Location information estimation method and system

Abstract

This invention provides a method and system for estimating location information, a measurement method, and a method for constructing structures. [Solution] The method for estimating location information includes attaching a sensor 18i to an object, obtaining location information of a target point on the object based on the measurement results of the sensor, obtaining temperature information at the time the location information was obtained, obtaining information showing the relationship between the location information and the temperature information, setting a reference temperature, and estimating the location information of the target point at the reference temperature based on the relationship information and the reference temperature.

Description

[Technical Field]

[0001] The present invention relates to a method and system for estimating location information, a measurement method, and a method for constructing a structure, and more specifically, to a measurement method for structural materials of a structure and a method for constructing a structure using the said measurement method. This application claims priority based on Japanese Patent Application No. 2022-110227, filed on July 8, 2022, and the contents of that application are incorporated herein by reference. [Background technology]

[0002] Traditionally, when constructing building structures, it is necessary to inspect that the structural materials constituting columns, walls, etc., are assembled without tilting or distortion. For example, surveying equipment (such as a total station) that constitutes part of a construction support system is used to measure the accuracy of steel frame construction (see, for example, Patent Document 1). However, the accuracy of steel frame construction is measured multiple times for each steel column using a total station or similar equipment, such as when adjusting the position after temporary fixing (including adjustment for misalignment and tilt), when re-measuring after beam installation, after tightening the column joints, and after welding the columns.

[0003] However, as mentioned above, measuring the tilt of columns multiple times using a total station or similar equipment was a time-consuming and laborious task. Furthermore, in actual field work, total stations and similar equipment need to be reused, requiring them to be set up again and the reference settings to be readjusted each time a measurement is taken. Moreover, there was a risk of measurement errors occurring due to the repetition of multiple measurements. Thus, there is clearly room for improvement in conventional methods of measuring structural materials using surveying equipment such as total stations. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Patent No. 6433033 [Overview of the Initiative] [Means for solving the problem]

[0005] According to the first embodiment, a method for estimating position information is provided, which includes: attaching a sensor to an object; obtaining position information of a point on the object based on the measurement results of the sensor; obtaining temperature information at the time the position information was obtained; obtaining information showing the relationship between the position information and the temperature information; setting a reference temperature; and estimating the position information of the point on the object at the reference temperature based on the relationship information and the reference temperature. According to a second embodiment, a system is provided comprising: a sensor attached to an object; a processing unit that acquires positional information of a point on the object based on the measurement results of the sensor; and a temperature acquisition unit that acquires temperature information at the time the positional information is acquired, wherein the processing unit acquires information indicating the relationship between the positional information and the temperature information, and estimates the positional information of the point on the object at the reference temperature based on the information indicating the relationship and a preset reference temperature. According to a third embodiment, a measurement method is provided for measuring structural members of a structure, the method comprising: measuring positional information of the structural members using a three-dimensional surveying instrument and a sensor device attached to the structural members, respectively; and acquiring calibration information to calibrate the measurement information of the sensor device based on the measurement results of positional information from both the three-dimensional surveying instrument and the sensor device.

[0006] According to the fourth aspect, a method for constructing a structure is provided, which utilizes the measurement method according to the first aspect, with the structural members of a structure under construction as the object, wherein the column to be erected is the object, and information on the inclination angle at a predetermined measurement point is measured by the sensor device and the three-dimensional surveying instrument, and calibration information is acquired based on the measurement results to match the inclination angle information measured by the sensor device with the inclination angle information measured by the three-dimensional surveying instrument.

[0007] According to the fifth embodiment, a method for constructing a structure including a column with multiple sections is provided, which includes setting an offset to the target value for erection of the column head of the upper section based on information about the inclination angle at a measurement point of the column to be measured, measured by a sensor device pre-attached to the column to be measured at the time of erection of the upper section of the column to be measured or immediately before erection of the upper section of the column to be measured.

[0008] According to the sixth embodiment, a method for constructing a structure including a column with multiple sections is provided, wherein, after the completion of welding of the column to be measured to which a sensor device is attached, and prior to the erection of the upper section of the column to be measured, the sensor device measures the information of the inclination angle of the column to be measured at predetermined sampling intervals over a predetermined period of time, while simultaneously measuring the temperature t; a function f representing the information of the inclination angle acquired by the sensor device, which includes the temperature t as a parameter, is obtained based on the sampling data obtained by the measurement; and an offset is set to the target value for erection of the column head of the upper section based on the function f obtained by substituting a reference temperature T into the parameter t. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram schematically shows the overall configuration of a measurement system according to one embodiment. [Figure 2] This block diagram shows an example of the configuration of the sensor device shown in Figure 1. [Figure 3] This is a flowchart showing the process for erecting the n-section column. [Figure 4] This diagram shows the erection pieces installed on each column and the erection adjustment jigs attached to the erection pieces. [Figure 5] This is a flowchart for explaining the measurement process for erecting steel frames. [Figure 6] This is a conceptual diagram illustrating the flow of measurement during steel frame construction. [Modes for carrying out the invention]

[0010] Below, we will describe one embodiment of a measurement method that uses building structures as the target objects, based on Figures 1 to 6. In the measurement method according to this embodiment, a sensor device is used that measures the structural materials of building structures.

[0011] First, we will explain the definition of the measurement target and direction of the sensor device. In the following example, the measurement target (object) of the sensor device is a steel column 100 in one section of a multi-section steel-framed building. p The following explanation will describe the case where (see section (A) in Figure 6, etc.) is shown. In steel-framed buildings, a steel column erected on the foundation is called a "1-section steel column," a steel column erected on top of that is called a "2-section steel column," and so on, with the section number increasing each time you go higher. Furthermore, in the following explanation, as shown in Figure 6(A), etc., the vertical direction (direction of gravity) will be defined as the Z-axis direction, the left-right direction in the plane of Figure 6(A) 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.

