Autonomous construction system for precast prestressed concrete structures.

Abstract

To provide an autonomous construction system and program for precast prestressed concrete structures that enables efficient construction. [Solution] System 1 is equipped with a component management means that associates and manages image-based individual identification information for each of a plurality of precast prestressed concrete components, and autonomously simulates the positioning between components to be joined for each construction process, a 3D surveying means that acquires 3D surveying data of precast prestressed concrete components placed in a structure under construction for each construction process, and a component management means and a construction information management means that is communicatively connected to the 3D surveying means, and based on the results of an alignment simulation of precast prestressed concrete components to be placed in the completed portion of the structure executed by the component management means, data specifying the position and attitude of the components that minimizes deviation from the design data is associated with the image-based individual identification information and output to a specified external device.

Description

[Technical field]

[0001] The present invention relates to an autonomous construction system and program for a precast prestressed concrete structure, and more specifically, to an autonomous construction system and program for a precast prestressed concrete structure that manages each precast prestressed concrete member using image-based individual identification information, selects the member that fits best for each construction process through autonomous simulation, and records the placement positions of the selected precast prestressed concrete members in a traceable manner. [Background technology]

[0002] 2. Description of the Related Art When constructing a concrete structure, a construction method is known in which precast concrete members that have been manufactured in advance in a factory or the like are joined on-site (see, for example, Patent Document 1).

[0003] When multiple precast concrete members are erected or erected and joined, each precast concrete member needs to be positioned in a predetermined position based on the design drawing (design data) of the structure.

[0004] For this reason, for example, Patent Document 2 discloses a positioning device that adjusts the relative positional relationship between two members using a monitor image of an image input device. This device detects the positions on the monitor screen of positioning marks that have been marked in advance on two members, and positions and moves the members so that the respective mark positions or relative positions satisfy predetermined conditions.

[0005] Alignment using such marks is performed by pattern matching using image recognition by a camera, but with this method, even if the exact same mark is attached to two components, depending on the camera position or angle when image recognition is performed on the mark, it may be recognized as a different mark during pattern matching, and alignment may not be performed properly.

[0006] On the other hand, since precast prestressed concrete members are manufactured as standard products, their dimensions and shapes are guaranteed to meet the standard values ​​when measured at specific points according to a specified measurement standard. However, each member contains errors within the standard range, and the three-dimensional shape and the state of distortion and twist inherent to the member will not be completely the same. Therefore, when precast prestressed concrete members are actually joined at a construction site, even if they are the same standard products, the direction of positional deviation, the inclination of the joint surface, and the magnitude of deviation will differ depending on each member. For this reason, skilled workers need to adjust and align the members based on their experience and intuition, which is a factor that increases the time and cost required for construction. In addition, in such conventional construction methods, there is no established method for recording the results of individual adjustments between members in a traceable manner. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 6-158716 [Patent Document 2] Japanese Patent Application Publication No. 7-72930 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made in consideration of the above-mentioned problems with the conventional technology, and an object of the present invention is to provide an autonomous construction system and program for a precast prestressed concrete structure in which a computer autonomously simulates the alignment of components that occurs during construction at a construction site of a precast prestressed concrete structure, selects the component that fits best, outputs data specifying the position and attitude in which the selected precast prestressed concrete component will be placed, and records its placement position in a traceable manner. [Means for solving the problem]

[0009] In order to achieve the above object, an autonomous construction system for a precast prestressed concrete structure according to one aspect of the present invention is an autonomous construction system for a structure using precast prestressed concrete members, comprising: member management means for managing a plurality of precast prestressed concrete members of the same model number in association with image-based individual identification information and autonomously simulating the arrangement position between members to be joined for each construction process; 3D surveying means for acquiring three-dimensional (3D) measurement data of the precast prestressed concrete members arranged in the structure under construction for each construction process; and construction information management means communicably connected to the member management means and the 3D surveying means, wherein the construction information management means is a computer for managing the construction progress and construction history of the structure under construction, and for autonomously simulating the arrangement position between a first precast prestressed concrete member and a second precast prestressed concrete member, the arrangement position of which is identified by the 3D surveying data of the completed portion of the structure acquired by the 3D surveying means for each construction process. a model number of a second precast prestressed concrete member corresponding to the specified model number is specified to the member management means, and the member management means is caused to simulate the alignment of the first precast prestressed concrete member with each of a plurality of second precast prestressed concrete members corresponding to the specified model number is received from the member management means, and based on the received result, one second precast prestressed concrete member which has a minimum deviation from the design data is selected from among the plurality of second precast prestressed concrete members, and data specifying the positions and attitudes of both the selected one second precast prestressed concrete member and the first precast prestressed concrete member based on the result of the simulation performed between the selected one second precast prestressed concrete member and the first precast prestressed concrete member is associated with each image-based individual identification information and output to a predetermined external device.

