions around the X-axis, Y-axis, and Z-axis will be defined as the θx, θy, and θz directions, respectively.

[0013] Figure 1 schematically shows the overall configuration of a shape acquisition system 10 according to a first embodiment for implementing a shape acquisition method. The shape acquisition system 10 includes a server 12 that also functions as an analysis device, a field-side controller 14 and a mobile terminal 16 that also function as terminal devices, all connected to each other via a wide-area network (hereinafter abbreviated as "network") 13 such as the Internet, and a plurality of sensor devices 18 connected to the field-side controller 14 via a communication line, such as a wireless LAN. i It is composed of (i=1, 2, 3, ...). Figure 1 shows multiple sensor devices 18 iOf these, three sensor devices 181-183 are shown as representative examples. Note that the communication lines may all be wireless, but at least some may be wired. Also, the terminal device 14 is not necessarily required; multiple sensor devices 18... i The output may also be provided directly to the server 12 via the network 13. In other words, the communication line and the wide-area network 13 may be part of the same network. Furthermore, the terminal device does not include a field controller and may consist only of a mobile PC or smartphone.

[0014] In this embodiment, a general-purpose server computer is used as the server 12, but a cloud (computer) may also be used. The server 12 is equipped with a CPU, ROM, RAM, HDD, etc. (storage) (not shown), and the CPU, for example, uses RAM as a working area and executes various processing algorithms defined by various programs stored in the ROM, HDD, etc. Note that the server 12, which also functions as an analysis device, is not limited to this embodiment and may also be configured with multiple sensor devices 18 i The system should at least have a configuration (or function) that can calculate the shape information of the target object (steel column 100) based on the output. Furthermore, the analysis device is not limited to hardware as in this embodiment; for example, it may be software capable of at least performing calculation functions.

[0015] Furthermore, when the server 12 receives sensor data (including ID) from the field controller 14 via the network 13, as will be described later, it executes the interrupt processing routine described later to obtain some shape information of the target object (measurement target). The processing of the interrupt processing routine will be described in detail later.

[0016] In this embodiment, the field-side controller 14 is a commonly used computer. The field-side controller 14 incorporates, for example, a CPU, ROM, RAM, and HDD (not shown in the diagram). The CPU, for example, uses RAM as a workspace and executes processing algorithms defined by programs stored in the ROM, HDD, etc. The field-side controller 14 is equipped with an operating unit such as a keyboard and mouse, and a display screen such as an LCD. In this embodiment, the field-side controller 14 communicates data with the server 12 and mobile terminal 16 via the network 13 in response to instructions input via the operating unit by the site supervisor or other administrator. Furthermore, the field-side controller 14 is connected to multiple sensor devices 18, as will be described later. i When multiple sensor data are sent via the communication line, the system extracts sensor data for the same object from the multiple sensor data, bundles them together (for example, by linking them using the same ID), and sends them to server 12.

[0017] Mobile device 16 is carried by a worker at a construction site. Mobile device 16 is a commonly used portable computer, such as a tablet PC. Mobile device 16 may also be a smartphone.

[0018] Sensor device 18 i Each of these units, as shown in Figure 2, comprises an angle sensor 181, a processing unit 182, a wireless communication unit 183, and a power supply unit 184 consisting of, for example, a battery, as well as a waterproof housing 185 that houses these components. Power supply from the power supply unit 185 to each part of the sensor device can be turned on and off by operating a power switch 186 provided on the housing 185. Note that the communication unit 183 is not limited to wireless and may be wired in part. i It is not necessarily required to provide a power switch 186; the system may be configured to allow power to be turned on and off from an external source (such as the server 12 or the field controller 14). iIt is not limited to the configuration of this embodiment, and it is not necessary to integrally configure the angle sensor 181, the communication unit 183, etc. It is sufficient to have only the function of measuring the angle information of the installation location of at least the angle sensor 181, that is, the sensor device 18 i For example, the angle sensor 181 and other parts (including the arithmetic processing unit 182, etc.) can be connected by a wireless or wired communication line, and the output of sensor data from the angle sensor 181 and the power supply to the angle sensor 181 can be configured to be performed via the communication line. In this case, it is not necessary to provide other parts for each angle sensor 181, and a plurality of angle sensors 181 can be connected to the same other part via a communication line. Also, the function of this other part can be provided in the on-site controller 14.

[0019] As the angle sensor 181, in this embodiment, as an example, a 3DMEMS (3-dimensional microelectromechanical system) tilt angle sensor is used. The 3DMEMS tilt angle sensor is a precision tilt sensor produced using 3DMEMS technology and is hereinafter simply referred to as a 3DMEMS sensor. The required power of the 3DMEMS tilt angle sensor is extremely low, with a power consumption in the microampere range, and it is suitable for wireless applications. As the angle sensor 181, a device incorporating two MEMS acceleration sensors with symmetric output characteristics and an ASIC is used, and for example, it outputs information on the tilt angles (α, β, γ) in three directions (the θx direction, the θy direction, and the θz direction). The angle sensor is not limited to the 3DMEMS tilt angle sensor, and other types of three-dimensional tilt angle sensors may be used. Also, the angle sensor is not limited to the three-dimensional tilt angle sensor depending on the measurement object, and a two-dimensional tilt angle sensor or a one-dimensional tilt angle sensor may be used. At this time, a two-dimensional tilt angle sensor and a one-dimensional tilt angle sensor may be combined, or a plurality of two-dimensional or one-dimensional tilt angle sensors may be combined and used.

[0020] The arithmetic processing unit 182 consists of, for example, a microcontroller (MCU) and includes a CPU (not shown), memory devices (RAM, ROM), input / output circuits, and timer circuits. The arithmetic processing unit 182 executes a processing algorithm defined by a program stored in ROM. Alternatively, the functions of the arithmetic processing unit 182 may be integrated into the ASIC built into the angle sensor 181 instead of providing a separate arithmetic processing unit 182.

[0021] Here, sensor device 18 i An example of a structure for attaching the sensor to a steel column (hereinafter referred to as "column" as appropriate) will be described. Figure 4(A) shows a sensor device 18 fixed to the column 100. i A side view of the sensor device 18 is shown. Also, Figure 4(B) shows the sensor device 18 i A bottom view is shown.

[0022] As shown in Figures 4(A) and 4(B), a plate-shaped cushion member 188 made of, for example, urethane, silicone, rubber, or felt is attached to the bottom surface of the housing 185. Multiple recesses, for example six, are formed on the bottom of the housing 185 opposite the cushion member 188, and a permanent magnet 190 is placed in each of these recesses. Sensor device 18 i The sensor device 18 is attached to the column 100 by the magnetic force of multiple permanent magnets 190 via a cushion member 188. This ensures that the sensor device 18 is hardly affected by irregularities on the mounting surface of the column 100 caused by rust or other factors. i This effectively suppresses the occurrence of tilt errors during installation. A magnetic shielding member 189 is provided near the bottom of the housing 185. The number and shape of the permanent magnets are not particularly limited, and the shape of the recess formed at the bottom of the housing 185 only needs to be such that permanent magnets can be placed. In addition, the cushioning member 188 is provided for the sensor device 18 i Depending on factors such as the flatness of the mounting surface of the column to which it is attached, it may not necessarily be required.