[0012] Figure 1 shows a schematic overview of the overall configuration of the measurement system 10 used for steel frame construction measurement. The measurement system 10 consists of a server 12, a field computer 14, a mobile terminal 16, and multiple sensor devices 18, all connected to each other via a wide-area network (hereinafter abbreviated as "network") 13 such as the Internet. i (i=1, 2, 3, ...), and multiple 3D surveying instruments 30 j Includes (j=1,2, ...). Multiple sensor devices 18 i It is connected to network 13 via a communication line, such as a wireless LAN. Figure 1 shows multiple sensor devices 18 i Of these, three sensor devices 181-183 are shown as representative examples. Similarly, multiple three-dimensional surveying instruments 30 j It is connected to network 13 via a communication line, such as a wireless LAN. Figure 1 shows multiple 3D surveying instruments 30 j Of these, two three-dimensional surveying instruments, 301 and 302, are shown as representative examples.

[0013] Note that all communication lines may be wireless, or at least some of them may be wired. In this embodiment, a plurality of sensor devices 18 i output and a plurality of 3D surveying instruments 30 j output are provided to the server 12 via the communication line and the network 13. Hereinafter, the network 13, the server 12, the on-site computer 14, the mobile terminal 16, and the plurality of sensor devices 18 i and the plurality of 3D surveying instruments 30 j are configured to include all the communication lines connecting them respectively, and a single network including them is denoted as the network 13 using the same reference numeral as the wide area network 13. As the server 12, in this embodiment, a generally used server computer is used, but a cloud (computer) may also be used.

[0014] The on-site computer 14 is a generally used computer in this embodiment. The on-site computer 14 includes an operation unit such as a keyboard and a mouse, and a screen such as a liquid crystal display. The on-site computer 14 performs data communication with the server 12 and the mobile terminal 16 via the network 13 in response to an instruction input via the operation unit by an on-site supervisor or other administrator. Note that the on-site computer 14 may not be provided and may be replaced by the mobile terminal 16. In this case, the administrator (such as the on-site supervisor) uses the mobile terminal 16 to perform data communication with the server 12 and data communication with other mobile terminals 16 carried by on-site workers via the network 13. The mobile terminal 16 is carried by a worker at a construction site. The mobile terminal 16 is, for example, a smartphone or a tablet PC.

[0015] Measurement instructions for the sensor device 18 i are given from any one of the mobile terminal 16, the on-site computer 14, and the server 12 via the network 13, and the sensor device 18 iThe output data from the sensor device 18 is provided to the server 12 via the network 13. i The server 12 performs necessary calculations and processing using the output data from the mobile terminal 16, and provides the necessary information from the server 12 to the mobile terminal 16 in response to inquiries from the mobile terminal 16 or according to a predetermined program.

[0016] 3D surveying equipment 30 j As an example, a total station that does not require prisms or other targets and is capable of 3D measurement is used. This 3D surveying instrument 30 j This device emits light at a target point (measurement position) and receives the reflected light (backlight), allowing a single machine to simultaneously measure the angle of inclination (vertical and horizontal angles) and distance. The 3D surveying equipment may also be a 3D laser scanner, or any measuring device capable of measuring angle and distance information, regardless of the method. The term "surveying" as used in this specification is synonymous with simple measurement and is used in a broad sense. The 3D surveying equipment described in this specification may also be referred to as a 3D measuring device or 3D measuring instrument.

[0017] 3D surveying equipment 30 j Measurement instructions and other commands are provided via network 13 from either the mobile terminal 16, the field computer 14, or the server 12, and the 3D surveying equipment 30 j The output data from is provided to the server 12 via the network 13. Also, the 3D surveying instrument 30 j The server 12 performs necessary calculations and processing using the output data from the mobile terminal 16, and provides the necessary information from the server 12 to the mobile terminal 16 in response to inquiries from the mobile terminal 16 or according to a predetermined program.

[0018] Here, sensor device 18 i The specific configuration, etc., will be explained. Sensor device 18 iEach of these components, as shown in Figure 2, comprises an angle sensor 181, a processing unit 182, a wireless communication unit 183, a power supply unit 184 (e.g., a battery), a temperature sensor 186, and a display operation unit 187, as well as a waterproof housing 185 that houses these components. The power supply to each component by the power supply unit 184 can be switched on and off remotely from an external source (e.g., a server 12, a field computer 14, or a mobile terminal 16). However, the system is not limited to this configuration, and a power switch that can be manually switched on and off may be provided on the housing 185.

[0019] In this embodiment, as an example, a 3DMEMS (3D Microelectromechanical System) tilt angle sensor is used as the angle sensor 181. The 3DMEMS tilt angle sensor is a precision tilt sensor created using 3DMEMS technology. The power required by the 3DMEMS tilt angle sensor is extremely low, with power consumption in the microampere range, making it suitable for wireless applications. The angle sensor 181 uses a sensor that incorporates two MEMS acceleration sensors with symmetrical output characteristics and an ASIC, and outputs tilt angle information (α, β, γ) in three directions (θx, θy, θz directions) with respect to the direction of gravity (Z-axis direction). The tilt angle is the tilt angle of the normal vector of the measurement surface at the measurement point. Therefore, the amount of shift (lateral displacement) of the measurement point can also be determined from the tilt angle by geometric calculation. As the angle sensor, other types of 3D tilt angle sensors may be used instead of the 3DMEMS tilt angle sensor. Also, depending on the object to be measured, the angle sensor may be a 2D tilt angle sensor or a 1D tilt angle sensor instead of a 3D tilt angle sensor. In this case, a 2D tilt angle sensor and a 1D tilt angle sensor may be used in combination, or multiple 2D or 1D tilt angle sensors may be used in combination.

[0020] The arithmetic processing unit 182 consists of, for example, a microcontroller unit (MCU) and includes a CPU, memory device, input / output circuit, and timer circuit (not shown). The arithmetic processing unit 182 executes a processing algorithm defined by a program stored in the memory device. The arithmetic processing unit 182 controls the sensor device 18 i It controls the entire system. Alternatively, instead of providing a separate arithmetic processing unit 182, the ASIC built into the angle sensor 181 may also have the functions of the arithmetic processing unit 182.

[0021] In this embodiment, the wireless communication unit 183 functions as a Wi-Fi communication (wireless LAN communication) unit. Sensor device 18 i This enables wireless LAN communication between the server 12 and other devices connected to the network 13 via the network 13. A wired communication unit may be provided in place of a portion of the wireless communication unit 183.