[0010] The component management means is a computer that manages each of the multiple precast prestressed concrete components of the same model number using the image-based individual identification information, and creates 3D shape data, dimensional data, and individual identification data based on the color unevenness and / or texture characteristics of the component surface from images taken of each of the precast prestressed concrete components, and stores the created 3D shape data, dimensional data, and individual identification data in a memory unit of the component management means in association with the same model number as the image-based individual identification information corresponding to each of the precast prestressed concrete components. The component management means is implemented with a hierarchical program that realizes the function of simulating the positioning positions of the components to be joined, and the component management means can assign to each of the plurality of precast prestressed concrete components a dedicated program that autonomously simulates alignment with other components, group precast prestressed concrete components of the same model number, and connect them to a lower level of the hierarchical program. The construction information management means can associate the 3D surveying data of the first precast prestressed concrete member of the completed portion of the structure obtained by the 3D surveying means with individual identification information of the first precast prestressed concrete member and store it as construction history data in a specified memory means for each construction process.

[0011] The data specifying the positions and orientations of both of the members is specified in a 3D coordinate system defined by a construction reference point set for the structure under construction, and the selected one second precast prestressed concrete member and the first precast Prestress The orientation of each concrete member is preferably specified by an azimuth angle and an attitude angle in the defined 3D coordinate system. The component management means is equipped with an artificial intelligence function that extracts feature points of color unevenness and / or texture on the component surface that can be used for individual identification of the precast prestressed concrete component from the captured image and calculates feature quantities of the extracted feature points, and can create the individual identification data including the feature points extracted by the artificial intelligence function and the calculated feature quantities. It is preferable that the component management means acquires images of the precast prestressed concrete component using a camera capable of taking 2D or 3D images and / or a 3D laser scanner. It is preferable that the 3D surveying device includes a total station, a 3D laser scanner, a camera capable of taking 2D or 3D images, or a 3D laser scanner or 3D camera mounted on a drone or a self-propelled robot, and the 3D surveying data includes 3D scan data of the structure under construction or data identifying 3D shape data, dimensional data, and position and posture of the completed portion of the structure created from image data photographed of the structure under construction.

[0012] In order to achieve the above object, a computer program according to one aspect of the present invention is a program for causing a computer to autonomously calculate the position and posture of components in each construction process during construction of a structure using precast prestressed concrete components, the program comprising: Prestress A member management means for managing each of the concrete members by image-based individual identification information and autonomously simulating an individual program for realizing the positioning of the members to be joined in each construction process; and PrestressA computer system including a 3D surveying means for acquiring three-dimensional (3D) surveying data for a structure under construction using concrete members for each construction step, and a construction information management means communicably connected thereto, the construction information management means having a function of assigning, based on design data for the structure, a model number of a second precast prestressed concrete member to be joined to a first precast prestressed concrete member whose placement position has been specified by the 3D surveying data acquired by the 3D surveying means, in each construction step of the structure under construction, and a function of transmitting the model number of the assigned second precast prestressed concrete member to the member management means, and storing the first precast prestressed concrete member and a plurality of second precast prestressed concrete members corresponding to the assigned model number in the member management means. a function of simulating the alignment of the first precast prestressed concrete member with each of the first and second precast prestressed concrete members, a function of receiving a result of the simulation from the member management means and, based on the received result, selecting one second precast prestressed concrete member from among the plurality of second precast prestressed concrete members which has a minimum deviation from the design data, and a function of outputting data specifying the positions and attitudes of both the selected one second precast prestressed concrete member and the first precast prestressed concrete member based on the result of the simulation performed between the selected one second precast prestressed concrete member and the first precast prestressed concrete member to a predetermined external device in association with each image-based individual identification information.