[0023] Next, the flow of the shape acquisition method according to this embodiment will be explained based on the flowchart in Figure 5. Sensor device 18i These devices are attached to the columns selected as the measurement target from among the many columns that make up the steel frame building 110 shown in Figure 3. In the following, we will take up as appropriate the single column 1001 and the three sensor devices 181 to 183 attached to column 1001 shown in Figure 6 in our explanation. In Figure 6, the three sensor devices 181 to 183 are arranged from bottom to top on the +X side face of column 1001 (hereinafter also referred to as the first face or measurement face).

[0024] As a prerequisite, the server 12 stores data such as the design drawings of the steel frame building 110 in its storage (HDD, etc.) through communication between the on-site controller 14 and the server 12 via the network 13. The server also instructs the on-site controller 14 on the conditions that are prerequisites for measurement based on the design drawing data. These conditions include the number of sensor devices to be attached to the column to be measured and their mounting positions.

[0025] First, a site supervisor or other on-site manager, in response to instructions from the server, identifies the columns and measurement locations (also called measurement points or measurement points) via the on-site controller 14, notifies the on-site workers of the identified locations via email or other means, and instructs them to carry out the measurement preparations (Step S1 in Figure 5). The contents of these instructions are also displayed on the display screen of the mobile terminal 16. Here, the columns are identified using column numbers (001, 002, ...), and the measurement locations are identified using numbers (01, 02, ...) in order from the bottom. Each measurement location is determined such that, for example, the distance from the base is a predetermined value when the column is erected. In this embodiment, instructions are given to on-site workers via the on-site controller 14, but work instructions may also be sent from the server 12 to the mobile terminal 16 carried by the worker via the network 13. In this case, it is preferable for the manager to input the identification details, such as the measurement locations, into the server 12 in advance.

[0026] The on-site worker, after reviewing the instructions via email, etc., followed those instructions to measure the target column 100. j and a sensor device 18 at the measurement location iThe sensors are installed sequentially, and each installed sensor device 18 i Initial setup is performed (step S2 in Figure 5). Here, each sensor device 18 i Each sensor device 18 i The necessary settings have been made in advance so that it can communicate with the field controller 14 via the communication line (wireless LAN). However, after that setting, the switch 186 is temporarily set to OFF. Here, the sensor device 18 i 100 pillars j In this embodiment, attachment to the sensor device 18 is performed with a single touch using magnetic force, as described above. i With switch 186 turned ON (on state), column 100 j It can be attached to this.

[0027] The sensor device 18 described above i The initial settings are for the sensor device 18 i The switch 186 is turned ON, and the sensor device 18 is controlled via the display operation unit 187. i This includes inputting identification information. For example, identification information (001-01), (001-02), and (001-03) are individually input to each of the three sensor devices 181, 182, and 183 shown in Figure 6, and each arithmetic processing unit 182 stores the input identification information in its internal memory (RAM). This allows the sensor device 18 i The sensor device 18 will be in a standby state where it can take measurements at any time. i If the switch is left in the ON position during installation, operation of switch 186 is unnecessary.

[0028] Once all sensor devices used for measurement have been installed and initialized, the on-site worker notifies the site supervisor or other manager via email or other means that the instructed measurement preparations are complete (Step S3 in Figure 5).

[0029] Next, the column to be measured, 100 jInformation on the inclination angle at each measurement point is acquired using a sensor device (step S4 in Figure 5).

[0030] Once the information on the inclination angle at each measurement point of the column to be measured (i.e., the column as an object) has been acquired, the position and shape of the top of each column to be measured are calculated using the acquired inclination angle information (step S5 in Figure 5). In this embodiment, the shape of the column is calculated as the two-dimensional shape (shape in the XZ plane) of one surface to which the sensor device is attached.

[0031] Once the calculation of the column shape is complete, based on the calculated shape, the point where the deviation of the column head from the reference (see the Z-axis in Figure 10) and the deviation from the reference (corresponding to the column deflection) are greatest, and the amount of that deviation are determined (Step S6 in Figure 5).

[0032] Steps S4 to S6 described above are performed by the shape acquisition system 10 in this embodiment, so the operation of each component of the shape acquisition system 10 will be described below.

[0033] First, the operation of each sensor device used in the process of step S4 will be explained based on the flowchart in Figure 7. This flowchart shows the processing algorithm defined by the program, which is executed by the CPU of the arithmetic processing unit 182. For convenience, the processing algorithm shown in the flowchart of Figure 7 will be assumed to start when the initial setup of each sensor device described above is completed.

[0034] First, in step S22, the system waits for the instruction to start measurement to be input. The instruction to start measurement is input by the administrator via the on-site controller 14. The administrator can recognize that the measurement preparation is complete when the worker notifies them in step S3 that the measurement preparation is complete, and from this point onward, the system will start each sensor device 18 at an appropriate time. i The instruction to start measurement is input to the field-side controller 14 via the operation unit.

[0035] Then, when an instruction to start measurement is received from the field controller 14 via the communication line and wireless communication unit 183, the process proceeds to step S24. In step S24, the angle sensor 181 is instructed to take a measurement, and information on the tilt angle (at least one of the maximum three axes) measured by the angle sensor 181 is acquired.

[0036] In the next step, S26, the acquired output information is assigned an ID (identification code) and transmitted as a single data unit to the field controller 14 via the wireless communication unit 183. Here, the ID used is a number (code) created based on the identification information entered by the operator during initial setup and stored in RAM. For example, for sensor devices 181, 182, and 183, numbers (codes) corresponding to identification information 001-01, 001-02, and 001-03 are created as IDs, respectively.

[0037] When the process in step S26 is completed, the process is terminated. This terminates the sensor device 18 i The device will remain in standby mode until the next instruction to start measurement is received. The above steps S22 to S26 are performed on all sensor devices 18 i It will be held at [location].

[0038] The field controller 14 sequentially stores the received sensor data in a predetermined storage area of ​​RAM. If multiple sensor data are received simultaneously, the field controller 14 stores the sensor data in the predetermined storage area of ​​RAM concurrently using time-division multiplexing. The newly stored data is then transmitted to the server 12 via the network 13 by the field controller 14 once sensor data for three measurement points (upper, middle, and lower) on the same pole is available. For example, in the case of pole 1001, three pieces of data containing IDs corresponding to identification information 001-01, 001-02, and 001-03 are transmitted to the server 12 as a single unit.

[0039] The field controller 14 may also display the identification data of the column corresponding to the data being transmitted on the display screen when it sends data to the server 12.

[0040] Next, the operation of the server used in steps S5 and S6 will be explained based on the flowchart in Figure 8. This flowchart shows the processing algorithm of the interrupt handling routine defined by the program, which is executed by the CPU of server 12. This interrupt handling routine is executed, for example, each time the acquisition of sensor data sent from the field controller 14 is completed. However, the timing of the interrupt handling routine is not limited to this; it may also be executed when sensor data acquisition has completed multiple times.

[0041] First, in step S32, the acquired sensor data is used to control column 100 j Calculate the shape data. Here, we will explain an example of how to calculate the shape of a column. Here, as an example, we will briefly explain the case of calculating the shape in the XZ plane of the first surface (hereinafter referred to as the measurement surface Ws) of column 1001 to which the sensor devices 181-183 are attached. The reason we are focusing on the shape in the XZ plane here is that in column 1001, three sensor devices 181-183 are arranged vertically on the measurement surface Ws. i Since it includes an angle sensor 181 consisting of a 3DMEMS sensor, the tilt angle β of the normal vector at each measurement point (measurement point) of the measurement surface Ws shown on the left side of Figure 9 i As shown on the right side of Figure 9, the sensor device 18 i It outputs the inclination (angle relative to the axis of gravity). Therefore, setting a reference point, as is done with conventional 3D surveying equipment, is unnecessary.