[0022] As an example of the temperature sensor 186, a MEMS non-contact temperature sensor is used. The MEMS non-contact temperature sensor measures the surface temperature of an object non-contact by receiving radiant thermal energy from the object with a thermopile element. The power required by the MEMS non-contact temperature sensor is extremely low, with power consumption in the microampere range. As a temperature sensor, other types of temperature sensors may be used, not just MEMS non-contact temperature sensors. The display and operation unit 187 is configured, for example, as a so-called touch panel, allowing for data input and display using a human finger or a stylus.

[0023] Although not shown in the diagram, the bottom wall (back wall) of the housing 185 has multiple recesses, and a permanent magnet is embedded in each of these recesses. i It can be attached to objects such as steel frames with a single touch using the magnetic force of a permanent magnet. In addition, the bottom wall of the housing 185 has multiple open recesses on the side for inserting a tool when removing it. iThe sensor can be removed from the object in a relatively short time. A magnetic shielding member is positioned near the back of the housing 185 to effectively prevent the magnetic force of the permanent magnet from affecting internal components. The method of fixing the sensor device to the object is not limited to magnetic force; other fixing methods may be used. For example, mechanical fixing methods, or adhesive methods using adhesives or double-sided tape may be used. In that case, the object to which the sensor device is fixed is not limited to a steel frame (i.e., the fixing method does not depend on the material of the object).

[0024] Sensor device 18 configured as described above i Measurement data (sensor data) such as tilt angle and temperature is output externally via the wireless communication unit 183, and this sensor data includes an ID, which is the identification information of the sensor device. For example, the arithmetic processing unit 182 associates the ID with the output information from the angle sensor 181 and the temperature sensor 186. Therefore, a server 12 that receives the sensor data via the network 13 can reliably identify which sensor device the sensor data is from.

[0025] Also, sensor device 18 i The configuration is not limited to this embodiment, and it is not necessary to integrate all components such as the angle sensor 181, wireless communication unit 183, and temperature sensor 186 into a single unit. For example, the angle sensor 181 and / or temperature sensor 186 may be connected to the other components via a wireless or wired communication line, and the system may be configured to output data from the angle sensor 181 and / or temperature sensor 186 and supply power to the angle sensor 181 and / or temperature sensor 186 via the communication line.

[0026] Next, we will explain the steel frame construction method (hereinafter abbreviated as "construction"), focusing on the construction of n (≧2) section steel columns (hereinafter referred to as n-section columns as appropriate), following the flowchart in Figure 3. Figure 3 shows the process flow for the construction of n-section columns. The premise for starting the construction of n-section columns is that the construction of (n-1) section columns has been completed.

[0027] First, in step S2, the upper column (in this case, the nth column) 100 p It is then lifted by a crane and excavated from the ground. In the next step, S4, the lower column (in this case, the (n-1) column) 100 q The erection adjustment jig is attached to the column head erection piece (or the column base erection piece of the upper column). As an example, as shown in Figure 4, each column 100 (100 in Figure 4) p or 100 q Each column (column steel frame) is made up of a steel pipe (column steel frame) with a rectangular cross-section, and erection pieces 40 are attached to the base and top of the column steel frame, respectively. The erection pieces 40 are welded to the four mutually perpendicular faces of the column steel frame with a rectangular cross-section. Each erection piece 40 is perpendicular to each face of the column 100 and extends in the vertical direction. Lower column 100 q Four erection adjustment jigs 50 are attached to each of the four erection pieces 40. The erection adjustment jigs 50 used in this embodiment are attached to the joints of the columns and are used to prevent the columns from tipping over, to adjust for misalignment, to adjust for tilting, etc. A detailed configuration of a steel column tilt adjustment device having a similar configuration to the erection adjustment jig 50 is disclosed, for example, in Japanese Patent Application Publication No. 2001-355340.

[0028] The erection adjustment jig 50 is for the upper column 100 p Erection piece 40 of the column base and lower column 100 q The main frame 50A is a connecting body that connects to the erection piece 40 at the top of the column, and the main frame 50A is equipped with a number of bolts (specifically, anti-tipping bolts, misalignment adjustment bolts, tilt adjustment bolts, etc.) that realize the above-mentioned various adjustment functions.

[0029] Returning to Figure 3, in the next step S6, the upper column 100 p The lower section column 100 was lifted by a crane and adjusted using a 50mm jig. q To be temporarily fixed. Specifically, the upper column 100 p Suspended, lower section column 100 qErection piece 40 of the column capital (or upper column 100) p With the four erection adjustment jigs 50 attached to the erection piece 40 of the column base in the open position (see Figure 4), the upper column 100 p Lower section column 100 q Place it on top, upper column 100 p The base of the column (or lower column 100) q The erection piece 40 of the column head is each wrapped in the main frame 50A of the four erection adjustment jigs 50, and the upper column 100 p The base of the column and the lower column 100 q The four sets of erection pieces 40, each protruding from the top of the column, are connected to each other using a vertical adjustment jig 50.

[0030] In the next step, S8, we will perform adjustments for misalignment of the columns. Misalignment refers to the lower column 100 q The capital and upper column 100 p This refers to the horizontal displacement between the column base and the upper column 100. p With the crane still in place, the upper column 100 p Lower section column 100 q With it placed on top, upper column 100 p and lower column 100 q This is done by using four erection adjustment jigs 50 to adjust the position of the upper column in the X-axis and Y-axis directions so that it appears as if it were a single column. After this, the crane is released (step S10). 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.

[0031] In the next step, S12, the column tilt adjustment (also called realignment) is performed. This tilt adjustment is carried out by measuring the tilt angle information of the upper column and adjusting the tilt angle of the upper column using four realignment adjustment jigs 50 so that the tilt error with respect to the vertical axis (Z axis) falls within a predetermined allowable value. Here, realignment refers to the degree of verticality of the column. In the next step, S14, the upper and lower columns are fixed using four structural adjustment jigs 50. This fixing is done by temporarily tightening (lightly tightening) each adjustment bolt on the four structural adjustment jigs 50 using a special tool. The processes described in steps S2 to S14 above are performed sequentially (or partially in parallel) for multiple upper column columns (n ​​column columns).

