Assembly system, assembly method, and assembly program

Abstract

To properly assemble the foundation structure for floating offshore wind power generation during on-site assembly. [Solution] The assembly system 1 is used to assemble a foundation structure for a floating offshore wind power generation system, which includes a first component manufactured at a first manufacturing plant FA1 and a second component manufactured at a second manufacturing plant FA3 and connected to the first component. The system acquires first point cloud data showing the position coordinates of a plurality of first measurement points on the first component measured at the first manufacturing plant FA1, and second point cloud data showing the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured at the second manufacturing plant. Based on the first and second point cloud data, the system includes a processor 54 that determines whether the assembly is within a specific range of assembly accuracy when the first component and the second component are provisionally assembled.

Description

Technical Field

[0001] The present invention relates to an assembly system, an assembly method, and an assembly program.

Background Art

[0002] Conventionally, large steel structures such as bridges, coastal structures, or ships are manufactured by executing each procedure of a member manufacturing process for manufacturing each constituent member constituting the large steel structure, a temporary assembly process for temporarily assembling each constituent member, and an on-site assembly process for actually assembling each constituent member on site. Further, a technique for executing the temporary assembly process by simulation has been proposed (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, large steel structures such as bridges, coastal structures, or ships are manufactured and constructed each time according to the use environment and application, and thus are not mass-produced structures having the same shape and structure. Therefore, each constituent member constituting a large steel structure such as a bridge is manufactured in a single manufacturing factory. Further, the weight of each constituent member is about several tens of tons. For this reason, the temporary assembly process can also be performed, for example, in a single manufacturing factory where each constituent member is manufactured. Further, for large steel structures such as the bridges described above, since the standards for the assembly accuracy in the manufacturing factory are predetermined for the correction of the formed shape error and the adjustment of the members (for example, the Road Bridge Design Manual), assembly can be performed with relatively high accuracy along with those standards.

[0005] On the other hand, the individual components that make up the foundation structure for floating offshore wind power generation need to be mass-produced because it is common to install many such foundation structures of the same shape and structure in an environment suitable for wind power generation. In addition, many of the individual components weigh hundreds to thousands of tons. Therefore, unlike the large steel structures such as bridges mentioned above, it is difficult to manufacture each component of the foundation structure for floating offshore wind power generation in a single manufacturing plant. Each component is manufactured separately at multiple manufacturing plants both domestically and internationally, and it is also difficult to gather them in one place and perform a preliminary assembly process due to their heavy weight. Furthermore, unlike large steel structures such as bridges, there are no predetermined standards for the assembly precision when assembling the various components of the foundation structures for floating offshore wind power generation. Therefore, even if component A manufactured at one factory and component B connected to component A manufactured at another factory are both within acceptable tolerances in terms of component accuracy, the accumulation of manufacturing errors between components A and B at each factory can lead to problems such as the need for rework or rework during the on-site assembly process. Therefore, there is a need for technology that can successfully assemble the foundation structures for floating offshore wind power generation during on-site assembly.

[0006] The present invention has been made in view of the above, and aims to provide an assembly system, an assembly method, and an assembly program that can efficiently assemble a foundation structure for a floating offshore wind power generation system during on-site assembly. [Means for solving the problem]

[0007] To solve the above-mentioned problems and achieve the objective, the present invention provides an assembly system for assembling a foundation structure for a floating offshore wind power generation system, which includes a first component manufactured in a first manufacturing plant and a second component manufactured in a second manufacturing plant and connected to the first component, and comprises an information acquisition unit that acquires first point cloud data indicating the position coordinates of a plurality of first measurement points on the first component measured in the first manufacturing plant, and second point cloud data indicating the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured in the second manufacturing plant, and a determination unit that determines whether or not the assembly of the first component and the second component falls within a specific range of assembly accuracy when they are provisionally assembled based on the first point cloud data and the second point cloud data.

[0008] Furthermore, in the assembly system according to the present invention, the processor further comprises a processing information output unit that outputs processing information for at least one of the first and second components necessary to bring the assembly into the specified range of assembly accuracy when the determination unit determines that the assembly is not within the specified range of assembly accuracy.

[0009] Furthermore, in the assembly system according to the present invention, the information acquisition unit further acquires design data including the design position coordinates of each position in the foundation structure for the floating offshore wind power generation, and the determination unit replaces the measurement coordinate system in the first point cloud data with the design coordinate system in the design data so that the position coordinates of the plurality of first measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of first measurement points, and replaces the measurement coordinate system in the second point cloud data with the design coordinate system so that the position coordinates of the plurality of second measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of second measurement points, and determines whether or not it is within the range of the specific assembly accuracy based on the first point cloud data and the second point cloud data after replacement with the design coordinate system.

[0010] Furthermore, in the assembly system according to the present invention, the processor further comprises a position coordinate output unit that outputs position coordinates based on the first point cloud data and the second point cloud data after being replaced with the design coordinate system, when the determination unit determines that the assembly accuracy is within the range of the specified assembly accuracy.

[0011] The assembly method according to the present invention is an assembly method performed by a processor of an assembly system for assembling a foundation structure for a floating offshore wind power generation system, which includes a first component manufactured in a first manufacturing plant and a second component manufactured in a second manufacturing plant and connected to the first component, and includes an information acquisition step of acquiring first point cloud data indicating the position coordinates of a plurality of first measurement points on the first component measured in the first manufacturing plant, and second point cloud data indicating the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured in the second manufacturing plant, and a determination step of determining whether or not the first component and the second component are within a specific assembly accuracy range when provisionally assembled based on the first point cloud data and the second point cloud data.

[0012] Furthermore, in the assembly method according to the present invention, in the information acquisition step, design data including the design position coordinates of each position in the foundation structure for the floating offshore wind power generation is acquired; in the determination step, the measurement coordinate system in the first point cloud data is replaced with the design coordinate system in the design data so that the position coordinates of the plurality of first measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of first measurement points; the measurement coordinate system in the second point cloud data is replaced with the design coordinate system so that the position coordinates of the plurality of second measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of second measurement points; and based on the first point cloud data and the second point cloud data after replacement with the design coordinate system, it is determined whether or not it is within the range of the specific assembly accuracy.