[0013] It is preferable that the construction information management means is a computer that manages the construction progress and construction history of the structure under construction, and the member management means is a computer that manages the position of each of the multiple precast prestressed concrete members using the image-based individual identification information. Effect of the Invention

[0014] According to the present invention, in the construction of a precast prestressed concrete structure, a computer can autonomously attempt to select and position components in each construction process and provide optimal components and data specifying their positioning, thereby making construction work more efficient, improving construction accuracy, and significantly reducing construction time and costs. Furthermore, according to the present invention, construction history data recording the alignment results between components at each construction process can be stored for each component, making it possible to easily and quickly provide evidential data related to the maintenance and quality assurance of constructed structures. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing the overall configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram showing an example of the hardware configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention. [Diagram 3] A block diagram showing an example of the functional configuration of a component management server included in the autonomous construction system for precast prestress concrete structures according to this embodiment. [Figure 4] FIG. 1 is a diagram showing an example of a connection configuration of a component placement program implemented in an autonomous construction system for a precast prestressed concrete structure according to this embodiment. [Diagram 5] A diagram showing an example of the functional configuration of a construction information management server included in the autonomous construction system for a precast prestress concrete structure according to this embodiment. [Figure 6] 10 is a flowchart showing an example of the operation of registering a new precast prestressed concrete member in the autonomous construction system for a precast prestressed concrete structure according to this embodiment. [Figure 7] 10 is a diagram for explaining the correspondence between individual identification data and a dedicated program created by the component management server according to the present embodiment. FIG. [Figure 8] FIG. 2 is a conceptual diagram for explaining an example of the operation of placing components in an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention. [Figure 9] 9 is a flowchart showing an example of an operation in which the autonomous construction system for a precast prestress concrete structure according to the present embodiment cooperates to select optimal members in the construction process shown in FIG. 8. [Figure 10] FIG. 2 is a diagram showing an example of a data configuration of construction history data in the present embodiment. [Figure 11] 9 is a flowchart for explaining the operation of placing members selected by the autonomous construction system for a precast prestress concrete structure according to this embodiment in the structure in the construction process shown in FIG. 8. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific examples of the embodiments of the present invention will be described in detail with reference to the drawings.

[0017] FIG. 1 is a schematic diagram showing the overall configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention.

[0018] As shown in Fig. 1, an autonomous construction system 1 for a precast prestressed concrete structure according to an embodiment of the present invention includes a construction information management means 10, a member management means 20, and a three-dimensional (3D) surveying means 30, which are connected to each other via a predetermined communication line or a communication network 5. Furthermore, the construction information management means 10 can be configured to be connected to an external device control means 40 that controls an external device such as a lifting machine (crane) via a wireless or wired line, and to transmit member position instruction data (data that specifies the position and posture at which a member is placed, which will be described in detail later) used to control the external device from the construction information management means 10. The completed form refers to the part of the construction work that has been completed.

[0019] The construction information management means 10 and the component management means 20 may be configured as separate computers (hardware), or may be configured as an integrated form in a single computer. The component management means 20 may also be configured in the form of cloud computing.

[0020] In the following description, an embodiment will be described in which the construction information management means 10 and the component management means 20 are configured as separate computers, but the present invention is not limited to this.

[0021] FIG. 2 is a diagram showing an example of a hardware configuration of an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention.

[0022] As shown in Figure 2, the autonomous construction system 1 for precast prestressed concrete structures according to this embodiment includes a computer (hereinafter referred to as a construction information management server) 100 constituting a construction information management means 10, a computer (hereinafter referred to as a component management server) 200 constituting a component management means 20, a 3D surveying equipment (hereinafter referred to as a 3D surveying device) 300 constituting a 3D surveying means 30, and a computer (hereinafter referred to as an external device control computer) 400 constituting an external device control means 40 (e.g., a controller) that controls external devices such as a lifting machine (crane).

[0023] The construction information management server 100 according to this embodiment is made up of a general computer, and includes a control device 110, a storage device 120, an input device 130, a display device 140, an output device 150, and a communication device 160.

[0024] The control device 110 has a central processing unit (CPU) and memories such as ROM and RAM (not shown), and constitutes a control unit of the construction information management server 100, which realizes each functional unit described below and controls each of these functional units and devices (120-160) by reading an OS (Operating System), specific programs and data and having the CPU execute them.

[0025] The storage device 120 stores various data and programs and constitutes the storage unit of the construction information management server 100. The storage device 120 is preferably a non-volatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive). In addition, the storage device 120 does not have to be a single storage device, and may be multiple storage devices distributed across a communication network. In other words, the storage device 120 may be built into the main body of the construction information management server 100 or may be configured as a data server connected to a network.

[0026] The input device 130 is a means for accepting various inputs including instructions from a user, and is composed of a keyboard, a pointing device such as a mouse, a touch pad, etc., and constitutes an input unit of the construction information management server 100.

[0027] The display device 140 includes an input screen generated by the control device 110 and a display that visually displays acquired information and calculation results to the user, and constitutes a display unit of the construction information management server 100. The display device 140 can also be configured to share some functions with the input device 130 as a touch panel combined with a touch pad that allows touch input.