[0032] Then, in the next step S16, beam installation and remeasurement after beam installation 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, a beam is used as the beam steel frame (steel beam) having a pair of beam end members 100a (see Figure 6(A)) located at both ends of the steel beam and joined to the column 100, and a beam central member (not shown) to which one end and the other end are joined to the pair of beam end members 100a. Therefore, in this embodiment, beam installation means placing the central member between the two beam end members joined to the two columns, respectively, and connecting the central member to each of the beam end members on both sides with beam joints. However, due to manufacturing errors that inevitably exist in the beam steel frame, the inclination angle of the columns may change from before beam installation due to the horizontal force acting on the columns connected to both ends of the beam steel frame during beam installation. To confirm this change, it will be necessary to remeasure the inclination angle information after the beam installation as described above.

[0033] In the next step, S18, if necessary, readjustments will be made after the beams have been installed, based on the results of the remeasurement. These readjustments may include adjusting for misalignment of columns, adjusting for column tilt, and adjusting the level of the columns. These are done by readjusting the four erection adjustment jigs 50. However, if the adjustment of misalignment of columns cannot be sufficiently adjusted by readjusting the erection adjustment jigs, a separate adjustment jig may be used. Also, for example, when readjusting for column tilt, the column tilt angle is adjusted while measuring the column tilt angle information, and it is confirmed that the tilt error is within a predetermined tolerance value.

[0034] In the next step, S20, 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 at the joint between the column and beam, and the final tightening of the column joints is done by tightening each of the adjustment bolts of the four erection adjustment jigs 50. After this final tightening, the upper section column 100 p The inclination angle information is measured (hereinafter also referred to as inclination angle measurement as appropriate) and it is confirmed that the inclination error is within the predetermined tolerance value. At this point, since the inclination error has been adjusted to within the tolerance value at the stage of the above readjustment (step S18), the inclination error of the column is usually within the tolerance value. If the inclination error of the column is not within the tolerance value, the inclination angle of the column is adjusted again and then it is confirmed that the inclination error is within the tolerance value. The tolerance for column tilting is set to 1 / 1000 of the column length and 10 mm or less, so the tolerance value should be set to satisfy this and has a certain range.

[0035] After the predetermined time has elapsed, the upper column 100 p Lower section column 100 q After welding, the four erection adjustment jigs are removed (step S22). Then the erection piece is cut. After welding, the upper column 100 is checked to confirm that the inclination angle of the upper column is within the allowable range. p The inclination angle is measured. Here, since it was confirmed in step S20 above that the inclination error is within the allowable value, the inclination error of the column is usually within the allowable value. However, since some time has passed between the completion of the final tightening and the start of welding, the upper column 100 p It is possible that the tilt error may not be within the allowable range. In such cases, since welding is already completed, readjustment is difficult, but the measurement result of the tilt angle can be used. For example, based on the measurement result of the tilt angle, it is possible to set an offset to cancel out the tilt error (or its effect) in the target height of the column head of the upper column (in this case, the (n+1)th column). Alternatively, the tilt angle of the upper column may be measured immediately before welding to check whether the tilt error is within the allowable range, and if it is outside the allowable range, readjustment may be performed before welding.

[0036] Next, we will explain the measurement of steel frame erection using a sensor device, which is performed during the erection of n-section columns. Sensor device 18 i This is used for measuring the inclination angle of the upper column in steps S12, S16, and S20, as well as for measuring the inclination angle of the upper column after welding (step S22).

[0037] Figure 5 shows a flowchart of the steel frame erection measurement process. Figures 6(A) to 6(C) show conceptual diagrams illustrating the flow of steel frame erection measurement. Figures 6(A) to 6(C) show 100 n-section columns (hereinafter referred to as target columns) to be measured. p However, the lower column 100 q It is shown together with the target column 100. p Sensor devices 181 to 186 are pre-installed at a predetermined number of mounting positions (for example, 3 on the +X side and 3 on the -Y side, for a total of 6 positions) (immediately after the temporary fixing of the target column in step S6 above, or before the ground cutting of the target column). Marks are pre-applied to the mounting positions, and the positions of these marks are pre-set to coincide with the measurement positions of the target column managed by the server 12 after the target column has been erected. Here, sensor devices 181 and 184, sensor devices 182 and 185, and sensor devices 183 and 186 are each installed at the same height. Here, sensor device 18 i The mark may be attached to any two or more mounting locations (mark locations), as long as they include two locations on the column top. Alternatively, there may be seven or more mark locations.

[0038] The flowchart in Figure 5 will be explained below, with references to other figures as needed. First, in step S102, the 3D surveying instrument 30 j Target column 100 p It is installed in a location where positional information (in this case, information on the angle of inclination) can be measured. Figure 6(A) shows the state after the 3D surveying instrument 301 has been installed.

[0039] In the next step S104, the 3D surveying instrument 30 j and sensor device 18 i According to, target column 100 p The parallel measurement of the inclination angle at measurement points (measurement points) at the same height position is performed by each sensor device 18 i This procedure is performed for (i=1~6). Sensor device 18 i and 3D surveying equipment 30 j Parallel measurements only need to be performed in parallel, at least partially. Figure 6(A) shows the target pole 100 measured by the 3D surveying instrument 301 and the sensor device 183. p An example of parallel measurement of the tilt angle is shown, but other sensor devices 18 i For (i=1, 2), parallel measurements with the 3D surveying instrument 301 are performed in the same manner. Note that the sensor device 18 attached to the -Y side surface... i For parallel measurement with (i=4, 5, 6), another 3D surveying instrument 30 j It is even better to install a (for example, 3D surveying instrument 302) in a suitable position in step S102. In such a case, the target column 100 using the 3D surveying instrument 301 and sensor device 183 (182, 181) p Parallel measurement of the inclination angle and target column 100 using 3D surveying equipment 302 and sensor device 186 (185, 184) p The inclination angle can be measured in parallel and the 3D surveying instrument 30 in step S104 can be measured in parallel. j and sensor device 18 i The measurement of the inclination angle at measurement points (measurement points) at the same height position of the target column 100 does not necessarily have to be performed in parallel in time, at least partially. That is, the 3D surveying instrument 30 j and sensor device 18 i After taking a measurement using one method, a short time may be allowed in which the measured value hardly changes, and then another measurement may be taken using the other method.