[0013] Furthermore, in the assembly method according to the present invention, in the information acquisition step, a plurality of first point cloud data measured for each of the plurality of first components manufactured and measured at the first manufacturing plant, and a plurality of second point cloud data measured for each of the plurality of second components manufactured and measured at the second manufacturing plant are acquired. In the determination step, the measurement coordinate system of the plurality of first point cloud data and the plurality of second point cloud data is replaced with the design coordinate system. Based on the plurality of first point cloud data and the plurality of second point cloud data after replacement with the design coordinate system, it is determined whether a first combination of the plurality of first components and the plurality of second components manufactured at the first and second manufacturing plants falls within the range of the specified assembly accuracy when provisionally assembled. If the first combination falls outside the range of the specified assembly accuracy, it is determined whether a second combination different from the first combination falls within the range of the specified assembly accuracy when provisionally assembled.

[0014] Furthermore, the assembly method according to the present invention further includes a combination selection step in which, if the determination step determines that the first combination is within the specified range of assembly accuracy, the second combination is determined to be within the specified range of assembly accuracy, and if the second combination is determined to be within the specified range of assembly accuracy, the assembly accuracy of the first combination and the assembly accuracy of the second combination are compared, and the combination with the higher assembly accuracy is selected.

[0015] Furthermore, in the assembly method according to the present invention, in the combination selection step, for each of the above combinations, the amount of deviation between the position coordinates based on the plurality of first point cloud data and the plurality of second point cloud data after being replaced with the design coordinate system and the design position coordinates in the design data is calculated, and the combination with the smallest amount of deviation is selected.

[0016] Furthermore, the assembly method according to the present invention further includes, after the combination selection step, an optimal position coordinate output step which outputs optimal position coordinates for each of the first and second components constituting the selected combination, based on the first point cloud data and the second point cloud data after they have been replaced with the design coordinate system.

[0017] Furthermore, the assembly method according to the present invention further includes a processing information output step in which, if in the determination step there are no combinations determined to be within the specified range of assembly accuracy, processing information for at least one of the plurality of first components and the plurality of second components necessary to bring the assembly within the specified range of assembly accuracy is output.

[0018] The assembly program according to the present invention is an assembly program to be executed by a processor of an assembly system for assembling a foundation structure for a floating offshore wind power generation system, which includes a first component manufactured in a first manufacturing plant and a second component manufactured in a second manufacturing plant and connected to the first component, wherein the assembly program instructs the processor to perform the following: acquire first point cloud data indicating the position coordinates of a plurality of first measurement points on the first component measured in the first manufacturing plant, and second point cloud data indicating the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured in the second manufacturing plant, and determine whether the first component and the second component are within a specific assembly accuracy range when provisionally assembled based on the first point cloud data and the second point cloud data.

Advantages of the Invention

[0019] According to the assembly system, assembly method, and assembly program of the present invention, a foundation structure for floating offshore wind power can be assembled well in on-site assembly.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a perspective view showing the configuration of a foundation structure for floating offshore wind power to be assembled by the assembly system according to the embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of the assembly system according to the embodiment. [Figure 3] FIG. 3 is a flowchart showing a manufacturing method of a foundation structure for floating offshore wind power. [Figure 4] FIG. 4 is a diagram for explaining step S3. [Figure 5] FIG. 5 is a diagram for explaining step S3. [Figure 6] FIG. 6 is a diagram for explaining step S3. [Figure 7] FIG. 7 is a diagram for explaining step S3. [Figure 8] FIG. 8 is a flowchart showing step S4. [Figure 9] FIG. 9 is a diagram for explaining step S4C. [Figure 10] FIG. 10 is a diagram for explaining step S4C. [Figure 11] FIG. 11 is a diagram for explaining step S4D. [Figure 12] FIG. 12 is a diagram for explaining step S4E. [Figure 13] FIG. 13 is a flowchart showing step S4 according to a modification of the embodiment.

Modes for Carrying Out the Invention

[0021] The embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described below with reference to the drawings. However, the present invention is not limited to the embodiments described below. Furthermore, in the drawings, the same parts are denoted by the same reference numerals.

[0022] [Outline configuration of the surveying system] Figure 1 is a perspective view showing the configuration of the foundation structure 100 for a floating offshore wind power generation system, which is the object of assembly of the assembly system 1 according to the embodiment. First, before explaining the configuration of assembly system 1, we will explain the configuration of the foundation structure 100 for floating offshore wind power generation that will be assembled.

[0023] The foundation structure 100 for a floating offshore wind power generation system has a floating structure that is moored to the seabed by a plurality of mooring lines (not shown). As shown in Figure 1, this foundation structure 100 comprises a column 200, a tank 300, a steel pipe brace 400, and a square brace 500. Here, the column 200 and the tank 300 correspond to the first components according to the present invention. The steel pipe brace 400 and the square brace 500 correspond to the second components according to the present invention. Note that the foundation structure 100 is not limited to the configuration shown in Figure 1, and other configurations may be adopted.

[0024] Column 200 is the part on which the main tower of the floating offshore wind power generation system is erected. As shown in Figure 1, column 200 comprises a support column 201 and first to third connecting members 202 to 204.

[0025] The support column 201 has a cylindrical shape with a height of 30m or more. The main tower of the floating offshore wind power generation system will be erected on the top surface of the support column 201.

[0026] The first connecting member 202 is located at the top of the support column 201, has a cylindrical shape that protrudes radially from the outer surface of the support column 201 about the central axis of the cylinder in the support column, and is the part to which one end of the steel pipe brace 400 (first steel pipe brace 401) is connected. In this embodiment, as shown in Figure 1, three first connecting members 202 are provided. These three first connecting members 202 are each provided at positions that are 120° rotationally symmetrical about the central axis of the cylinder in the support column 201. Note that the number of first connecting members 202 is not limited to three; any other number is acceptable as long as it is the same as the number of tanks 300.

[0027] The second connecting member 203 has a cylindrical shape that protrudes upward from the outer surface of the support column 201 at the lower part of the support column 201, and is the part to which one end of the steel pipe brace 400 (second steel pipe brace 402) is connected. In this embodiment, as shown in Figure 1, three second connecting members 203 are provided. These three second connecting members 203 are provided at positions that are 120° rotationally symmetrical with respect to the central axis of the cylinder on the support column 201, similar to the three first connecting members 202. Note that the number of second connecting members 203 is not limited to three; any other number is acceptable as long as it is the same as the number of tanks 300.