[0028] The output device 150 constitutes an output section of the construction information management server 100, which converts the result data processed by the construction information management server 100 into a data format usable by the external device control means 40 and outputs the converted data to a corresponding external device. The data format of the output data can be set in advance to correspond to the external device to which the data is to be sent.

[0029] The communication device 160 includes a communication device that connects and communicates with the component management server 200, the 3D surveying device 300, and the external device control computer 400, and constitutes the communication unit of the construction information management server 100. The communication device 160 may be, for example, a communication card for a wired LAN or a wireless LAN (Local Area Network), Bluetooth (registered trademark), or Wi-Fi (registered trademark), or may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various communications. The communication device 160 may also be configured to perform a communication interface function.

[0030] The component management server 200 and the external device control computer 400 are also each configured as a general-purpose computer and can be equipped with hardware similar to that of the construction information management server 100 described above, so duplicated explanations of these servers will be omitted.

[0031] Next, a functional configuration of the autonomous construction system for a precast prestress concrete structure according to one embodiment of the present invention will be described with reference to Figs.

[0032] FIG. 3 is a block diagram showing an example of the functional configuration of a component management server included in the autonomous construction system for a precast prestress concrete structure according to this embodiment.

[0033] As shown in FIG. 3, the component management server 200 according to this embodiment includes a control unit 210 consisting of a control device, a memory unit 220 consisting of a memory device, an input unit 230 consisting of an input device, a display unit 240 consisting of a display device, an output unit 250 consisting of an output device, and a communication unit 260 consisting of a communication device, and includes a component registration unit 211, an image analysis unit 212, an individual identification data creation unit 213, a dedicated program implementation unit 214, and an arrangement simulation control unit 215 as functional units realized by executing a predetermined program on the CPU constituting the control unit 210.

[0034] The component management server 200 is connected to the construction information management server 100 and the component photographing device 500 via a predetermined communication line or wireless / wired communication network, and may be further connected to a component database (data server) 600 that stores various data on precast prestressed concrete components (model numbers and individual identification information of components, and construction history data associated therewith). The component management server 200 may also be connected to an input mobile terminal 550 for inputting instructions and data to the component management server 200 from a remote location.

[0035] The component management server 200 registers a plurality of precast prestressed concrete components of the same model number that have been delivered so that each can be individually identified, and manages their locations so that they can be traced.

[0036] When the component management server 200 receives a command (instruction input) from a user (e.g., a component manager) via the input unit 230 to register a new precast prestressed concrete component, the control unit 210 causes each functional unit (211-215) to function, and generates an image-based identifier (referred to as individual identification data) for the precast prestressed concrete component to be registered (hereinafter abbreviated as the component itself) that enables the component to be identified from other precast prestressed concrete components (hereinafter abbreviated as other components), and assigns to each of the precast prestressed concrete components to be registered a dedicated program written to autonomously attempt (simulate) position adjustment between the component itself and other components (alignment between components).

[0037] The dedicated program for autonomously simulating the position adjustment in this embodiment is connected to a program (referred to as a component placement program) that is a higher level program of the dedicated program in a computer (i.e., component management server 200) in which the dedicated program is implemented. At this time, the dedicated programs assigned to multiple precast prestressed concrete components of the same model number are grouped by the same model number and placed in parallel in the same level.

[0038] The dedicated program in this embodiment is created (programmed) so that, when simulating the alignment between precast prestressed concrete components in accordance with instructions from a higher-level program (component placement program), the dedicated programs assigned to the component itself and other components specified by the component placement program exchange data representing their own 3D shapes and dimensions with each other, and autonomously perform alignment with the specified other components (hereinafter referred to as alignment simulation).

[0039] When a member is to be joined to another member designated by the member placement program, multiple precast prestressed concrete members with the same model number as the member may exist as candidate members. Therefore, the dedicated program for the other member and the dedicated program for the member and the candidate member with the same model number as the member perform alignment simulations in parallel independently of each other, and output the results of each simulation to the member placement program in the upper hierarchy. The member placement program outputs the results of the alignment simulations performed by each dedicated program to the placement simulation control unit 215, and when all simulations by the dedicated programs corresponding to each member to be aligned are completed, the placement simulation control unit 215 may transmit the results of the simulations by all of these dedicated programs to the construction information management server 100 in a lump.

[0040] The above-mentioned dedicated program may include, in addition to the source code for the alignment simulation, a data statement recording the model number of the precast prestressed concrete member. It may also include a link or call statement specifying the storage destination of the individual identification data of the precast prestressed concrete member and the data specifying the current position and attitude (position coordinate data and attitude angle and azimuth angle data). Details of the connection structure between multiple dedicated programs and the upper layer component placement program will be described later.