[0040] In the next step S106, based on the measurement results from step S104, the sensor device 18 iThe information of the inclination angle obtained is used in the parallel measurement of step S104 with the 3D surveying instrument 30 j Calibration information is calculated to match the tilt angle information obtained.

[0041] For example, calibration information (δθy, δθz) in the θy and θz directions is determined based on the inclination angles (β1, γ1) acquired by the 3D surveying instrument 301 and the inclination angles (β2, γ2) acquired by the sensor device 183 (182, 181).

[0042] δθy = β2 - β1 δθz = γ2 - γ1 Furthermore, for example, calibration information δθx in the θx direction is determined based on the inclination angle α1 in the θx direction acquired by the 3D surveying instrument 302 and the inclination angle α2 in the θx direction acquired by the sensor device 186 (185, 184). δθx = α² - α1

[0043] The calculation of calibration information in step S106 is performed by each sensor device 18 i Regarding the 3D surveying equipment 30 used in parallel measurement j This is performed based on the tilt angle obtained. However, the calibration information in the θz direction may be determined based on the inclination angle in the θz direction acquired by the 3D surveying instrument 302 and the inclination angle in the θz direction acquired by the sensor device 186 (185, 184). In other words, the calibration information in the θz direction only needs to be determined for one of the sensor devices attached to the same height position on the column.

[0044] Here, the reason for not taking up the inclination angle in the θx direction of the sensor devices 183 (182, 181) is that the sensor devices 186 (185, 184) are provided at the same height position. Therefore, when only the three sensor devices 183, 182, and 181 are attached to the pillar, it may be possible to execute the measurement of the inclination angle in the θx direction of the pillar by the sensor devices 183 (182, 181) in parallel with the measurement of the inclination angle of the -Y side surface of the pillar by the three-dimensional measuring device 302. In this case, the calibration information δθx for the sensor devices 183 (182, 181) may be obtained using the inclination angle α1 at the measurement point at the same height position by the three-dimensional measuring device 302. By doing so, it is sufficient to prepare three sensor devices for the target pillar.

[0045] Next, using the calculated respective calibration information, an origin reset is performed to reset the measurement origin of each sensor device 18 i to coincide with the measurement origin of the three-dimensional measuring device 30 j used in the parallel measurement (step S107). In the present embodiment, the calibration information is merely an offset, but it is not limited to this, and the calibration information may be managed as a correction coefficient.

[0046] Without performing the origin reset, each time a measurement is made, the inclination angle information at each measurement point measured by each sensor device 18 i may be converted into the inclination angle information obtained by the three-dimensional measuring device 30 j used in the parallel measurement by using the calibration information. In this specification, "parallel" is not limited to the case where two types of operations (for example, measurement operations) are performed almost simultaneously, but also includes the case where they are performed with at least a partial time shift, and the case where two types of operations are performed continuously (when the end point of one operation and the start point of the other operation almost coincide).

[0047] In any case, after calculating the calibration information, the inclination angle at the measurement point of the target pillar 100 i is measured by the sensor device 18 p so that the three-dimensional measuring device 30 jThe target column 100 measured using p It is possible to obtain inclination angle information that is substantially equal to the inclination angle information at the measurement points of After calculating the calibration information, each three-dimensional measuring device 30 j Can be used for another measurement operation.

[0048] In the next step S108, during the rebuilding, each sensor device 18 i Performs inclination angle measurement of the target column 100 p And obtains the sensor data output from each sensor device 18 i To obtain inclination angle information at each measurement point. Here, the rebuilding is performed by adjusting the rebuilding jig 50 based on the inclination angle information obtained by the measurement using the sensor device 18 i In step S12 described above.

[0049] After that, the re-measurement after the beam installation described above is performed (step S16). In this re-measurement, in step S110, each sensor device 18 i Performs inclination angle measurement of the target column 100 p And obtains the sensor data output from each sensor device 18 i To obtain inclination angle information at each measurement point.

[0050] After that, necessary readjustment and final tightening of the beam joints and column joints are performed (steps S18, S20). After the final tightening, in step S112, each sensor device 18 i Performs inclination angle measurement of the target column 100 p And obtains the sensor data output from each sensor device 18 i To obtain inclination angle information at each measurement point. In FIG. 6(B), the state where inclination angle measurement of the target column 100 i Is being performed by each sensor device 18 p After the final tightening is shown.

[0051] After that, the target column 100 pAfter welding (see step S22) is performed, in step S114, each sensor device 18 i Therefore, target column 100 p The tilt angle is measured for each sensor device 18 i The sensor data output from the device is acquired, and information on the inclination angle at each measurement point is obtained. Figure 6(C) shows the sensor device 18 after welding. i Therefore, target column 100 p This shows the state in which the tilt angle measurement is being performed.

[0052] If, for any reason, the measurement result in step S114 (or the resulting tilt error) falls outside the acceptable range, then, as mentioned above, further adjustment becomes difficult.

[0053] Under these circumstances, target column 100 p Let's consider the case where an upper column ((n+1) column) is added on top of an (n column). In this case, the lower column, i.e., the target column 100 p Sensor device 18 i If it remains attached, the upper section column is the target column 100 p At the point of stacking on top, the sensor device 18 i The target pole 100 was measured in real time by this. p Based on the information of the inclination angle at each measurement point, a predetermined calculation (for example, a geometric calculation or a calculation using a predetermined function) is performed on the target column 100. p By determining the positional displacement of the column head from the reference position (determined based on the results of the aforementioned remeasurement) in the X-axis and Y-axis directions (or the cardinal directions), an offset can be set for the target installation position of the column head of the upper section column.

[0054] Meanwhile, CAP device 18 i Target column 100 p When used for measuring the upper section of a column, the upper section of the column is the target column 100. p Before stacking on top, sensor device 18 i Target column 100 pThere are times when it is necessary to remove it. In such cases, the target column 100 is used in real time. p It is not possible to measure the position and displacement of the column head. However, even in this case, the sensor device 18 i Target column 100 p If the sensors are removed, the offset of the target installation position of the column head of the upper section can be set in the same way as in the real-time measurement case described above by using the inclination angle information at the measurement point of each sensor device immediately before removal.