[0028] The third connecting member 204 has a rectangular prism shape that protrudes radially from the central axis of the cylinder in the support column 201, at a position lower than the second connecting member 203 on the outer surface of the support column 201, and is the part to which one end of the rectangular brace 500 is connected. The bottom surface of the third connecting member 204 and the bottom surface of the support column 201 form the same plane. In this embodiment, as shown in Figure 1, there are three third connecting members 204. These three third connecting members 204 are each provided at positions that are 120° rotationally symmetrical with respect to the central axis of the cylinder in the support column 201. The first to third connecting members 202 to 204 overlap each other when the support column 201 is viewed from above. Note that the number of third connecting members 204 is not limited to three; any other number is acceptable as long as it is the same as the number of tanks 300.

[0029] Multiple tanks 300 are provided so as to surround the column 200 with respect to the central axis of the cylinder in the support column 201. In this embodiment, as shown in Figure 1, three tanks 300 are provided. These three tanks 300 are each provided at positions that are 120° rotationally symmetrical with respect to the central axis of the cylinder in the support column 201. Note that the number of tanks 300 is not limited to three; any other number may be used.

[0030] As shown in Figure 1, the tank 300 comprises a support column 301 and first to third connecting members 302 to 304.

[0031] The support column 301 has a cylindrical shape with a height of 30m or more.

[0032] The first connecting member 302 has a cylindrical shape that protrudes radially from the outer surface of the support column 301 at the upper part of the support column 301, with respect to the central axis of the cylinder in the support column. The first connecting member 302 faces the first connecting member 202 in the column 200, and the other end of the steel pipe brace 400 (first steel pipe brace 401), one end of which is connected to the first connecting member 202, is connected to the first connecting member 302.

[0033] The second connecting member 303 has a cylindrical shape that protrudes from the upper part of the support column 301, inclined downward from a position lower than the first connecting member 302 on the outer surface of the support column 301. The second connecting member 303 faces the second connecting member 203 on the column 200, and the other end of the steel pipe brace 400 (second steel pipe brace 402), one end of which is connected to the second connecting member 203, is connected to the second connecting member 203.

[0034] The third connecting member 304 has a rectangular prism shape that protrudes radially from the outer surface of the support column 301 at the lower part of the support column 301, with respect to the central axis of the cylinder in the support column 301. The third connecting member 304 faces the third connecting member 204 in the column 200, and the other end of the rectangular brace 500, one end of which is connected to the third connecting member 204, is connected to the third connecting member 304. Furthermore, the bottom surface of the third connecting member 304 and the bottom surface of the support column 301 form the same plane.

[0035] The steel pipe brace 400 is a cylindrical, elongated member that connects the column 200 and the tank 300, respectively. As shown in Figure 1, the steel pipe brace 400 comprises three first steel pipe braces 401, each having one end connected to a first connecting member 202 and the other end connected to a first connecting member 302, and three second steel pipe braces 402, each having one end connected to a second connecting member 203 and the other end connected to a second connecting member 303. Note that the number of first and second steel pipe braces 401 and 402 is not limited to three; any number equal to the number of tanks 300 is acceptable. Examples of joining methods between the steel pipe brace 400 and the column 200 and tank 300 include welded joints, pin joints, and flange joints.

[0036] The rectangular brace 500 is a long, rectangular columnar member, with one end connected to the third connecting member 204 and the other end connected to the third connecting member 304, connecting the column 200 and the tank 300, respectively. In this embodiment, three rectangular braces 500 are provided. The number of rectangular braces 500 is not limited to three; any number equal to the number of tanks 300 is acceptable. Examples of joining methods between the rectangular braces 500 and the column 200 and tank 300 include welded joints, pin joints, and flange joints.

[0037] Figure 2 is a block diagram showing the configuration of the assembly system 1 according to the embodiment. Assembly system 1 is a system for assembling the foundation structure 100. As shown in Figure 2, assembly system 1 includes a server 2 used in the column manufacturing plant FA1, a server 3 used in the tank manufacturing plant FA2, a server 4 used in the brace manufacturing plant FA3, and a verification device 5. Here, the column manufacturing plant FA1 and the tank manufacturing plant FA2 correspond to the first manufacturing plant according to the present invention. The brace manufacturing plant FA3 corresponds to the second manufacturing plant according to the present invention.

[0038] Column manufacturing plant FA1 is a factory that manufactures column 200. Server 2 is an information processing device used in column manufacturing plant FA1, and is implemented, for example, by a server device.

[0039] Tank manufacturing plant FA2 is a factory that manufactures tanks 300. Server 3 is an information processing device used in tank manufacturing plant FA2, and is implemented, for example, by a server device.

[0040] Brace manufacturing plant FA3 is a factory that manufactures steel pipe braces 400 and square braces 500. Server 4 is an information processing device used in brace manufacturing plant FA3, and is implemented, for example, by a server device.

[0041] Verification device 5 is an information processing device used in the simulation preliminary assembly process (step S4) described later in the "Method for Manufacturing Foundation Structures for Floating Offshore Wind Power Generation." Verification device 5 is connected to network N (Figure 1) by wire or wireless, and transmits and receives information with each server 2 to 4 via network N. As shown in Figure 2, verification device 5 comprises an input unit 51, a storage unit 52, a display unit 53, and a processor 54.

[0042] The input unit 51 is configured using operating devices such as a mouse, keyboard, and touch panel, and accepts user input. The input unit 51 then outputs an operation signal corresponding to the user input to the processor 54.

[0043] The storage unit 52 stores various programs executed by the processor 54 (including the assembly program according to the present invention), and data necessary when the processor 54 performs processing.

[0044] The display unit 53 is composed of a display display using liquid crystal or organic EL (Electro Luminescence), and displays a predetermined image under the control of the processor 54.

[0045] The processor 54 is implemented by controllers such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), and GPU (Graphics Processing Unit), which execute various programs stored in the memory unit 52, thereby controlling the operation of the entire verification device 5. Note that the processor 54 is not limited to a CPU, MPU, or GPU; it may also be composed of integrated circuits such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array).

[0046] This processor 54 has the functions of an information acquisition unit, a determination unit, a processing information output unit, and a position information output unit according to the present invention. The details of the functions of the processor 54 as an information acquisition unit, determination unit, processing information output unit, and position information output unit will be explained later in "Method for Manufacturing a Foundation Structure for Floating Offshore Wind Power Generation."