[0041] When the component management server 200 receives a command from the construction information management server 100 via the communication unit 260 specifying the precast prestressed concrete components to be used in each construction process of the structure under construction, the control unit 210 activates the placement simulation control unit 215, and based on the information (model number) contained in the command, the dedicated programs assigned to each precast prestressed concrete component of the corresponding model number each autonomously and in parallel align them with the precast prestressed concrete component to be joined, thereby performing a high-speed simulation, and the results of the executed simulation are sent to the construction information management server 100.

[0042] Hereinafter, each functional unit in the component management server 200 that is responsible for implementing the above-mentioned dedicated programs and managing component information will be described.

[0043] When the member registration unit 211 receives information specifying the model number, manufacturing number (or serial number) and image of the precast prestressed concrete member to be registered via the input unit 230, it transmits the model number of the received model number, manufacturing number and image specifying information to the dedicated program implementation unit 214. The member registration unit 211 also transmits the information specifying the image to the image analysis unit 212. The manufacturing number is transmitted to the individual identification data creation unit 213. Note that, as information specifying the current location of the precast prestressed concrete member to be registered, position coordinate data of the location where the member is stored may be received. If the member is stored in a location remote from the construction site at the member registration stage, the position coordinate data may be provided in geodetic coordinates. Note that, in this specification, geodetic coordinates are coordinates based on latitude and longitude.

[0044] Here, the information for specifying the image mentioned above is information for specifying the image of the precast prestressed concrete component to be registered photographed (or scanned) by the component photographing device 500 and its storage destination, and includes an identifier (ID) given to the image data (or point cloud data) and a storage destination address. The identifier (ID) can be, for example, a file name or a header name.

[0045] The component photographing device 500 may be configured with a camera capable of photographing 2D or 3D images and / or a 3D laser scanner, but in this embodiment, a case will be described in which the component photographing device 500 is configured with a camera capable of photographing 3D images. Image data of an image captured of a precast prestressed concrete component to be registered may be stored in a storage device built into the component photographing device 500, or may be stored in an external storage device (e.g., component database 600) accessible by the component management server 200.

[0046] When the image analysis unit 212 receives information designating an image of the precast prestressed concrete member to be registered from the member registration unit 211, the image analysis unit 212 acquires image data of the image (in this embodiment, a 3D image) of the precast prestressed concrete member to be registered photographed by the member photographing device 500 via the communication unit 260, performs image analysis on the acquired image data, and digitizes the 3D shape and dimensions of the precast prestressed concrete member. The image analysis unit 212 also extracts feature points from the uneven color patterns and patterns (for example, patterns and patterns consisting of monochrome gradation) and surface textures that appear on the surface of the member that can be used for individual identification, calculates the feature amounts of the extracted feature points, and transmits them to the individual identification data creation unit 213. The image analysis unit 212 may have an artificial intelligence function for extracting feature points and calculating the feature amounts. Note that the image used for extracting feature points and calculating the feature amounts may be an image of a partial area of ​​the member that is set in advance, rather than the entire member.

[0047] The individual identification data creation unit 213 creates individual identification data including the feature points and feature amounts of the component surface received from the image analysis unit 212.

[0048] The individual identification data enables the identification of the relevant component from a photographed image of the component when selecting precast prestressed concrete components to be used at a later date, without using any identification means such as a specific marker or marking. For example, when identifying multiple precast prestressed concrete components of the same model number stored in a material yard, each precast prestressed concrete component is photographed by the component photographing device 500 and queried with the component management server 200, which performs image analysis of the photographed image and performs matching processing with multiple individual identification data of the same model number registered in advance, thereby enabling each component to be identified.

[0049] The individual identification data creation unit 213 associates the created individual identification data, along with the 3D shape data and dimensional data digitized by image analysis, with the model number and manufacturing number of the component, and stores it in the memory unit 220 (or the component database 600) as individual identification information for the precast prestressed concrete component to be registered.

[0050] The individual identification information may include the model number and serial number of the component as well as the program name of the dedicated program as an index so that the component can be accessed from the dedicated program assigned to the component. The individual identification information is also associated with information on the current location where the component is stored or placed (e.g., location coordinate data in geodetic coordinates). The information on the current location of each component is updated as the component moves.

[0051] When the dedicated program implementation unit 214 receives the model number of the precast prestressed concrete member to be registered from the member registration unit 211, it copies a template program for a newly registered member previously stored in the storage unit 220 to create a dedicated program to be assigned to the precast prestressed concrete member to be registered. Then, in order to identify which type (kind) of member the created dedicated program corresponds to, for example, a serial number is associated with the received model number as the program name of the dedicated program (see FIG. 4), and the dedicated program is connected (added) to a program group of the same model number in a higher-level program (member placement program) configured to include multiple dedicated programs. Details of the member placement program will be described later.