[0042] As shown in Figure 10, if we represent the sensor devices 181, 182, and 183 as points P1, P2, and P3, respectively, and let P1(X1, Z1), P2(X2, Z2), and P3(X3, Z3) be the positions on the measurement surface Ws where the sensor devices 181, 182, and 183 are attached, then the X position X2 of point P2 and the X position X3 of point P3 can be calculated as follows. Note that the origin of the XZ coordinate system is set to the lower end point of the measurement surface Ws whose shape is to be determined.

[0043] X2=X1+tan{(β1+β2) / 2}×(Z2-Z1)……(1) X3=X2+tan{(β2+β3) / 2}×(Z3-Z2)……(2)

[0044] However, in Figure 10 (and Figure 9), the tilt angle β1 measured by the sensor device 181 is shown to be larger than it actually is, in order to make the explanation visually easier to understand. In reality, since the tilt angle β1 is a small angle, the X position X1 of point P1 is X1 ≈ Z1 tan β1 ≈ 0, and by substituting this into equation (1), X2 can be calculated from the known values ​​Z2, Z1, β1, β2, and further by substituting the calculated X2 into equation (2), X3 can be calculated from the known values ​​X2, Z2, Z3, β2, β3.

[0045] Next, by fitting the obtained points P1(X1, Z1), P2(X2, Z2), and P3(X3, Z3) using an appropriate function, the shape of the XZ plane of the measurement surface Ws can be determined.

[0046] In addition, in the explanation so far, the sensor device 18 i We have described the case where three sensors are arranged vertically on the measurement surface, but the sensor device 18 i It is also conceivable to arrange the sensor device in two dimensions on the measurement surface. In particular, when the measurement surface of the object is a three-dimensional curved surface, it is necessary to arrange the sensor device in two dimensions on the measurement surface. However, in practice, the sensor device 18 iSince this function outputs the slope angle (3D slope angle) of the normal vector of the measurement surface Ws, it is also possible to derive the shape (surface shape) of the measurement surface of an object from the measured coordinates of the measurement points and the measured values ​​of the normal vector. For example, the shape may be calculated by determining the height of each measurement point relative to the reference plane using the surface slope of each measurement point and its first integral, or the shape of the object may be determined based on a function obtained by transforming a function fitted to slope distribution data obtained from multiple data points for the same object obtained by measurement into an integral system. As a fitting function, for example, a differential Zernike function can be used. Alternatively, the shape may be calculated by using the measured values ​​of the coordinates and normal vectors of a finite number of discrete measurement points on the measurement surface of the object, and optimizing the degree and coefficients of an approximate surface represented by, for example, a Fourier series expansion, so that the error at each measurement point is minimized. Furthermore, in the shape acquisition method according to this embodiment, if the shape can be calculated using the slope angles at multiple measurement points, various methods using various functions can be employed.

[0047] Returning to the explanation of Figure 8, in the next step S34, based on the calculated shape, the amount of deviation of the column head from the reference (in this case, the Z axis) and the point where the amount of deviation from the reference is greatest, as well as the amount of deviation at that point (corresponding to the maximum deflection of the column), are determined.

[0048] Then, in the next step S36, the obtained data (shape, deviation amount at the column head, the point with the maximum deviation amount, and the data of that deviation amount) is associated with the column number and stored in storage (such as an HDD), after which the interrupt handling routine is exited.

[0049] In this embodiment, the interrupt processing routine shown in Figure 8 is performed each time sensor data is acquired from a column (object). That is, for each column (object) being measured, the calculation of the shape, the amount of deviation at the top of the column, the maximum amount of deviation (corresponding to the maximum deflection), and the storage of the calculation results associated with the column number (object number) are repeatedly performed each time sensor data is acquired. Therefore, a rewritable data table associated with the object number (column number) may be prepared in advance in a predetermined area of ​​the storage, and the area associated with the object number (column number) may be repeatedly overwritten (i.e., the stored contents are updated) when the calculation results are stored. Furthermore, the server device 12 may transmit the latest information stored in the storage as table data associated with the design data to the field controller 14 via the network 13 each time a data table is created or updated. In this case, the field controller 14 can use the received table data to create and update a database by storing it in a storage device such as RAM or HDD.

[0050] In this case, based on the created and updated database, it becomes possible to monitor changes in the shape of the object (column) over time. Furthermore, it becomes possible to perform strength calculations based on the shape and calculate the stresses generated in the object (column).

[0051] Furthermore, when monitoring changes over a long period of time, power supply to each sensor device is necessary. Possible solutions in this case include power supply using MEMS vibration generators, wireless power supply (contactless power supply) that utilizes the induced magnetic flux generated between the transmitting and receiving sides of an electromagnetic induction system, solar power generation, or wired LAN power supply using LAN cables.

[0052] In this embodiment, as shown in Figure 11, the sensor device 18 iAlternatively, these may be positioned at the same height on two mutually orthogonal surfaces (a first surface perpendicular to the X-axis and a second surface perpendicular to the Y-axis) that extend in the longitudinal direction of the column 100.

[0053] For example, suppose sensor devices 181, 182, and 183 are arranged on the first surface, and sensor devices 184, 185, and 186 are arranged on the second surface. In this case, the shape of the first surface may be obtained based on the outputs of sensor devices 181, 182, and 183, and the shape of the second surface may be obtained based on the outputs of sensor devices 184, 185, and 186, respectively, using the interrupt processing routine described above.

[0054] Here, since each sensor device outputs a three-dimensional tilt angle, theoretically, it is possible to determine the shape of the second surface by simply attaching sensor devices 181, 182, and 183 to the first surface. However, in reality, the sensor devices may experience rotational errors during installation around the normal to the mounting surface. Therefore, if you want to know the shape of both the first and second surfaces, it is best to attach sensor devices to both surfaces. Alternatively, the results of measurements of the first and second surfaces using existing surveying equipment can be used as initial values, and the changes from these results can be continuously measured with a sensor attached to the first surface to obtain the change results for both the first and second surfaces.

[0055] As described above, according to the shape acquisition method of this embodiment, by performing predetermined calculations using information on the inclination angle at multiple measurement points of the column acquired by multiple sensor devices attached to the column, it becomes possible to acquire the shape of a part of the object, for example, the surface to which the sensor device is attached (measurement surface), and consequently the shape of the column and the maximum deviation from the reference surface over the entire measurement area. This makes it possible to determine the shape of the column without using light, eliminating the need for three-dimensional measuring machines that use light, and preventing the system from being affected by obstacles, etc.

[0056] Furthermore, by repeatedly acquiring the shape of the measurement surface, the shape of the column, and the maximum deviation, it becomes possible to manage the column (absolute value management and time-dependent change management). In particular, when implementing the shape acquisition method according to this embodiment using the shape acquisition system 10 according to the above embodiment, it becomes possible to automatically acquire the shape of the measurement surface and, consequently, the shape of the column, acquire the deviation from the standard over the entire measurement area, and manage the column (absolute value management and time-dependent change management), excluding the preparation process for measurement. Therefore, the shape acquisition system 10 according to the above embodiment eliminates manual steel frame construction surveying work, thereby improving labor shortages and shortening the construction period for steel frame construction.