[0047] [Method for manufacturing foundation structures for floating offshore wind power generation] Next, we will explain the manufacturing method of the foundation structure 100 for floating offshore wind power generation. Figure 3 is a flowchart showing the manufacturing method of the foundation structure 100 for floating offshore wind power generation. First, the person in charge of directing the manufacture of the foundation structure 100 for floating offshore wind power generation plans the specific member precision, assembly precision, measurement points, measurement methods, dimensional adjustment methods, and assembly methods for the foundation structure 100, taking into consideration the assembly feasibility conditions corresponding to the structural type and joint type of the foundation structure 100 (Step S1).

[0048] In the field of steel structures, standards are generally established in advance for the precision of individual members as well as the precision of the assembly between members. On the other hand, in the case of the foundation structure 100 for floating offshore wind power generation, standards are established in advance for the precision of individual members (the precision of each member of the column 200, tank 300, steel pipe brace 400, and square brace 500), but standards are not established in advance for the precision of the assembly (the precision of the assembly between the column 200 and tank 300 and the steel pipe brace 400 and square brace 500). Therefore, in step S1, it is necessary to consider the assembly feasibility conditions (allowable gap, angle, hole position precision, perpendicularity angle, etc.) according to the structural type and connection type (welded connection, pin connection, flange connection, etc.) of the foundation structure 100 in question, and to set appropriate precision control standards for each design of the foundation structure 100.

[0049] Then, the component accuracy, measurement points, and measurement methods for each column 200, tank 300, steel pipe brace 400, and square brace 500 planned in step S1 are shared with each manufacturing plant FA1 to FA3. In addition, the assembly accuracy planned in step S1 is shared with verification device 5.

[0050] After step S1, each manufacturing plant FA1 to FA3 manufactures each component (column 200, tank 300, steel pipe brace 400, and square brace 500) so that each component falls within the range of component accuracy planned in step S1 (step S2).

[0051] After step S2, workers at each manufacturing plant FA1 to FA3 measure each component (column 200, tank 300, steel pipe brace 400, and square brace 500) based on the measurement points and measurement methods for each component planned in step S1 (step S3).

[0052] Figures 4 through 7 illustrate step S3. Specifically, Figure 4 illustrates the measurement method. Figure 5(a) schematically shows the first and second connecting members 202, 203, 302, and 303. Figure 5(b) schematically shows the third connecting members 204 and 304. Figure 5(c) is a perspective view showing the steel pipe brace 400. Figure 5(d) is a perspective view showing the square brace 500. Figures 6(a) and 7(a) are perspective views showing the column 200. Figures 6(b) and 7(b) are perspective views showing the tank 300.

[0053] The following measurement methods (1) to (4) can be used to measure the measurement points for each component (column 200, tank 300, steel pipe brace 400, and square brace 500) planned in step S1.

[0054] Measurement method (1) is measurement using a total station TS (Figure 4). Measurement method (2) is a photographic measurement using images captured by the imaging unit FV1, for example, an aerial vehicle FV (Figure 4) such as a drone equipped with an imaging unit FV1 (Figure 4) that is capable of flying in the air. Measurement method (3) is measurement using a laser tracker LT (Figure 4). Measurement method (4) is a measurement that combines measurement methods (1) and (2).

[0055] In any of the measurement methods (1) to (4), the position coordinates of the measured measurement points are measured as position coordinates in an absolute coordinate system (hereinafter referred to as the measurement coordinate system).

[0056] The following measurement points (1) to (3) are examples of measurement points for each component (column 200, tank 300, steel pipe brace 400, and square brace 500) planned in step S1.

[0057] As shown in Figure 5, measurement point (1) is a measurement point P0 for identifying the end face position and central axis of the first to third connecting members 202 to 204, 302 to 304 and each brace 400, 500. Specifically, for the first and second connecting members 202, 203, 302, 303 and the steel pipe brace 400, which have a cylindrical shape, as shown in Figures 5(a) and 5(c), measurement points (1) include at least three measurement points P0 that constitute the edge portion of the end face and at least three measurement points P0 on the outer circumferential surface that are located a predetermined distance longitudinally from the end face. Furthermore, for the third connecting members 204, 304 and the square brace 500, which have a rectangular prism shape, as shown in Figures 5(b) and 5(d), measurement points (1) include measurement points P0 at least three corner portions that constitute the edge portion of the end face, and measurement points P0 at least three points on the outer surface that are located a predetermined distance longitudinally from the end face. Here, in the measurement points (1) described above, the measurement points P0 of the first to third connecting members 202 to 204 and 302 to 304 correspond to the first measurement points P1 according to the present invention. Also, in the measurement points (1) described above, the measurement points P0 of each brace 400 and 500 correspond to the second measurement points P2 according to the present invention.

[0058] As shown in Figure 6, measurement point (2) is measurement point P0 for identifying the central axis of the support columns 201 and 301. Specifically, measurement point (2) includes at least three measurement points P0 located at a predetermined distance in the longitudinal direction from the top surface on the outer surface of the support columns 201 and 301, and at least three measurement points P0 located at a predetermined distance in the longitudinal direction from the bottom surface. Here, the measurement points P0 that are measurement points (2) described above correspond to the first measurement point P1 according to the present invention.

[0059] As shown in Figure 7, measurement point (3) is measurement point P0 for determining the height of the support columns 201 and 301. Specifically, on the support columns 201 and 301, measurement points (3) include at least three measurement points P0 that constitute the edge portion of the top surface and at least three measurement points P0 that constitute the edge portion of the bottom surface. Here, the measurement points P0 that are measurement points (3) described above correspond to the first measurement point P1 according to the present invention.

[0060] Then, in step S3, the workers at each manufacturing plant FA1 to FA3 measure the planned points (1) to (3) planned in step S1 using one of the planning methods (1) to (4) planned in step S1. In addition, the worker at column manufacturing plant FA1 stores column measurement data, including the position coordinates of the first measurement point P1 measured for the manufactured column 200, in the storage unit of server 2. Similarly, the worker at tank manufacturing plant FA2 stores tank measurement data, including the position coordinates of the first measurement point P1 measured for the manufactured tank 300, in the storage unit of server 3. Similarly, the worker at brace manufacturing plant FA3 stores brace measurement data, including the position coordinates of the second measurement point P2 measured for each manufactured brace 400, 500, in the storage unit of server 4. Here, the column measurement data and tank measurement data correspond to the first point cloud data according to the present invention. The brace measurement data corresponds to the second point cloud data according to the present invention.