[0052] The placement simulation control unit 215 manages the execution of the component placement program including the above-mentioned dedicated program in a lower hierarchy, and when it receives the model number of a precast prestressed concrete member (hereinafter referred to as a second precast prestressed concrete member) to be joined to a precast prestressed concrete member (hereinafter referred to as a first precast prestressed concrete member) of a completed part in a specific construction process of a structure under construction from the construction information management server 100 via the communication unit 260, it executes the component placement program and executes a positioning simulation between the dedicated program of the multiple second precast prestressed concrete members included in the program group corresponding to the received model number and the dedicated program of the first precast prestressed concrete member to be joined, based on the design data of the structure under construction. The design data is provided as three-dimensional (3D) design data and may be configured to include a 3D model by BIM or CAD.

[0053] FIG. 4 is a diagram showing an example of a program structure of a component arrangement program implemented in the component management server according to this embodiment.

[0054] 4, in the component placement program (hierarchical / parallel processing program) 2150 according to this embodiment, a plurality of dedicated programs for precast prestressed concrete components (2151s-1, . . . , 215Ns-m) are divided into groups for each model number (e.g., 2152s) and connected below a placement master program 2150M. The component placement program 2150 is a program configured to simulate the position adjustment between specified components in a three-dimensional space based on the design data of a structure, and output the simulation results.

[0055] Each dedicated program (2151s-1, ..., 215Ns-m) is assigned (associated) with each precast prestressed concrete member (member 1-1, ..., member Nm), and when the model number of a second precast prestressed concrete member to be joined to a first precast prestressed concrete member (e.g., member 1-1) of the completed portion of the structure under construction is received from the construction master program 1120M implemented in the construction information management server 100 described later, the placement master program 2150M instructs the dedicated programs (2152s-1 to 2152s-m) assigned to each of the multiple second precast prestressed concrete members (e.g., members 2-1 to 2-m) classified into a member group (e.g., 2152s) corresponding to the specified model number to attempt (simulate) alignment with the first precast prestressed concrete member (member 1-1).

[0056] The dedicated programs (2152s-1 to 2152s-m) assigned to the second precast prestressed concrete members each execute a simulation autonomously and independently, that is, each dedicated program can execute processing in parallel. This allows the overall processing time to be significantly reduced.

[0057] At the same time as issuing a command to execute a simulation to the dedicated programs assigned to the multiple second precast prestressed concrete members, the placement master program 2150M also outputs a command to the dedicated program (2151s-1) of the first precast prestressed concrete member (member 1-1) to be joined, in response to aligning it with the multiple second precast prestressed concrete members (e.g., members 2-1 to 2-m).

[0058] In response to requests (calls) from the dedicated programs (2152s-1 to 2152s-m) of multiple second precast prestressed concrete members, the dedicated program (2151s-1) for the first precast prestressed concrete member (member 1-1) provides 3D shape data, dimensional data, and data identifying the current position and posture of member 1-1 to each of the requesting dedicated programs (2152s-1 to 2152s-m).

[0059] Each of the dedicated programs for the second precast prestressed concrete members uses the design data of the structure as a reference to determine by simulation the positions and attitudes of the first precast prestressed concrete member and the second precast prestressed concrete member that best fit the members, and calculates their coordinate and angle (attitude angle and azimuth angle) data. Note that the 3D coordinate system used during the simulation may be the on-site coordinate system described below. In this case, the 3D coordinate data of the placement positions of the members specified in the design data of the structure is converted into the on-site coordinate system and provided.

[0060] The arrangement simulation control unit 215 transmits the results of each simulation executed by the dedicated program for the plurality of second precast prestressed concrete members to the construction information management server 100 via the output unit 250. The output unit 250 may output the results of each individual simulation together in a predetermined data format.

[0061] The placement simulation control unit 215 temporarily stores in the memory unit 220 data on the results of alignment simulations performed using dedicated programs for each of the multiple second precast prestressed concrete members and the first precast prestressed concrete member to which they are to be joined (data specifying the position and posture of each member, and dimensional data for the joints (gaps at the joint ends) between the two members based on the 3D shape) in association with the name of the dedicated program for each of the second precast prestressed concrete members.

[0062] FIG. 5 is a diagram showing an example of the functional configuration of a construction information management server included in the autonomous construction system for a precast prestress concrete structure according to this embodiment.