[0055] On the other hand, target column 100 p (Lower column) Sensor device 18 i If the device is removed too early, the measurement information immediately preceding the above cannot be obtained. Therefore, target column 100 p from sensor device 18 i If removed prematurely, the sensor device 18 i It will no longer be possible to set the above offset using the measurement information directly.

[0056] Therefore, as a second-best option, the sensor device 18 is virtually determined from other physical quantities that are related to the inclination angle of the steel column, etc. i We consider a method for estimating the inclination angle of the lower column measured by [method]. The inventor confirmed through experiments that the amount of change in the inclination of the steel column is strongly related to temperature fluctuations.

[0057] Therefore, the control device 18 i The relationship between the measured tilt angle at the measurement point and the temperature (t) was expressed as a function; in other words, the measured value was expressed as a function of temperature f(t). Then, using this function f(t), the sensor device 18 i We decided to calculate the measurement information. Specifically, it is as follows:

[0058] Each sensor device 18 i Using the target column 100 p The sensor device 18 receives the measurement data of the inclination angle at each measurement point and the measurement data of the temperature at that time. iDuring a predetermined period (e.g., 24 hours) before removing the sensor, data was collected at predetermined sampling intervals, and these multiple collected data points were plotted on a two-dimensional coordinate system with temperature on the x-axis and tilt angle on the y-axis. A function f(t) was then calculated for each measurement point of the sensor device, with temperature t as a parameter, obtained by function fitting the plotted points. Here, a reference temperature T was also calculated, for example, the average temperature over the predetermined period.

[0059] Then, the reference temperature T is substituted into the above function f(t) for each sensor device, and the target column 100 at each measurement point is calculated. p The inclination angle of each (lower column) is estimated, and using the estimation results, an offset is set to the target installation position of the column head of the upper column, in the same manner as described above and in the same manner as in the real-time measurement described above.

[0060] Here, the above offset will actually be taken into consideration when adjusting for tilting during the erection of the upper column ((n+1) column).

[0061] In this embodiment, the sensor device 18 i The tilt angle and temperature are measured in parallel by the sensor device 18, but a separate temperature sensor is used in addition to the sensor device 18. i Target column 100 p Temperature measurements may be performed in parallel with the measurement of the tilt angle. Furthermore, it has been found that the inclination angle of steel columns is related to other physical quantities besides temperature, such as wind force (kJ), load from above (w), and ground vibration (g).

[0062] Therefore, it is also possible to use a function with temperature (t), wind force (k), load from above (w), and ground vibration (g) as parameters instead of f(t). For example, a function with temperature (t), wind force (k), load from above (w), and ground vibration (g) as parameters can be expressed as f(t,k,w,g). Such a function can be obtained through simulation or other means.

[0063] Previously, a steel frame with n (≧2) nodes (n-node column) was used as the target column 100. p As explained above, if one column is designated as the target column, the sensor device 18 i Therefore, for the target column (1st column), the aforementioned target column 100 p Similar measurements of tilt angle, temperature, etc., may also be performed. In this case, if necessary, the offset of the two-section column head relative to the target installation position can be set using the measurement data from the sensor device for the one-section column, in the same manner as described above.

[0064] Sensor devices related to measurement described above 18 i , 3D surveying equipment 30 j The processing (including calculations) of the output data is performed by the server 12, and the information necessary for adjusting the erection adjustment jig 50 is provided from the server 12 to the mobile terminal 16 carried by the field worker in response to an inquiry. In other words, in this embodiment, it can be considered that the measurement system 10 constitutes a steel frame erection adjustment system based on the measurement results of the steel frame inclination angle, which includes in part the adjustment work of the erection adjustment jig by the field worker. At least some of the functions of the server 12 may be provided to the field computer 14.

[0065] As described above, according to this embodiment, as shown in Figure 6(A), the three-dimensional surveying instrument 30 j and sensor device 18 i The parallel measurement of the inclination angle at measurement points (measurement points) at the same height position of the target column 100 is performed by each sensor device 18 i The procedure is performed for (i=1~6) (step S104), and the calibration information mentioned above is calculated for each sensor device using the results of the parallel measurements (step S106). This calibration information is then used for each sensor device 18 i When performing a reset of the origin, the sensor device 18 i Each time the angle of inclination at a predetermined measurement point of the target column is measured, the 3D surveying device 30 jUsing this, it becomes possible to obtain measurement data that is substantially the same as the measurement of the inclination angle at a predetermined measurement point on the target column. However, this does not necessarily mean that the sensor device 18 i There is no need to reset the origin of the sensor device 18 after acquiring the calibration information. i Each time the angle of inclination at a predetermined measurement point on the target column is measured, the 3D surveying instrument 30 uses calibration information along with the measurement information from the sensor device to perform the measurement. j Using this method, it becomes possible to obtain measurement data that is substantially the same as measuring the inclination angle at a predetermined measurement point on the target column.

[0066] Therefore, for each steel column, once at the stage of position adjustment (including misalignment and tilt adjustment) after temporary fixing, a 3D surveying instrument consisting of a total station or the like is used to acquire calibration information (or correction information) for parallel measurement with the sensor device. j This eliminates the need for multiple surveying operations using surveying equipment such as total stations during subsequent stages such as re-measurement after beam installation, final tightening of column joints, and welding of upper and lower column joints.

[0067] Furthermore, the sensor device 18 is used during the re-measurement stage after beam installation, the final tightening stage of column joints, and the column welding stage. i The angle of inclination at a predetermined measurement point on the target column is measured, and this measurement data of the angle of inclination contains almost no measurement errors caused by repeated measurements. This is because the sensor device remains fixed at a predetermined mounting position on the column, so even if repeated measurements are performed, no measurement errors caused by displacement of the sensor device occur. Furthermore, the sensor device constantly measures the amount of change in the angle of inclination from the reference point at any given time, so the aforementioned 3D surveying instrument 30 j If the point in time of parallel measurement is used as the reference point, then by using the aforementioned calibration information calculated using the measurement results of the sensor device and the 3D surveying equipment at that reference point, it becomes possible to obtain construction measurement results for each steel column that are substantially equivalent to those obtained when construction measurements are always performed using surveying equipment such as a total station.