[0061] After step S3, the verification device 5 performs a simulation preliminary assembly (step S4). Here, step S4 corresponds to the assembly method according to the present invention.

[0062] Figure 8 is a flowchart of step S4. First, the processor 54 acquires design data including the design position coordinates (absolute coordinate system (hereinafter referred to as the design coordinate system)) of each location in the foundation structure 100 (step S4A). For example, the processor 54 acquires design data that is pre-stored in the storage unit 52 from the storage unit 52. The processor 54 may also acquire design data from an external device via the network N.

[0063] After step S4A, the processor 54 establishes communication connections with servers 2 to 4 via the network N and acquires column measurement data, tank measurement data, and brace measurement data from servers 2 to 4, respectively (step S4B: information acquisition step). In other words, the processor 54 functions as an information acquisition unit according to the present invention.

[0064] After step S4B, the processor 54 processes the acquired column measurement data, tank measurement data, and brace measurement data (step S4C).

[0065] Note that step S4A described above may be executed between steps S4C and S4D.

[0066] Figures 9 and 10 illustrate step S4C. Specifically, Figure 9 shows the information (1) to (6) described later, calculated by processing the column measurement data in step S4C. Figure 10 shows the information (1), (3) to (5) described later, calculated by processing the brace measurement data representing the steel pipe brace 400 in step S4C. Specifically, in step S4C, the processor 54 calculates the following information (1) to (6) based on the column measurement data, tank measurement data, and brace measurement data acquired in step S4B.

[0067] Information (1) is information indicating the central axis of the support columns 201 and 301 and each of the braces 400 and 500. For example, for support column 201, as shown in Figure 9, information indicating the central axis Ax1 is calculated as information (1). Similarly, for steel pipe brace 400, as shown in Figure 10, information indicating the central axis Ax2 is calculated as information (1). In the same way, for support column 301 and square brace 500, information indicating the central axis is calculated as information (1).

[0068] Information (2) is information indicating the position of the top surface of the support columns 201 and 301. For example, for support column 201, as shown in Figure 9, information indicating the position PO1 of the top surface is calculated as information (2).

[0069] Information (3) is information indicating the outer surfaces of the support columns 201, 301 and each brace 400. For example, for support column 201, as shown in Figure 9, information indicating the outer surface CI1 is calculated as information (3). Similarly, for steel pipe brace 400, as shown in Figure 10, information indicating the outer surface CI2 is calculated as information (3). Similarly, for support column 301, information indicating the outer surface is calculated as information (3).

[0070] Information (4) is information indicating the central axis of the first to third connecting members 202 to 204. For example, for the first to third connecting members 202 to 204, as shown in Figure 9, information indicating the central axis Ax3 is calculated as information (4).

[0071] Information (5) is information indicating the position of the end faces of the first to third connecting members 202 to 204 and each brace 400, 500. For example, for the first to third connecting members 202 to 204, as shown in Figure 9, information indicating the position PO2 of the end face is calculated as information (5). Similarly, for the steel pipe brace 400, as shown in Figure 10, information indicating the position PO3 of the end face is calculated as information (5). Similarly, for the square brace 500, information indicating the position of the end face is calculated as information (5).

[0072] Information (6) is information indicating the position of the base of the support columns 201 and 301. For example, for support column 201, as shown in Figure 9, information indicating the position PO4 of the base is calculated as information (6).

[0073] After step S4C, the processor 54 replaces the measurement coordinate system in the column measurement data including the information (1) to (6) calculated in step S4C, the tank measurement data including the information (1) to (6) calculated in step S4C, and the brace measurement data including the information (1), (3) to (5) calculated in step S4C with the design coordinate system in the design data acquired in step S4A (step S4D).

[0074] Figure 11 shows step S4D. Specifically, Figure 11(a) shows the central axis Ax1, top surface position PO1, outer surface CI1, central axis Ax3, and end surface position PO2 calculated in step S4C based on column measurement data. Figure 11(b) shows the shape of column 200 based on design data. Specifically, in step S4D, the processor 54 replaces the measurement coordinate system in the column measurement data and tank measurement data with the design coordinate system in the design data so that the position coordinates of the multiple first measurement points P1 are close to the design position coordinates included in the design data corresponding to each of the multiple first measurement points P1. Note that the relative positional relationship between the multiple first measurement points P1 remains unchanged before and after the replacement. The processor 54 also replaces the measurement coordinate system in the brace measurement data with the design coordinate system in the design data so that the position coordinates of the multiple second measurement points P2 are close to the design position coordinates included in the design data corresponding to each of the multiple second measurement points P2. Note that the relative positional relationship between the multiple second measurement points P2 remains unchanged before and after the replacement.

[0075] For example, with respect to column measurement data, in step S4D, as shown in Figure 11, the processor 54 replaces the measurement coordinate system in the column measurement data with the design coordinate system in the design data by fitting the end face position PO2 (end face shape) calculated in step S4C with the end face position PO5 (end face shape) in the design data corresponding to the end face position PO2 using the least squares method. Similarly, with respect to tank measurement data and brace measurement data, the measurement coordinate system in the tank measurement data and brace measurement data is replaced with the design coordinate system in the design data by fitting them in the same manner as described above.

[0076] After step S4D, the processor 54 determines, based on the column measurement data, tank measurement data, and brace measurement data that were converted to the design coordinate system in step S4D, whether the assembly accuracy of the column 200 and tank 300 and each brace 400, 500, when provisionally assembled, falls within the range of the assembly accuracy measured in step S1 (step S4E: determination step). In other words, the processor 54 functions as a determination unit according to the present invention.

[0077] Figure 12 is a diagram illustrating step S4E. Specifically, Figure 12 shows the central axis Ax1, top surface position PO1, outer surface CI1, central axis Ax3, and end surface position PO2 calculated in step S4C based on column measurement data, and the central axis Ax2, outer surface CI2, and end surface position PO3 calculated based on brace measurement data. Specifically, in step S4E, the processor 54 determines, based on the column measurement data, tank measurement data, and brace measurement data that were converted to the design coordinate system in step S4D, whether the positional relationship between the first to third connecting members 202 to 204, 302 to 304 and the braces 400, 500 connected to the first to third connecting members 202 to 204, 302 to 304 is within the range of assembly accuracy planned in step S1. Examples of items to be determined include the distance between connecting surfaces, the angle difference between the central axes of each member, and the deviation of the central axis of each member from the planar position.