[0063] As shown in FIG. 5, the construction information management server 100 according to this embodiment includes a control unit 110 consisting of a control device, a memory unit 120 consisting of a memory device, an input unit 130 consisting of an input device, a display unit 140 consisting of a display device, an output unit 150 consisting of an output device, and a communication unit 160 consisting of a communication device, and includes a construction data acquisition unit 111, a construction instruction unit 112, a component placement determination unit 113, and a component position management unit 114 as functional units realized by executing a predetermined program on the CPU constituting the control unit 110.

[0064] The construction information management server 100 is connected to a component management server 200, a 3D surveying device 300, and an external device control computer 400 via a predetermined communication line or a wireless / wired communication network, and may be further connected to a design / construction data management server 700 that stores construction management data (design data and completed form measurement data) of a structure under construction, and a component photographing device 500 that photographs images for identifying and selecting precast prestressed concrete components to be used from an inventory. The construction information management server 100 may also be connected to an input mobile terminal 550 for inputting instructions and data from a remote location.

[0065] The construction information management server 100 is a server that manages the construction progress and construction history of a structure using precast prestressed concrete members under construction.

[0066] When a completion report of one of the construction processes of the above-mentioned structure is input from a user (e.g., a site supervisor) via the input unit 130, the construction data acquisition unit 111 of the construction information management server 100 acquires 3D surveying data obtained by measuring the precast prestressed concrete member of the completed portion of the construction process from the 3D surveying device 300. The completion report may include a process number or identification data for identifying which of the construction processes of the structure under construction the completed construction process is. The completion report may be input from the input mobile terminal 550.

[0067] Here, the 3D surveying device 300 includes a total station, a 3D laser scanner, a camera capable of taking 2D or 3D images, or a 3D laser scanner or 3D camera mounted on a drone or a self-propelled robot, and creates 3D surveying data from 3D scan data or 3D image data of the structure under construction, including 3D shape data, dimensional data, and data specifying the position and orientation on the 3D coordinates of the site coordinate system of the precast prestressed concrete members of the completed portion of the structure. The site coordinate system is a 3D coordinate system defined by a construction reference point set for the structure under construction.

[0068] A dedicated program is assigned in advance to the precast prestressed concrete components of the completed portion by the component management server 200 described above, and the acquired 3D survey data is stored in the memory unit 220 of the component management server 200 (or the component database 600) so that it can be accessed from the dedicated program for that component.

[0069] The construction instruction unit 112 manages the execution of a construction master program 1120M which realizes the function of managing the construction plan for a structure under construction (consisting of a series of construction processes in which specified precast prestressed concrete members are assembled in sequence in accordance with design data), and when a completion report is input, it executes the construction master program 1120M and, based on the process number included in the input completion report, selects, based on the design data of the structure, the model number of a precast prestressed concrete member (hereinafter referred to as a second precast prestressed concrete member) to be joined to the precast prestressed concrete member (hereinafter referred to as a first precast prestressed concrete member) of the completed portion of that construction process in the next construction process, and sends a command specifying the model number of the selected second precast prestressed concrete member to the placement simulation control unit 215 of the component management server 200.

[0070] In addition, the construction instruction unit 112 sends a command to the placement simulation control unit 215 of the component management server 200 to specify a dedicated program for the completed part, i.e., the precast prestressed concrete member to be joined (the first precast prestressed concrete member), at the same time as sending a command to specify the model number of the selected second precast prestressed concrete member.

[0071] The arrangement member determination unit 113 receives from the member management server 200 the result of an alignment simulation executed between the dedicated program for the plurality of second precast prestressed concrete members and the dedicated program for the first precast prestressed concrete member. The result of the simulation includes data specifying the positions and orientations of both members in a state in which each of the plurality of second precast prestressed concrete members is temporarily arranged relative to the first precast prestressed concrete member so as to minimize deviation from the arrangement position (three-dimensional object arrangement) specified in the design data, and the value of the gap at the joint end based on the 3D shape between both members (i.e., the dimension of the joint). The design position and orientation (in three-dimensional space) of each member specified in the design data is converted into 3D coordinates in the site coordinate system and used in the simulation.

[0072] Based on the received results of the alignment simulation, the placement component determination unit 113 determines the second precast prestressed concrete component to which a dedicated program is assigned that has shown results that minimize the deviation from the design data of the structure under construction as the optimal component, i.e., the component that fits best, and obtains from the memory unit 220 of the component management server 200 data specifying the position and posture of both components and the first precast prestressed concrete component to be joined, as well as joint dimension data, based on the results of the simulation performed between the determined second precast prestressed concrete component and the first precast prestressed concrete component to be joined, and transmits this to the output unit 150.