[0057] Furthermore, according to the shape acquisition method of this embodiment, the shape of the measurement surface of the steel column can be acquired prior to the start of exterior construction work, making it possible to perform adjustments using jigs for the exterior panels in the factory.

[0058] In the above embodiment, each sensor device 18 i While the above example illustrates the case where identification information is input via the display operation unit during the initial setup of each sensor device, the timing and method of inputting identification information to the sensor device (or storing it in RAM (memory)) are not particularly limited. However, it is preferable that the sensor device used in this embodiment outputs data including the identification code (ID) of the sensor device. In the above embodiment, the identification code (ID) of each sensor device includes the identification code of the object to which each sensor device is attached and the identification code of the attachment position on that object, but the identification code of the object does not necessarily have to be included.

[0059] Furthermore, in the above embodiment, the field-side controller (terminal device) 14 controls multiple sensor devices 18 iIn this embodiment, we have described a case where sensor data for the same object is sent to the server 12 (analysis device) as a single unit based on the ID contained in multiple sensor data output from the device. However, instead, the analysis device can also be configured to extract multiple sensor data for the same object from the received multiple sensor data based on the ID contained in the sensor data, and to calculate the shape information of the object using the tilt angle information contained in the extracted multiple sensor data. In this embodiment, the same number of sensor devices as the number of measurement points from which tilt angle information is obtained are used, but it is not necessarily required to use the same number. In this case, it is sufficient to use one sensor device to obtain tilt angle information at two or more measurement points.

[0060] 《Second Embodiment》 In this second embodiment, as an example of how to use the shape acquisition method according to the first embodiment, we will describe the construction of a steel frame structure including a column with multiple sections (steel column). Here, the same reference numerals are used for components that are the same as or equivalent to those in the first embodiment described above, and their detailed descriptions are omitted.

[0061] Figure 12 shows an example of the configuration of system 10A for carrying out this steel frame construction.

[0062] System 10A consists of a server 12, a field controller 14, a mobile terminal 16, and multiple sensor devices 18, all connected to each other via a network 13 such as the Internet. i (i=1, 2, 3, ...) and multiple drive units 50 p It is composed of (p=1, 2, 3, 4...). Figure 12 shows multiple sensor devices 18 i Of these, three sensor devices 181-183 are shown as representative examples, and multiple drive devices 50 p Of these, four drive units 501-504 are shown as representative examples. Multiple sensor devices 18 i and multiple drive units 50 pEach of these is connected to the network 13 via a communication line such as a wireless LAN. The communication line may be entirely wireless, but at least some of it may be wired. Multiple drive units 50 p Each of these corresponds to the construction jig 30 described later. p They are attached individually to (p=1, 2, 3, 4...).

[0063] In this second embodiment, a rectangular prism having a rectangular cross-section is used as the column 100, and the column 100 j Erection pieces 102 (102a, 102b) are provided projecting from the top and base of the column on each of the four longitudinal surfaces of the column 100 (see Figures 13 and 14). Each erection piece 102 is perpendicular to each surface of the column 100 and extends vertically. In this second embodiment, for convenience, the erection piece 102 provided at the top of the column is referred to as erection piece 102a, and the erection piece 102 provided at the base of the column is referred to as erection piece 102b.

[0064] As shown in Figure 13, in the construction, the lower section column (hereinafter referred to as the lower section column) 100 m Erection piece 102a and lower column 100 m The upper section pillars (hereinafter referred to as upper section pillars) that are erected on top of this (100) n The erection piece 102b is the construction jig 30 p It is connected using this method on each of the four faces that extend in the longitudinal direction of the column.

[0065] Construction jig 30 p As shown in Figure 13, the device comprises a main frame 32 and various bolts provided on the main frame 32, such as tilt adjustment bolts 34, misalignment adjustment bolts 36, anti-tipping bolts 38, and fixing bolts 40. In this embodiment, hex socket head bolts are used as these bolts, as an example.

[0066] The main frame 32 is a frame member that extends in a predetermined direction (up and down in Figure 13) and has a hollow section wider than the thickness of the erection pieces 100a and 100b formed in the center in the width direction.

[0067] The fixing bolt 40 is attached to the erection jig 30 p This bolt is for attaching the erection piece to the mounting target in a way that allows it to pivot (oscillate). The fixing bolt 40 consists of a head and a shaft, and the shaft has a stepped cylindrical shape with a large diameter section and a small diameter section. The large diameter section is provided on a part of the head side of the shaft, and a threaded portion is formed on its outer circumference, with the small diameter section being on the opposite side of the threaded portion from the head, i.e., the tip side.

[0068] Construction jig 30 p When attaching the fixing bolt 40 to the erection piece to be mounted (erection piece 102a in Figure 13), the fixing bolt 40 is inserted from its tip end (small diameter portion) into a threaded hole formed near the lower end of one side of the main frame 32, and the threaded portion is screwed into the threaded hole. The small diameter portion of the fixing bolt 40 is inserted through an elongated hole formed in the erection piece 102a into a hole formed on the other side of the main frame 32. (Construction jig 30) p However, when attached to the erection piece 102a, the tip of the small diameter portion is exposed to the outside of the main frame 32 by a predetermined amount. This causes the erection jig 30 p However, it is designed to be attached to the erection piece 102a, which is the target of the installation, in a state that allows it to pivot up and down around the axis of the fixing bolt 40 (see Figure 14).

[0069] A push-up member 44 is positioned inside the central part of the hollow section in the longitudinal direction of the main frame 32. The push-up member 44 is located in the lower column 100 shown in Figure 13. m Erection piece 102a and upper column 100 n Erection piece 102b and erection jig 30 p The connected state (i.e., the construction jig 30) pIn the state where the upper and lower sections are attached to the columns, the lifting member 44 is located in the space between the erection pieces 102b and 102a. The lifting member 44 includes a movable lever 46 whose one end (the lower end in Figure 13) is rotatably supported on the main frame 32 via a support pin, and a pressing lever 48 whose one end is connected to the tip of the movable lever 46. The pressing lever 48 is rotatably connected to the movable lever 46. A through pin is attached to the other end of the pressing lever 48 opposite to the connection part (the upper end in Figure 13). Both ends of the through pin are inserted into vertical guide holes formed in both side walls of the main frame 32, and the through pin is movable up and down along the guide holes. The lifting member 44 is attached to the main frame 32 in a V-shape. By pressing the connecting portion between the movable lever 46 and the pressing lever 48, the overall shape of the pressing member 44 changes (deforms) so that the distance between the upper and lower ends of the pressing member 44 increases.

[0070] A support member 42 with a U-shaped cross-section is fixed to the main frame 32 so as to cover the connection between the movable lever 46 and the pressing lever 48. A screw hole is formed on one surface of the support member 42, and a tilt adjustment bolt 34 is screwed into this screw hole.

[0071] The erection jig 30 shown in Figure 13 p In the state in which the upper and lower sections are attached to the column, by rotating (screwing in) the tilt adjustment bolt 34 clockwise, the pressing lever 48 of the push-up member 44 moves the upper section column 100. n The erection piece 102b is pushed up in this configuration. Other configurations for the pushing member, such as one using a cam, are also possible, and the configuration is not particularly limited.