[0078] For example, with respect to the columns 200 and steel pipe braces 400 that are connected to each other, in step S4E, as shown in Figure 12, the processor 54 determines whether the distance D1 between the end face position PO2 and the end face position PO3 after being replaced with the design coordinate system in step S4D is within the range of assembly accuracy planned in step S1. The processor 54 also determines whether the angular deviation D2 between the central axes Ax1 and Ax3 after being replaced with the design coordinate system in step S4D is within the range of assembly accuracy planned in step S1. Furthermore, the processor 54 determines whether the deviation D3 from the planar position of the central axes Ax1 and Ax2 after being replaced with the design coordinate system in step S4D is within the range of assembly accuracy planned in step S1.

[0079] In step S4E, if the processor 54 determines "No", it outputs processing information for at least one of the columns 200 and tank 300 and each brace 400, 500 necessary to bring the assembly accuracy within the range planned in step S1 (step S4F). In other words, the processor 54 functions as a processing information output unit according to the present invention. Examples of processing information include the amount of cutting, build-up, and angle correction for at least one of the first to third connecting members 202 to 204, 302 to 304 and each brace 400, 500. The processing information here includes not only information related to processing such as cutting the member itself, but also information related to processing other than the member in question, such as various processing such as cutting the filler plate when adjusting the dimensions by inserting a filler plate in the connecting part, and various processing such as cutting the bearing part in the case of a pin joint.

[0080] For example, in step S4F, the processor 54 communicates with at least one of the servers 2 to 4 via the network N and transmits (outputs) the processing information described above to at least one of those servers. Alternatively, the processor 54 may output the processing information described above to the storage unit 52 and store it in the storage unit 52. The processing information stored in the storage unit 52 is transmitted to at least one of the servers via the network N by an operation of the input unit 51 by the operator. Then, an operator at at least one of the manufacturing plants FA1 to FA3 performs processing such as cutting, build-up, or angle correction on at least one of the first to third connecting members 202 to 204, 302 to 304 and each of the braces 400, 500 based on the transmitted processing information.

[0081] On the other hand, in step S4E, if the processor 54 determines "Yes", it outputs the position coordinates (hereinafter referred to as optimal position coordinates) of the column 200, tank 300, and each brace 400, 500 based on the column measurement data, tank measurement data, and brace measurement data after they have been converted to the design coordinate system in step S4D (step S4G). For example, the processor 54 outputs the optimal position coordinates to the storage unit 52 and stores them in the storage unit 52. In other words, the processor 54 functions as a position coordinate output unit according to the present invention.

[0082] After step S4, the workers transport the columns 200, tanks 300, and braces 400 and 500 manufactured at each manufacturing plant FA1 to FA3 to the on-site assembly yard and perform on-site assembly (step S5).

[0083] Specifically, in step S5, the worker measures the measurement points (1) to (3) mentioned above using the measurement methods (1) to (4) described above, and installs the column 200 and tank 300 so that they are located at the optimal position coordinates described above. The worker also verifies whether the installed coordinates are the same as the optimal position coordinates, and if necessary, modifies the components before assembly. In other words, the braces 400 and 500 are connected to the installed column 200 and tank 300 based on the assembly method planned in step S1. Alternatively, if the optimal position coordinates differ from the installation location, but there are virtually no placement problems at that location, and it is possible to assemble the structure within the assembly accuracy with only minor or no modifications required compared to modifying the components at the optimal position coordinates, then that location may be used as the optimal location for installation.

[0084] The foundation structure 100 is manufactured through the above steps S1 to S5.

[0085] According to the embodiment described above, the following effects are achieved. In the assembly system 1 according to this embodiment, the processor 54 acquires column measurement data indicating the position coordinates of multiple first measurement points P1 on the column 200 measured at the column manufacturing plant FA1. The processor 54 also acquires tank measurement data indicating the position coordinates of multiple first measurement points P1 on the tank 300 measured at the tank manufacturing plant FA2. Furthermore, the processor 54 acquires brace measurement data indicating the position coordinates of multiple second measurement points P2 on each brace 400, 500 measured at the brace manufacturing plant FA3. Based on the column measurement data, tank measurement data, and brace measurement data, the processor 54 determines whether the assembly of the column 200 and tank 300 with each brace 400, 500 falls within a specific range of assembly accuracy. Therefore, even if each component 200, 300, 400, and 500 is manufactured separately at multiple manufacturing plants FA1 to FA3, a preliminary assembly process (step S4) can be performed by simulation using a specific assembly precision. In other words, by performing the preliminary assembly process before the on-site assembly process (step S5), the feasibility of assembling the foundation structure 100 for floating offshore wind power generation can be verified. Therefore, according to the assembly system 1 of this embodiment, the foundation structure 100 for floating offshore wind power generation can be assembled well during on-site assembly.

[0086] Furthermore, in the assembly system 1 according to this embodiment, if the processor 54 determines in step S4E that the assembly is not within the range of assembly accuracy, it outputs processing information for at least one of the column 200 and tank 300 and each of the braces 400 and 500 necessary to bring the assembly within the range of assembly accuracy. Therefore, based on the processing information, at least one of the column 200 and tank 300 and each of the braces 400 and 500 can be pre-processed, minimizing additional rework during on-site assembly. The processing information here includes, as described above, information related to processing of the member itself, such as cutting, as well as information related to processing of other members, such as cutting filler plates when adjusting dimensions by inserting filler plates into connection parts, and various processing such as cutting bearing parts in the case of pin joints.

[0087] Furthermore, in the assembly system 1 according to this embodiment, the processor 54 replaces the measurement coordinate system in the column measurement data and tank measurement data with the design coordinate system in the design data so that the position coordinates of the plurality of first measurement points P1 are close to the design position coordinates included in the design data corresponding to each of the plurality of first measurement points P1. The processor 54 also replaces the measurement coordinate system in the brace measurement data with the design coordinate system in the design data so that the position coordinates of the plurality of second measurement points P2 are close to the design position coordinates included in the design data corresponding to each of the plurality of second measurement points P2. Then, based on the column measurement data, tank measurement data, and brace measurement data that have been replaced with the design coordinate system, the processor 54 determines whether the column 200 and tank 300 and each of the braces 400 and 500 are within a specific range of assembly accuracy when they are provisionally assembled. In other words, the measurement coordinate systems of the column measurement data, tank measurement data, and brace measurement data measured at each manufacturing plant FA1 to FA3 can be integrated into the design coordinate system, and the feasibility of assembling the foundation structure 100 for floating offshore wind power generation can be well verified by simulation.