[0068] Furthermore, in this embodiment, as described above, various offset setting methods are employed that use measurement data measured in real time at the time of erection of the upper column by a sensor device, or measurement data measured over a predetermined period of time after welding. Therefore, the offset set by these setting methods can be said to be an offset set based on information that more accurately reflects the actual positional displacement of the lower column head at the time of erection of the upper column, compared to conventional offsets. This is because, conventionally, the offset of the upper column erection position was set by relying on the measurement result of the inclination angle of the lower column, which was measured only once after welding using surveying equipment such as a total station.

[0069] In the above embodiment, the case in which column misalignment, tilt adjustment, and level adjustment are performed using the erection adjustment jig 50 has been described. However, the invention is not limited to this, and a conventional erection method may also be adopted in which the column beam is fastened with temporary bolts, the anchor bolts are slightly loosened, and then the wire is adjusted with a lever block (registered trademark) or turnbuckle to make the column vertical. Even in this case, after the vertical alignment is achieved, the erection measurement according to the above embodiment (Figures 5, 6(A)~(C)) is applied, as the bolts are tightened by sandwiching the erection piece with a splice plate and fastening with high-strength bolts, welding, etc.

[0070] In the above embodiment, as an example of the construction of a structure, the erection of a steel frame structure, which is a type of building structure, is taken up, and multiple sensor devices 18 i and multiple 3D surveying instruments 30 jThe case in which the measurement method according to the present invention is applied to construction measurement using the measurement system 10 having the above has been explained. However, the measurement method according to the above embodiment can be implemented not only for steel frame construction, but also for structural materials of building structures (structures) under construction. For example, ceilings and roofs can also be used as targets. The structures targeted by the measurement method according to the present invention are not limited to buildings, but may also be elevated structures, bridges, dams, tunnels, stadiums, halls, etc. In short, it can be applied to any structure in which 3D surveying equipment is used during construction. The targets are not limited to structures, but may also be retaining walls, slopes, etc. Furthermore, the measurement method according to the above embodiment can also be applied to completed building structures (structures), using a part of it, such as building materials (structural materials) like columns, walls, ceilings, and roofs, as the object of measurement. In this case as well, it is not limited to buildings; a part of a structure such as an elevated structure, bridge, dam, tunnel, stadium, or hall may be used as the object of measurement, or retaining walls, slopes, etc.

[0071] Furthermore, in the above embodiment, the 3D surveying device 30 j Information on the inclination angle at the measurement point of the column as a structural material measured by the sensor device 18 (first position information) i Based on the measurement results of the inclination angle information (second position information) at the measurement point of the column measured by the sensor device 18, the sensor device matches the second position information with the first position information. i We have explained how to obtain calibration information for the measurement information of the sensor device 18. i The calibration information for the measurement data is not limited to calibration information that makes the second position information match the first position information. The calibration information can be any information that shows a certain relationship between the position information measured by the sensor device and the position information measured by the 3D surveying instrument. The calibration information can also be a coefficient that represents the relationship between the first position information measured by the 3D surveying instrument and the second position information measured by the sensor device. It is sufficient if the second position information measured by the sensor device can be corrected using this calibration information so that the corrected position information is closer to the position information measured by the 3D surveying instrument.

[0072] Furthermore, in the above embodiment, in step S104, the sensor device 18 i and 3D surveying equipment 30 j Therefore, the inclination angle at the measurement point (measurement point) at the same height position of the target column 100 was measured, but the sensor device 18 i and 3D surveying equipment 30 j The measurement points do not have to be the same. In this case, the measurement points of the sensor devices 18 are different from each other. i and 3D surveying equipment 30 j In each case, positional information (information on the inclination angle) is measured at multiple points on the target column 100, and an approximate curve representing the inclination of the target column (steel frame) is calculated from the measurement results. Calibration information for the measurement information of the sensor device related to the height direction of the steel frame may be obtained from the calculated approximate curve. To elaborate further, the 3D surveying instrument 30 j Using this, position information (information on the inclination angle) is measured at multiple points that are located at different positions in the height direction on a predetermined surface of the target column 100 (hereinafter referred to as the measurement surface as appropriate). At the same time, the position information (information on the inclination angle) at multiple points that are located at different positions in the height direction on the measurement surface of the target column 100 is measured by multiple sensor devices 18 that have been pre-calibrated so that the measured values ​​match each other. i Each is measured using the 3D surveying instrument 30 j The tilt angle information at multiple points measured using the above method is function-fitted to calculate a polynomial function f1(z) with height z as a parameter, which represents an approximate curve showing the tilt of each point in the height direction on the measurement surface of the target column 100. Along with this, multiple sensor devices 18 i The information on the inclination angle at each of the multiple points measured is function-fitted to calculate a polynomial function f2(z) with height z as a parameter, which represents an approximate curve showing the inclination of each point in the height direction on the measurement surface of the target column 100. Then, based on the polynomial functions f1(z) and f2(z), the sensor device 18 takes each point in the height direction on the measurement surface of the target column 100 as a measurement point. i The measurement information is transmitted using a 3D surveying instrument 30 j Alternatively, calibration information may be obtained that approximates the measurement information at a point at the same height position on a predetermined surface of the target column 100. In this case, any sensor device 18i Measurement information is collected by a 3D surveying instrument 30 j Calibration information that substantially matches the measurement information is provided by the sensor device 18 i The height z of the measurement point is obtained from the difference between the two inclination angle values ​​obtained by substituting them into the polynomial functions f1(z) and f2(z), respectively. Here, the polynomial function f2(z) is used for the sensor device 18 i The information on the inclination angle obtained by substituting the value of the height z of the measurement point is obtained from the sensor device 18 i Since it substantially matches the measurement information of any sensor device 18 i Measurement information is collected by a 3D surveying instrument 30 j To obtain calibration information that substantially matches the measurement information, it is sufficient to find the polynomial function f1(z). Therefore, it is not necessarily required to find the polynomial function f2(z).