[0072] In this embodiment, the erection jig 30 p Although a method of use in which the upper and lower columns are attached in the opposite orientation to Figure 13 is also adopted, even in this case, by rotating (screwing in) the tilt adjustment bolt 34 clockwise, the deformation of the push-up member 44 causes the upper column 100 n The erection piece 102b is pushed up in this configuration.

[0073] Three misalignment adjustment bolts 36 are provided: one on each side of the upper half of the main frame 32 in Figure 13, and one on one side of the lower half of the main frame 32. The misalignment adjustment bolts 36 are screwed into the main frame 32 through threaded holes. The two misalignment adjustment bolts 36 in the upper half are designed so that when rotated clockwise, their respective ends press against the sides of the erection piece 102b of the upper column, pressing the erection piece 102b in opposite directions. Therefore, when adjusting the misalignment, the two misalignment adjustment bolts 36 must be rotated in opposite directions. The one misalignment adjustment bolt 36 in the lower half presses against one side of the erection piece 102a of the lower column when rotated clockwise.

[0074] As shown in Figure 13, the erection jig 30 p The erection pieces 102a and 102b are attached, and after the columns of the upper and lower sections are connected, the drive unit 50 is connected via a support member (not shown). p Construction jig 30 p It is attached to the main frame 32. Specifically, the support member is configured to be attached to the main frame 32 in a position that does not interfere with the operation of each of the bolts described above and that minimizes relative displacement with respect to the main frame 32. The support member has a circular opening formed in it at a position opposite to the top surface of the head of the tilt adjustment bolt 34, and one end of a hexagonal wrench-shaped member that fits into the hexagonal hole of the tilt adjustment bolt 34 is connected to this opening. The other end of the hexagonal wrench-shaped member is connected to the drive device 50 via a rotating shaft. p It is connected to a reduction gear mechanism provided by the drive unit 50. p It is connected to the motor provided by the drive unit 50. p It has an MPU (control microcontroller), to which a sensor that measures the amount of rotation of the rotating shaft and a motor are electrically connected.

[0075] In this embodiment, the lower column 100 m and upper column 100 nFour erection jigs 30 are respectively arranged on four sides thereof to connect the erection pieces 102a and 102b p Four driving devices 50 are respectively attached to the main body frame 32 of the p through support members (not shown). The MPU of each driving device 50 p is connected to the network 13 via the communication unit.

[0076] In this embodiment, according to the command values given from an external terminal, for example, the server 12 via the network 13, the rotation amount of the motor of each driving device 50 p is controlled. Of course, since the rotation amount is measured by the sensors of each driving device 50 p accurate control of the motor rotation amount, that is, adjustment of the tilt adjustment bolt 34 is performed.

[0077] Note that the detailed configuration of the steel column tilt adjustment device having the same configuration as the erection jig 30 p is disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-355340. Further detailed description of the erection jig 30 p is omitted.

[0078] Next, regarding the steel frame construction, the construction method of n (≧2) sections of steel frames (hereinafter, appropriately referred to as n-section columns) will be described centering on the flowchart of FIG. 15. FIG. 15 shows the flow of the process of constructing the n-section columns. As a premise for starting the construction method of the n-section columns, the construction method of the (n-1)-section columns has been completed. Here, as a premise, it is assumed that the lower section column (here, the (n-1)-section column) 100 m is erected vertically.

[0079] First, in step S102, the upper section column (here, the n-section column) 100 n is lifted by a crane and ground cut. In the next step S104, the erection piece 102a at the column head of the lower section column 100 m (or the erection piece 102b at the column base of the upper section column 100 n ) is attached with the erection jig 30 pAssemble (attach). Four construction jigs 30 are respectively assembled to the four-sided erection pieces 102a (see Fig. 14). p

[0080] In the next step S106, the upper column section 100 n is hoisted by a crane and temporarily fixed to the lower column section 100 p with the construction jig 30. That is, the upper column section 100 m is hoisted, and with the four construction jigs 30 n attached to the erection piece 102a at the column head of the lower column section 100 (or the erection piece 102b at the column base of the upper column section 100) in an open state (see Fig. 14), the upper column section 100 m is placed on top of the lower column section 100 n , and the erection piece 102b of the upper column section 100 (or the erection piece 102a of the lower column section 100) is respectively wrapped by the main body frames 32 of the four construction jigs 30 p , and the four sets of erection pieces 102a and 102b provided at the column base of the upper column section 100 and the column head of the lower column section 100 are respectively connected by the four construction jigs 30 n m n m p n m p

[0081] In the next step S108, column misalignment adjustment is carried out. Misalignment refers to the displacement in the horizontal plane between the column head of the lower column section 100 m and the column base of the upper column section 100 n . The adjustment of this misalignment is carried out by adjusting, for example, visually, the rotation direction and rotation amount of the plurality of misalignment adjustment bolts 36 of each of the four construction jigs 30 n while the upper column section 100 n is suspended by a crane and placed on top of the lower column section 100 m so that the upper and lower column sections appear to be a single column. By this adjustment, with respect to the lower column section 100 m , the positions of the upper column section 100 n in the X-axis and Y-axis directions are adjusted by the four construction jigs 30 p m n m n m n p p p i n n i i n i n n i n i i <l000137> i i i i i n n p n n p p p p n p n m p n n p p p n n p n n m n n n n m m m <l000175> n m m n i m m n m n m n m i m m m n m n n n n i i m m n n m n <000020m Erection piece 102a and upper column 100 n The erection piece 102b is positioned approximately vertically on each of the four faces. In other words, the misalignment adjustment is performed by lower column 100 m Erection piece 102a and upper column 100 n The lower column 100 is positioned such that the erection piece 102b is located on approximately a vertical line on each of the four faces. m Upper column 100 n The positional deviations in the X-axis and Y-axis directions are corrected by four construction jigs 30 p It can also be said that this involves adjusting the rotation direction and amount of rotation of each of the multiple misalignment adjustment bolts 36.

[0082] After this, the crane is released (step S110). Note that if the weight of the column is lighter than the specified value, the crane can be released before the alignment adjustment is performed.

[0083] In the next step, S112, the tilt adjustment of the columns is performed. In this embodiment, this tilt adjustment is performed by the server 12 and the four erection jigs 30 p A drive unit 50 attached to each of them p This is done automatically by the MPU.

[0084] This will be explained in more detail. As an example, six sensor devices 18 are arranged in a similar configuration to the column 100 shown in Figure 11. i Upper column 100 to which it is attached n This explains how to adjust the tilt.

[0085] Server 12 is upper column 100 n Six sensor devices 18 attached to it i The system was instructed to start measurement and six sensor devices 18 i Obtain sensor data from the source. Next, server 12, upper column 100 n Three sensor devices 18 attached to the first surface i Based on the sensor data output from there, the upper column 100 is prepared using the method described above. nThe shape information of the first surface is obtained. Also, the server 12 obtains the upper column 100 n Three sensor devices 18 attached to the second surface i Based on the sensor data output from there, the upper column 100 is prepared using the method described above. n The shape information of the second surface is obtained. Here, each sensor device 18 i The ID included in the sensor data and the sensor device 18 i The relationship between the column to which the sensor is to be installed and the installation location (i.e., the measurement point of the sensor device) is managed by server 12.