[0088] Furthermore, in the assembly system 1 according to this embodiment, the processor 54, in step S4E, outputs the position coordinates (optimal position coordinates) of the column 200, tank 300, and each brace 400, 500 based on the column measurement data, tank measurement data, and brace measurement data after being converted to the design coordinate system, if it determines that the assembly accuracy is within the range.Therefore, in on-site assembly (step S5), the foundation structure 100 for floating offshore wind power generation can be assembled well using the optimal position coordinates.

[0089] In the above-described embodiment, each component (column 200, tank 300, steel pipe brace 300, and square brace 500) is manufactured in each manufacturing plant FA1 to FA3. However, each component is not manufactured one at a time, but in large quantities. In other words, when mass-producing the foundation structure 100 for floating offshore wind power generation, each component is manufactured in multiple quantities in each manufacturing plant FA1 to FA3.

[0090] Therefore, the determination step S4E, which determines whether or not the simulated preliminary assembly (step S4) shown in Figure 8 falls within a specific range of assembly accuracy, may be completed with a single combination of components determined initially, or it may be performed with different combinations for all possible combinations of the multiple components to be manufactured, before proceeding to the subsequent steps S4G and S4F.

[0091] Figure 13 is a flowchart of step S4 according to a modified example of the embodiment. For example, in each manufacturing plant FA1 to FA3, multiple components are manufactured. Specifically, if n columns 200 are manufactured in column manufacturing plant FA1 (A1 to An, where n is an integer greater than or equal to 2), m tanks 300 are manufactured in tank manufacturing plant FA2 (B1 to Bm, where m is an integer greater than or equal to 2), and x steel pipe braces 400 and square braces 500 are manufactured in brace manufacturing plant FA3 (C1 to Cx, where x is an integer greater than or equal to 2), then for all of the multiple components manufactured, steps S4A to S4D are performed in advance, as shown in Figure 13, similar to the embodiment described above. Specifically, in step S4B, the processor 54 acquires column measurement data measured for each of the multiple manufactured columns 200 (A1~An), tank measurement data measured for each of the multiple manufactured tanks 300 (B1~Bm), and brace measurement data measured for each of the multiple manufactured braces 400, 500 (C1~Cx). Then, in step S4C, the processor 54 processes the acquired column measurement data, tank measurement data, and brace measurement data for all components, and in step S4D, the processor 54 replaces the measurement coordinate system for all of the multiple manufactured components with the design coordinate system in the design data.

[0092] Next, after step S4D, the processor 54 performs a combination determination process (step S4E') to determine whether all combinations of the multiple manufactured components fall within a specific assembly accuracy range when hypothetically assembled, based on the measurement data after being replaced with the design coordinate system.

[0093] Then, in step S4E', the processor 54 determines whether each of the n × x combinations (A1, C1), (A1, C2), ..., (An, Cx) of n A1 to An of the column 200 and x C1 to Bx of the steel pipe braces 400 falls within a specific assembly accuracy range, using the same method as in step S4E described in the above embodiment. Furthermore, the processor 54 similarly determines whether each of the combinations of the column 200 and tank 300 and each of the braces 400 and 500 falls within a specific assembly accuracy range.

[0094] In step S4E', after determining whether all combinations fall within a specific assembly accuracy range, the processor 54 determines whether at least one combination falls within a specific assembly accuracy range (step S4E'1).

[0095] In step S4E'1, if no combination is determined to be within a specific assembly accuracy range ("No"), the processor 54 outputs processing information for each component necessary to bring it within the specific assembly accuracy range, similar to step S4F described in the above embodiment (step S4F': processing information output step).

[0096] On the other hand, if in step S4E'1 there is one or more combinations that are determined to be within a specific range of assembly accuracy ("Yes"), the processor 54 selects the optimal combination with the highest assembly accuracy from among the multiple combinations that are determined to be within that specific range of assembly accuracy (step S4E'2: combination selection step). Specifically, the processor 54 selects the combination in which the overall amount of deviation from the design position coordinates for each determination item (for example, the distance D1 between connecting surfaces, the angular deviation D2 between the central axes of each member, and the deviation D3 from the planar position of the central axis of each member, etc.) is smallest. For example, if three columns 200 are manufactured, A1 to A3, and three steel pipe braces 400 are manufactured, C1 to C3, and (A1, C2) is determined to be just within the specific range of assembly accuracy, and (A1, C3) is determined to be definitely within the specific range of assembly accuracy, the processor 54 selects (A1, C3), which has higher assembly accuracy, as the optimal combination.

[0097] After the optimal combination is selected in step S4E'2, the processor 54 outputs position coordinates (optimal position coordinates) for each component constituting the optimal combination based on the measurement data after being replaced with the design coordinate system, similar to step S4G described in the above-described embodiment (step S4G': optimal position coordinate output step). This allows for even better assembly of the foundation structure 100 for floating offshore wind power generation by assembling each component of the optimal combination based on the optimal position coordinates during on-site assembly (step S5).

[0098] Of course, it is also possible to perform the assembly accuracy determination step S4E in advance with each of the component (A1,C1), (A2,C2), and (A3,C3) combinations, and then proceed to the next step S4G or step S4F depending on whether the determination is successful or not. Furthermore, in step S4 described above, only the determination of whether or not the assembly accuracy is within the range planned in step S1 was made. However, it is not limited to this, and it is also permissible to determine whether or not each component (column 200, tank 300, and each brace 400, 500) is within the range of component accuracy planned in step S1. If it is determined that a component is not within the range of component accuracy, the manufacturing plant corresponding to the component in question among the manufacturing plants FA1 to FA3 is notified accordingly, and the corrective processing of the component is requested.

[0099] In step S4F described above, the processing information may be sent to at least one of the manufacturing plants FA1 to FA3, and after the individual components (column 200, tank 300, and each brace 400, 500) have been modified, steps S3 and S4 may be executed again.