[0073] In addition, the above explanation assumes that multiple sensor devices 18 have been pre-calibrated so that the measured values ​​match, as a prerequisite for calculating the polynomial function f2(z). i The system measures positional information (angle of inclination information) at multiple points on the measurement surface of the target column 100 that are located at different positions in the height direction, but a single sensor device 18 i Alternatively, the device may be moved to measure positional information (angle of inclination information) at multiple points on a predetermined surface of the target column 100 that are located at different positions in the height direction. Furthermore, as is clear from the explanation using polynomial functions regarding the acquisition of calibration information described above, calibration information may also be information that includes a function.

[0074] Furthermore, 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, if the measurement surface of the object is a three-dimensional curved surface, the sensor device may be arranged in two dimensions on the measurement surface. However, in practice, the sensor device 18 iSince it outputs the slope angle (3D slope angle) of the normal vector of the measurement surface, 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 (shift amount, lateral displacement amount) of each measurement point relative to the reference plane from 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 of the same object obtained by measurement into an integral system. As a fitting function, for example, a differential Zernike function can be used. 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, the shape may also be calculated by 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. In addition, if the shape can be calculated using the slope angles at multiple measurement points, various methods using various functions can be used. 3D Surveying Equipment 30 j When determining the shape of the measurement surface using the sensor device 18 i Similar to the previous case, by arranging multiple measurement points in a two-dimensional manner on the measurement surface, the shape of the measurement surface can be determined in the same way using the positional information obtained at each measurement point.

[0075] In other words, the information calculated from the positional information measured by the sensor device is not limited to the inclination of the column (one-dimensional inclination information), but can also be two-dimensional information such as surface shape. In the above embodiment, the correspondence between the 3D surveying instrument and the sensor device was performed using the inclination angle. However, the amount of lateral displacement (shift amount) may be determined from the inclination angle obtained for each measurement point, and calibration information may be calculated and managed using this shift amount.

[0076] Furthermore, the server 12 that constitutes the measurement system 10 may be under the control of the user of the sensor device, such as a construction company. Alternatively, if the sensor device is leased (or rented) from a supplier (manufacturer, supplier, etc.) to a construction company, the server 12 may be under the control of the supplier. [Explanation of symbols]

[0077] 18 i (181, 182, 183, 184, 185, 186)... Sensor device, 30 j (301, 302)…3D surveying equipment, 100 p ...pillar.

Claims

1. Attaching a sensor to the object, Based on the measurement results of the aforementioned sensor, the positional information of the target point on the object is obtained, To obtain the temperature information at the time the aforementioned location information was obtained, To obtain information showing the relationship between the aforementioned location information and the aforementioned temperature information, Setting a reference temperature, A method for estimating location information, comprising estimating the location information of the target point at the reference temperature based on the information indicating the relationship and the reference temperature.

2. The information showing the aforementioned relationship includes a function that includes the temperature information as a parameter, A method for estimating positional information according to claim 1, wherein the positional information of the target point at the reference temperature is estimated by substituting the reference temperature into the function.

3. The method for estimating positional information according to claim 1, wherein the positional information includes information on the inclination angle of the target point.

4. The method for estimating position information according to claim 1, wherein the position information of the target point is acquired multiple times based on the measurement results of the sensor.

5. In acquiring the position information of the target point based on the measurement results of the sensor, the position information of the target point is acquired multiple times within a predetermined time period. The method for estimating location information according to claim 4, wherein the average value of the temperature over the predetermined time is set as the reference temperature.

6. The aforementioned sensor includes a temperature sensor, The method for estimating position information according to claim 1, wherein the temperature information is obtained using the temperature sensor.

7. The method for estimating position information according to claim 1, wherein the temperature information is obtained using a temperature sensor other than the aforementioned sensor.

8. The method for estimating position information according to claim 1, wherein the sensor includes a tilt sensor.

9. The method for estimating positional information according to claim 1, wherein the estimation of the positional information of the target point at the reference temperature is performed after removing the sensor from the target object.

10. The method for estimating location information according to claim 1, wherein the object is any of the following: structural material of a structure under construction or completed, retaining wall under construction or completed, or slope under construction or completed.

11. The method for estimating positional information according to claim 10, wherein the object is a steel column.

12. A method for evaluating an object, comprising evaluating the inclination of the object based on the position information of the object point at the reference temperature obtained by the position information estimation method described in claim 1 and an allowable value for the inclination of the object.

13. A method comprising setting an offset to the target value for erecting an upper column to be erected relative to the object, based on the position information of the target point at the reference temperature obtained by the position information estimation method described in claim 1.

14. A sensor attached to the object, A processing unit that acquires positional information of a target point on an object based on the measurement results of the aforementioned sensor, The system includes a temperature acquisition unit that acquires temperature information at the time the aforementioned position information is acquired, The processing unit acquires information indicating the relationship between the position information and the temperature information, and estimates the position information of the target point at the reference temperature based on the information indicating the relationship and a preset reference temperature.

15. The information showing the aforementioned relationship includes a function that includes the temperature information as a parameter, The system according to claim 14, wherein the processing unit estimates the position information of the target point at the reference temperature by substituting the reference temperature into the function.

16. The system according to claim 14, wherein the position information includes information on the inclination angle of the target point.

17. The system according to claim 14, wherein the processing unit acquires positional information of the target point multiple times based on the measurement results of the sensor.

18. The system according to claim 17, wherein the processing unit acquires positional information of the target point multiple times based on the measurement results of the sensor during a predetermined time, and sets the average value of the temperature during the predetermined time as the reference temperature.

19. The system according to claim 14, wherein the sensor includes a tilt sensor.

20. The system according to claim 14, wherein the processing unit estimates the positional information of a point on the object at the reference temperature after the sensor has been removed from the object.

21. The system according to claim 14, wherein the object is any of the following: structural material of a structure under construction or completed, earth retaining wall under construction or completed, or slope under construction or completed.

22. The system according to claim 21, wherein the object is a steel column.

23. The system according to claim 14, wherein the processing unit evaluates the inclination of the object based on the position information of the object point at the reference temperature and an allowable value for the inclination of the object.

24. The system according to claim 14, wherein the processing unit sets an offset to the target value for erecting the upper column to be erected relative to the object, based on the position information of the target point at the reference temperature.

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