[0086] Sensor device 18 i The sensor device 18 is attached to the column 100 before or after its erection, and its mounting position is marked, with the position of the mark determined by the server 12 based on the design information. i Information on which column and at what position it is attached (or has been attached) is provided by the sensor device 18, as in the first embodiment described above. i The worker responsible for installing the sensor device 18 i Alternatively, the initial setup can be performed, and the information entered during that initial setup can be included in the sensor data as ID information. i At the shipping stage, the sensor device 18 i Alternatively, the column number and installation location information may be pre-input into the calculation processing unit 182 and stored in memory, while the column number and installation location information may be displayed on the screen of the display operation unit 187.

[0087] Next, server 12, upper column 100 n Based on the shape information of the first and second surfaces, the upper column 100 n The amount of displacement (Δx, Δy) in the X-axis and Y-axis directions from the reference point of the column head is determined, and the four erection jigs 30 are adjusted so that the amount of displacement is approximately zero (or within a predetermined tolerance). p Using the upper column 100 n The tilt angle is adjusted. This adjustment is performed by server 12, which adjusts the positional displacement (Δx, Δy) of the upper column 100. nConvert the inclination angle to a command value for the control amount of each motor such that the inclination angle cancels out, and set the command value for each motor to a command value for the four drive units 50 p By providing this to each MPU, four construction jigs 30 p This is achieved by controlling the rotation of the tilt adjustment bolts 34 in parallel. In this embodiment, four erection jigs 30 p Since the rotation of the tilt adjustment bolt 34 can be controlled in parallel, the four erection jigs 30 can be constructed using the collaborative work of multiple people, unlike in the past. p Compared to adjusting the rotation of each tilt adjustment bolt 34 one by one in sequence, the upper column 100 n The tilt angle can be adjusted quickly and accurately.

[0088] In the next step S114, the erection jig 30 p Using the upper column 100 n and lower column 100 m This is fixed in place by four erection jigs 30 p This is done by temporarily tightening (lightly tightening) the fixing bolts 40 and anti-tipping bolts 38 provided by the device using a special tool. The process from steps S102 to S114 above involves multiple upper column (n column) 100 n These will be carried out sequentially (or partially in parallel).

[0089] Figure 16 shows multiple upper column columns (n-column columns) 100 n The state after the processing up to step S114 is shown, with some parts omitted. Also, the erection jig is omitted from the illustration in Figure 16.

[0090] In the next step, S116, beam installation and subsequent remeasurement are performed. Here, beam installation generally refers to placing a beam steel frame between two columns and connecting both ends of the beam steel frame to the two columns, respectively. In this embodiment, as shown in Figure 16, a beam 200 is used as the beam steel frame (steel beam), which has a pair of beam end members 200a located at both ends of the steel beam and joined to the columns 100, and a beam central member 200b (the dashed line in Figure 16) to which one end and the other end are joined to the pair of beam end members 200a. Therefore, in this embodiment, beam installation means placing the central member 200b between the two beam end members 200a joined to the two columns 100, respectively, and connecting the central member 200b to each of the beam end members 200a on both sides with beam joints. However, due to unavoidable manufacturing tolerances in the beam steel frame, the inclination angle of the columns 100 connected to both ends of the beam steel frame may change from before the beam is installed due to the horizontal force acting on the columns 100 during beam installation. To confirm this change, it is necessary to remeasure the inclination angle after the beam is installed.

[0091] Returning to the explanation of Figure 15, in the next step S118, if necessary, readjustments will be made after beam installation based on the results of the remeasurement. Readjustments after beam installation may include adjusting for misalignment of columns and adjusting for column tilt. Adjustment for misalignment of columns will be done using the four erection jigs 30 as described above. p This is done by visually adjusting the amount and direction of rotation of each of the multiple misalignment adjustment bolts 36. On the other hand, the tilt adjustment of the column is done automatically. Specifically, the server 12 and the four erection jigs 30 used to connect the multiple upper and lower column sections. p A drive unit 50 attached to each of them p With the MPU, the multiple upper column 100 to be adjusted are adjusted in the same manner as in step S112 described above. n This is done automatically in parallel. This allows for the adjustment of multiple upper column 100s to be adjusted. n The tilt error is adjusted so that it becomes almost zero at once (or falls within a predetermined tolerance).

[0092] In the next step, S120, the final tightening of the beam joints and column joints is performed. The final tightening of the beam joints is done by tightening the high-strength bolts of the beam joints, and the final tightening of the column joints is done using four erection jigs 30 p This is done by tightening the anti-tipping bolts 38 and fixing bolts 40 (and misalignment adjustment bolts 36 as needed). After this tightening, the upper column 100 n The inclination angle is measured, and it is confirmed that the inclination error falls within a predetermined tolerance. Here, the tolerance differs from the specification value (a column head misalignment of 10 mm or less for a 10 m long steel frame), and is set to a value that is smaller than the specification value but greater than zero. At this stage, the inclination error is automatically adjusted to be almost zero (or within the predetermined tolerance) during the readjustment (step S118) described above, so normally the column inclination error falls within the tolerance.

[0093] After the predetermined time has elapsed, the upper column 100 n Lower section column 100 m After welding, the four erection jigs are removed (step S122). Then the erection piece will be cut. Even after welding, the upper column 100 n To confirm that the inclination angle is within the allowable range, the upper column 100 n The inclination angle is measured. Here, since it has been confirmed in step S120 above that the inclination error is within the allowable value, normally the upper column 100 n The tilt error is within the allowable range. However, a considerable amount of time passes between the completion of the final tightening and the start of welding, so the upper column 100 n In some cases, the tilt error, or in other words, the misalignment of the column head, may not be within the allowable limits. In such cases, since welding is already complete, readjustment is difficult, but the measurement results of the tilt angle can be effectively used in later processes. For example, based on the measurement results of the tilt angle, it is possible to set an offset to cancel out the tilt error (and its effect) in the target height of the column head of the upper column (in this case, the (n+1)th column).

[0094] The explanation so far is for the lower column 100m This was done under the assumption that the columns were erected vertically, but in reality, the lower column 100 m Even if it is vertical at the time of construction completion, the lower column 100 m From the completion of the construction to the upper column 100 n Due to the fact that a certain amount of time has passed before the construction of the upper column 100 can begin n When construction begins, the lower column 100 m It may not be vertical.

[0095] Therefore, multiple lower column pillars 100 are erected in a predetermined arrangement. m Each has multiple upper column sections 100 on top of it n When installing them individually, multiple sensor devices 18 i Multiple lower column pillars 100 are used m Shape information of the first and second surfaces that intersect each other (for example, are perpendicular to each other) extending in their respective longitudinal directions is acquired, and based on the acquired shape information, multiple lower column pillars 100 m The first displacement from the reference point of the column head in the direction perpendicular to the first surface (Y-axis direction) and the second displacement in the direction perpendicular to the second surface (X-axis direction) are determined, and taking these first and second displacement amounts into consideration, the multiple upper column sections 100 n It is also possible to newly define the target values ​​for erection. In this case, for example, the target values ​​for erection of the upper column can be newly defined so that the first and second positional displacements cancel each other out.

[0096] Here, as an example, 1 column 100 m Two-section pillar 100 n When constructing a structure, one column is 100 m Two-section column 100 to compensate for the displacement of the column head in the X-axis direction n The new setting of the target values ​​for building construction will be explained based on Figure 17.