[0100] After on-site assembly (step S5), the measurement points (1) to (3) etc. described above may be measured on the entire assembled foundation structure 100 using the measurement methods (1) to (4) etc. described above. [Explanation of Symbols]

[0101] 1 Assembly System 2-4 servers 5. Verification device 51 Input section 52 Storage section 53 Display section 54 processors 100 Foundation structures 200 Columns 201 Post 202 First connecting member 203 Second connecting member 204 Third connecting member 300 tanks 301 Post 302 First connecting member 303 Second connecting member 304 Third connecting member 400 Steel pipe brace 401 First steel pipe brace 402 Second steel pipe brace 500 square brace Ax1~Ax3 Center axis CI1,CI2 outer surface FA1 Column Manufacturing Plant FA2 Tank Manufacturing Plant FA3 Brace Manufacturing Plant FV aircraft FV1 Imaging Unit LT Laser Tracker N Network TS Total Station P0 measurement point P1 First measurement point P2 Second measurement point PO1 Top surface position Position of end faces PO2, PO3, PO5 PO4 Bottom position

Claims

1. An assembly system for assembling a foundation structure for a floating offshore wind power generation system, comprising a first component manufactured in a first manufacturing plant and a second component manufactured in a second manufacturing plant and connected to the first component, An information acquisition unit that acquires first point cloud data showing the position coordinates of a plurality of first measurement points on the first component measured at the first manufacturing plant, and second point cloud data showing the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured at the second manufacturing plant, An assembly system comprising a processor having a determination unit that determines whether or not the first component and the second component, when provisionally assembled, fall within a specific range of assembly accuracy based on the first point cloud data and the second point cloud data.

2. The aforementioned processor, The assembly system according to claim 1, further comprising a processing information output unit that outputs processing information for at least one of the first component and the second component necessary to bring the assembly into the specified range of assembly accuracy when the determination unit determines that the assembly is not within the specified range of assembly accuracy.

3. The aforementioned information acquisition unit, Further design data is obtained, including the design position coordinates of each location in the foundation structure for the floating offshore wind power generation system. The determination unit, The measurement coordinate system in the first point cloud data is replaced with the design coordinate system in the design data so that the position coordinates of the plurality of first measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of first measurement points, and the measurement coordinate system in the second point cloud data is replaced with the design coordinate system so that the position coordinates of the plurality of second measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of second measurement points, The assembly system according to claim 1, which determines whether or not the assembly is within the specified range of assembly accuracy based on the first point cloud data and the second point cloud data after they have been replaced with the design coordinate system.

4. The aforementioned processor, The assembly system according to claim 3, further comprising a position coordinate output unit that outputs position coordinates based on the first point cloud data and the second point cloud data after being replaced with the design coordinate system, when the determination unit determines that the assembly accuracy is within the range of the specified assembly accuracy.

5. An assembly method performed by a processor of an assembly system for assembling a foundation structure for a floating offshore wind power generation system, which includes a first component manufactured in a first manufacturing plant and a second component manufactured in a second manufacturing plant and connected to the first component, Information acquisition step of acquiring first point cloud data showing the position coordinates of a plurality of first measurement points on the first component measured at the first manufacturing plant, and second point cloud data showing the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured at the second manufacturing plant, An assembly method comprising a determination step of determining whether the first component and the second component, when provisionally assembled based on the first point cloud data and the second point cloud data, fall within a specific range of assembly accuracy.

6. In the aforementioned information acquisition step, Further design data is obtained, including the design position coordinates of each location in the foundation structure for the floating offshore wind power generation system. In the aforementioned determination step, The measurement coordinate system in the first point cloud data is replaced with the design coordinate system in the design data so that the position coordinates of the plurality of first measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of first measurement points, and the measurement coordinate system in the second point cloud data is replaced with the design coordinate system so that the position coordinates of the plurality of second measurement points are close to the design position coordinates included in the design data corresponding to each of the plurality of second measurement points, The assembly method according to claim 5, which determines whether or not the assembly is within the specified range of assembly accuracy based on the first point cloud data and the second point cloud data after they have been replaced with the design coordinate system.

7. In the aforementioned information acquisition step, A plurality of first point cloud data are obtained, each of which is manufactured and measured at the first manufacturing plant, and a plurality of second point cloud data are obtained, each of which is manufactured and measured at the second manufacturing plant, In the aforementioned determination step, The measurement coordinate system is replaced with the design coordinate system for the plurality of first point cloud data and the plurality of second point cloud data. The assembly method according to claim 6, which, based on the plurality of first point cloud data and the plurality of second point cloud data after being replaced with the design coordinate system, determines whether a first combination of the plurality of first components and the plurality of second components manufactured in the first and second manufacturing plants, respectively, falls within the range of a specific assembly accuracy when provisionally assembled, and if the first combination falls outside the range of a specific assembly accuracy, determines whether a second combination different from the first combination falls within the range of a specific assembly accuracy when provisionally assembled.

8. The assembly method according to claim 7, further comprising a combination selection step: if, in the determination step, it is determined that the first combination is within the specified range of assembly accuracy, it is determined whether or not the second combination is within the specified range of assembly accuracy; if, in the determination step, it is determined that the second combination is within the specified range of assembly accuracy, it is determined that the assembly accuracy of the first combination and the assembly accuracy of the second combination are compared and the combination with the higher assembly accuracy is selected.

9. In the aforementioned combination selection step, The assembly method according to claim 8, wherein for each of the above combinations, the amount of deviation between the position coordinates based on the plurality of first point cloud data and the plurality of second point cloud data after substitution with the design coordinate system and the design position coordinates in the design data is calculated, and the combination with the smallest amount of deviation is selected.

10. The assembly method according to claim 9, further comprising, after the combination selection step, an optimal position coordinate output step of outputting optimal position coordinates for each of the first and second components constituting the selected combination, based on the first point cloud data and the second point cloud data after being replaced with the design coordinate system.

11. The assembly method according to claim 7, further comprising a processing information output step that outputs processing information for at least one of the plurality of first components and the plurality of second components necessary to bring the assembly into the specified range of assembly accuracy if, in the determination step, there are no combinations determined to be within the specified range of assembly accuracy.

12. An assembly program to be executed by a processor of an assembly system for assembling a foundation structure for a floating offshore wind power generation system, which includes a first component manufactured in a first manufacturing plant and a second component manufactured in a second manufacturing plant and connected to the first component, The assembly program instructs the processor to perform the following: First point cloud data showing the position coordinates of a plurality of first measurement points on the first component measured at the first manufacturing plant, and second point cloud data showing the position coordinates of a plurality of second measurement points corresponding to the plurality of first measurement points on the second component measured at the second manufacturing plant, are acquired. An assembly program that determines whether the first component and the second component, when provisionally assembled, fall within a specific range of assembly accuracy based on the first point cloud data and the second point cloud data.

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