[0097] Lower section column 1 section column 100 m Three sensor devices 18 attached to the first surface 100a i100 per column calculated using sensor data from m From the shape of the first surface 100a, 1 column 100 m Let's assume the X-axis displacement of the column head is +Δx (see Figure 17). In reality, this Δx is a smaller value than the specified value, so in the case of a 10m long steel column, it is a value smaller than 10mm. Figure 17, Column 100 m , 2-section column 100 n The curved shape is depicted in a considerably exaggerated manner for the sake of explanation.

[0098] 1 section pillar 100 m and 2-section column 100 n If we let the lengths be L, then as shown in Figure 17, +Δx / L = tanθy holds, which can be rewritten as +Δx = L·tanθy. Therefore, to cancel this out, -Δx = L·tan(-θy) is given by 2-section pillar 100 n The target position of the column capital in the X-axis direction is set again.

[0099] The above 2-section column 100 n The new setting of the target position of the column capital in the X-axis direction is evident from Figure 17, 2-section column 100 n Setting the target value of the inclination (angle of inclination) to (-θy) is essentially (consequently) consistent. Here, θy is assumed to be positive in the clockwise direction. θy is the value of sensor device 18 i The inclination angle β of the first face of the column at each measurement point is measured. i Rather, it refers to the overall inclination of the column around the Y-axis (the inclination of the line connecting the lower and upper ends of the first face of the column with respect to the Z-axis in the XZ plane).

[0100] Therefore, 1 column (lower column) 100 m Based on the shape of the first surface, 1 column 100 m Determine the position (amount of displacement) of the column head in the X-axis direction, determine the inclination θy from this column head position (amount of displacement), and find the inclination angle (-θy) that cancels out this inclination θy for the 2-section column (upper section column) at 100. nIf a new target value for the installation (target value for the inclination angle) is set, the result will be a 2-section column of 100 which cancels out the aforementioned positional displacement amount +Δx = L·tanθy. n This means that a new target position has been set for the column capital in the X-axis direction.

[0101] 1 section pillar 100 m Two-section column 100 to compensate for the displacement of the column head in the Y-axis direction n The setting of new target values ​​for construction can also be done in the same manner as described above. In some cases, 100 per column m It is possible that the displacement of the column head in either the X-axis or Y-axis direction may be zero. In such cases, only with respect to the other direction in the X-axis and Y-axis directions, the 2-section column (upper section column) 100 n You may set a new target value for the building height (a new target value for the slope angle).

[0102] Furthermore, using the automatic adjustment method for the tilt adjustment bolt 34 described above, one column 100 m A new 2-section column (upper section column) 100 was set up to compensate for the positional displacement in the X-axis and Y-axis directions. n Two column 100 is positioned at the target location in the X-axis and Y-axis directions. n In order to achieve the positioning of the column heads, the server 12 uses the erection jig 30 used to fix each upper and lower column section. p Each of the four drive units 50 attached to it p For the MPU, 1 column 100 m The command values ​​for the control amounts of each motor should be given such that the displacement of the column heads cancels out. In this case, 1 column section 100 m Similarly, 2-section column 100 n Sensor device 18 i When installing, the server 12 will install the sensor device 18 i Based on the inclination angle information measured using the method, 2-section column 100 n The shapes of the first and second surfaces and the positions of the column heads in the X and Y axes may be determined, and the tilt adjustment bolts 34 may be automatically adjusted so that the difference between these positions and the target positions described above is eliminated. 1st column 100 mand 2 sections 100 n Since they do not necessarily deform in the same way, by making such adjustments, the 2-section column 100 n The column head can be positioned more precisely at the target location.

[0103] In the second embodiment described above, a rectangular column was used as an example of the type of steel column, but a cylindrical column may also be used. Furthermore, a steel column made by combining H-beams or I-beams in a cross shape may also be used.

[0104] Furthermore, in the second embodiment described above, the sensor device 18 i Based on the shape or position information of the column obtained from the output data (sensor data), the position of the column head in the XY plane (column tilt) is determined by four erection jigs 30 p Automatic adjustment via (i.e., four construction jigs 30) p The system automatically adjusts the rotation of each tilt adjustment bolt 34, but in addition to this, a sensor device 18 detects misalignment of the columns. i The system may also be automated based on the column position information obtained from the output data. For example, the drive unit 50 p The shape and structure of the support member (not shown) on which the adjustment device is mounted may be made to accommodate an adjustment device that can adjust the rotation direction and amount of rotation of the misalignment adjustment bolt 36, or the drive device 50 p Alternatively, a separate support member may be provided in addition to the support member on which the adjustment device is mounted, and the adjustment device may be mounted on this separate support member. In any case, by configuring the adjustment device to be controlled by the server 12, automatic adjustment of misalignment of the columns becomes possible.

[0105] In the first embodiment described above, a steel column was used as the target object, and its shape calculation, management of the maximum deviation (corresponding to the maximum deflection), and management of changes over time were explained. However, the shape acquisition method and shape acquisition system according to the first embodiment (hereinafter abbreviated as the method and system according to the first embodiment) can be applied not only to the management of steel structures other than steel columns (absolute value management and management of changes over time), but also to other construction process management. Furthermore, in the first embodiment, the sensor device was fixed to the steel column using a magnet (magnetic force), but other fixing means may be used instead of or in conjunction with a magnet. For example, if the target object is a material that can obtain sufficient strength by screw fastening, such as metal, the sensor device may be fixed to the target object using screws (including bolts) instead of or in conjunction with a magnet. In addition, depending on the material of the target object, the sensor device may be fixed to the target object using adhesive. Furthermore, the objects are not limited to the above embodiments (steel columns of buildings, etc.), but may also include other infrastructure such as bridges, dams, tunnels (including inner walls and structures such as jet fans installed inside tunnels), highways, elevated structures, plants (including tanks, etc.), indoor facilities (indoor swimming pools, gymnasiums, halls), wind turbine blades, aircraft fuselages, wings or propellers, high-speed rail (such as Shinkansen) car bodies (especially the lead cars), railway tracks, and ships (e.g., ship hulls, propellers). In addition to these, the objects may also include vehicles (automobiles including F1 cars, airplanes, trains, ships, etc.), underwater vehicles (submarines, deep-sea exploration vessels, etc.), space-related items (spacecraft, re-entry vehicles, etc.), flying objects (rockets, missiles, satellites, etc.), and power plants (hydroelectric, thermal, natural gas, nuclear, etc.).

[0106] Examples of construction process management to which the method and system according to the first embodiment described above can be suitably applied include pile driving management (absolute value management, time-dependent change management) and shoring management (time-dependent change management). Here, piles refer to structures that serve as the foundation during construction, and shoring refers to walls that hold back the surrounding soil when digging holes to create underground structures.

[0107] The method and system according to the first embodiment described above can also be applied to infrastructure management. For example, it can be suitably applied to bridge maintenance (management of changes over time), bridge construction management (management of absolute values), dam wall maintenance (management of changes over time), tunnel maintenance (management of changes over time), and plant / gas tank maintenance (management of changes over time). In addition, the method and system according to the above embodiment can also be applied to various deformation analyses. For example, it can be suitably applied to deformation analysis of ship bottoms (changes over time), deformation analysis of wind turbine blades (changes over time), wing deformation analysis of unmanned aircraft (changes over time), and deformation analysis of railway rails (changes over time).

[0108] When applying the method and system according to the first embodiment described above to bridge maintenance, for example, multiple sensor devices are placed on the bridge to constantly monitor changes in its three-dimensional shape from its initial state. When an indicator of shape change (for example, the tilt angle or maximum deviation output by the sensor device) exceeds a threshold, an alarm is issued from the server 12 to the on-site controller 14. In this way, the manager of the on-site controller 14 can quickly recognize the occurrence and location of the abnormality, eliminating the need for periodic inspections by workers and enabling efficient inspections.

[0109] Furthermore, if the administrator of server 12 shares design data, etc., of the structure including the object on which the sensor device is installed (a column in the above embodiment) with the administrator of the on-site controller 14, the administrator of server 12 is not particularly specified. For example, server 12 may be under the management of the user of the sensor device, such as a construction company, or under the management of the sensor device supplier (manufacturer, supplier, etc.). Also, the server may be in the cloud. If server 12 is under the management of the sensor device supplier, the supplier leases (or rents) the sensor device to the user and provides optimal information such as the installation location of the sensor device, which has been determined based on the purpose of use acquired in advance. Based on that information, the supplier receives the data acquired by the user with the sensor device, performs a predetermined analysis (including shape calculation) using that data, and provides the user with the analysis results. The supplier then receives payment from the user for the lease (or rental) of the sensor device and the provision of information. Such a business method (business model) can also be realized. In this case, instead of analysis and provision of analysis results, application software (application program) for analysis processing may be leased together with the sensor device. [Explanation of symbols]

[0110] 10...Shape acquisition system, 12...Server, 13...Wide area network, 14...Field-side controller, 16...Mobile terminal, 181~183...Sensor device, 100...Steel column, 110...Steel frame building, 181...Angle sensor, 182...Calculation processing unit, 183...Wireless communication unit, 184...Power supply unit, 185...Housing, 187...Display operation unit, 188...Cushioning material, 190...Permanent magnet.

Claims

1. A method for calculating the adjustment amount to adjust the inclination of a first object, The first inclination angle information, which is the inclination angle information of each of the multiple points on the first object, is obtained by first sensors attached to multiple points on the first object. Second inclination angle information, which is the inclination angle information of each of the multiple points on the second object, is acquired by second sensors attached to multiple points on the second object. Based on the first inclination angle information, first information is obtained, which is information regarding the inclination of the first object. Based on the second inclination angle information, a second piece of information is obtained, which is information regarding the inclination of the second object. A method comprising determining a first adjustment amount for adjusting the inclination of the first object based on the first information and the second information.

2. This includes determining the shape information of the first object based on the first inclination angle information, The method according to claim 1, wherein the first information includes shape information of the first object.

3. The first object is a member that extends in a direction along the first direction, Based on the first inclination angle information, the shape information of the first object is determined, This includes determining the position of the end of the first object in a direction perpendicular to the first direction, based on the shape information of the first object. The method according to claim 1, wherein the first information includes the position of the end of the first object in a direction perpendicular to the first direction.

4. Based on the first inclination angle information, the shape information of the first object is determined, This includes determining the inclination angle of the first object based on the shape information of the first object, The method according to claim 1, wherein the first information includes the inclination angle of the first object.

5. The first object has a first surface, The first sensor is attached to a plurality of points on the first surface, This includes obtaining shape information of the first surface based on the first inclination angle information, The method according to any one of claims 2 to 4, wherein the shape information of the first object includes the shape information of the first surface.

6. The first object further has a second surface that intersects with the first surface, The first sensor is attached to multiple points on the first and second surfaces. This includes obtaining shape information of the first surface and shape information of the second surface based on the first inclination angle information. The method according to claim 5, wherein the shape information of the first object further includes the shape information of the second surface.

7. The method according to claim 1, wherein the first object is a member extending in a direction along the first direction.

8. The second object is a member that extends in a direction along the first direction, The method according to claim 3 or 7, wherein the first object and the second object are installed so as to intersect a predetermined plane perpendicular to the first direction at different positions.

9. The method according to claim 3 or 7, wherein the first sensor is attached to the first object so as to be aligned in a direction along the first direction.

10. The method according to claim 3 or 7, wherein the first sensor measures the tilt angle information with respect to the first direction.

11. The method according to claim 3 or 7, wherein the first direction is the direction of gravity.

12. The method according to any one of claims 1 to 4, wherein the first object and the second object are steel columns.

13. The first object is installed alongside a third object whose longitudinal direction extends in a direction aligned with the first direction. The third sensor attached to the third object acquires third inclination angle information, which is the inclination angle information of each of several points on the third object. The method further includes obtaining third information, which is information relating to the inclination of the third object, based on the third inclination angle information, The method according to claim 3 or 7, wherein the first adjustment amount is determined based on the first information, the second information and the third information.

14. The first direction is the direction of gravity, The method according to claim 13, wherein the first object is placed on the third object.

15. The method according to any one of claims 1 to 4, further comprising determining a second adjustment amount for adjusting the inclination of the second object based on the first information and the second information.

16. A method for adjusting the inclination of a first object, which involves adjusting the inclination of the first object based on the first adjustment amount calculated by the method according to any one of claims 1 to 4.

17. A method for adjusting the inclination of a first object and a second object, based on the first adjustment amount and the second adjustment amount calculated by the method of claim 15.

18. A method of constructing a structure, The first object and the second object are each part of the structure, A method for adjusting the inclination of the first object by the inclination adjustment method described in claim 16.

19. In the method according to claim 18, The method wherein the structure is any of the following: a building including a building, a bridge, an elevated structure, a road, a tunnel, a dam, a wind turbine, an aircraft, a railway, or a ship.

20. In the method according to claim 18, A method wherein the first object and the second object are steel columns.

21. Attached to the first object, An adjustment device that changes the inclination of the first object based on a first adjustment amount calculated by the method according to any one of claims 1 to 4.

22. The adjustment device according to claim 21, The drive unit and The system includes a control device for controlling the drive of the drive device, The control device drives the drive device based on the first adjustment amount. An adjustment device that changes the inclination of the first object by driving the aforementioned drive device.

23. A system for calculating the adjustment amount to adjust the inclination of a first object, A first sensor is attached to multiple points on the first object and acquires first tilt angle information, which is the tilt angle information of each of the multiple points on the first object. A second sensor is attached to multiple points on a second object and acquires second tilt angle information, which is the tilt angle information of each of the multiple points on the second object. The system includes a processing unit connected to the first sensor and the second sensor, The aforementioned processing apparatus is Based on the first inclination angle information, first information is obtained which is information relating to the inclination of the first object, Based on the second inclination angle information, a second piece of information is obtained, which is information regarding the inclination of the second object. A system that determines a first adjustment amount for adjusting the inclination of the first object based on the first information and the second information.

24. The system according to claim 23, A system in which at least one of the first sensor and the second sensor is connected to the processing device via a network.

25. The system according to claim 23, wherein the first object and the second object are members extending in a direction along the first direction, and are installed so as to intersect a predetermined plane perpendicular to the first direction at different positions.

26. Attached to the first object, An adjustment device for changing the inclination of a first object based on the first adjustment amount calculated by the system according to any one of claims 23, 24, and 25.

27. The adjustment device according to claim 26, which is connected to the processing device via a network.

28. A system according to any one of claims 24, 24, and 25, An adjustment device attached to the first object, which changes the tilt of the first object based on the first adjustment amount, A tilt adjustment system including [a specific component].

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