[0073] The component position management unit 114 transmits a command to the component management server 200 to reset the results of the alignment simulation associated with the dedicated programs for the second precast prestressed concrete members of the same model number other than the determined second precast prestressed concrete member. In addition, the component position management unit 114 may obtain information on the current location where the determined second precast prestressed concrete member is stored (position coordinate data of the storage location) from the memory unit 220 of the component management server 200, and display it on the display unit 140 while transmitting it to the external device control computer 400.

[0074] When the placement simulation control unit 215 of the component management server 200 receives a reset command from the component position management unit 114, it resets (erases) the simulation results other than the determined second precast prestressed concrete component that were temporarily stored in the memory unit 220.

[0075] The output unit 150 creates component placement instruction data by reconstructing data (specified in the site coordinate system) specifying the position and posture of the determined second precast prestressed concrete member and the first precast prestressed concrete member to be joined into a specified data format compatible with the external device control computer 400, and transmits this data to the external device control computer 400 via the communication unit 160.

[0076] Next, an example of the operation of the autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention will be described.

[0077] FIG. 6 is a flow chart illustrating an example of operational steps for registering a new precast prestressed concrete element in the autonomous construction system for precast prestressed concrete structures according to the present embodiment.

[0078] When registering a new precast prestressed concrete member in the autonomous construction system 1 for a precast prestressed concrete structure according to this embodiment, the user inputs information specifying the model number and serial number of the precast prestressed concrete member to be registered into the input unit 230 of the member management server 200 shown in Fig. 3 (step S100). If an image of the precast prestressed concrete member to be registered has been prepared in advance, the user inputs the prepared image and information specifying the storage destination.

[0079] The control unit 210 of the component management server 200 activates the component registration unit 211 to send the model number from the input information to the dedicated program implementation unit 214, and when information specifying an image of the precast prestressed concrete component to be registered and its storage destination is input, it sends the information together with the model number and manufacturing number to the image analysis unit 212.

[0080] Based on the image of the precast prestressed concrete component to be registered and information specifying the storage destination, the image analysis unit 212 acquires image data of the precast prestressed concrete component to be registered based on the model number and serial number, either directly from the component photographing device 500 or from an image file stored in a specified storage means (e.g., the component database 600) after photographing with the component photographing device 500 (step S111).

[0081] The image analysis unit 212 performs image analysis on the acquired image data to digitize the 3D shape and dimensions of the precast prestressed concrete component to be registered, and also extracts feature points from the color unevenness, patterns, surface texture, etc. appearing on the component surface for individual identification from the image, calculates the feature amounts of the extracted feature points, and sends them to the individual identification data creation unit 213 together with the model number and serial number.

[0082] The individual identification data creation unit 213 creates individual identification data including the received feature points and feature amounts of the component surface (step S112).

[0083] On the other hand, when the dedicated program implementation unit 214 receives the model number, it creates a dedicated program for the precast prestressed concrete member to be registered by duplicating the template program for the newly registered member previously stored in the storage unit 220. Then, it adds the created dedicated program to the program group of the same model number in the member placement program (step S120). At this time, for example, the received model number and serial number are added to the program name of the dedicated program so that the added new dedicated program can be identified in the member placement program.

[0084] Thereafter, the individual identification data creation unit 213 links the created individual identification data to the model number and serial number of the component, associates it with the 3D shape data and dimensional data, and stores it as individual identification information in the storage unit 220 (or the component database 600). In addition, the dedicated program implementation unit 214 sets a link or path to the dedicated program assigned to the component so that the individual identification information can be referenced and updated from the dedicated program (step S130).

[0085] 7 is a diagram for explaining the correspondence between the individual identification data and the dedicated program created by the member management server according to the present embodiment, but this is merely an example for the sake of convenience, and is not intended to be limiting.

[0086] FIG. 7 shows an example in which individual identification data and dedicated programs are created and registered by the component management server 200 for multiple precast prestressed concrete components of the same model number manufactured based on the same design data.

[0087] Fig. 7(a) is a 3D structural drawing (D101) based on design data of a precast prestressed concrete member, Fig. 7(b) is 3D images (P101a, P101b) of two precast prestressed concrete members manufactured based on the same design data taken by a camera (3D camera), and Fig. 7(c) is images (IM101a, IM101b) illustrating feature points extracted from the 3D images. Then, as shown in Fig. 7(d), links or paths to the corresponding dedicated programs (2151s-1, 2151s-2) are set in the individual identification data including the feature points and feature amounts extracted from the 3D images.

[0088] Although multiple precast prestressed concrete components manufactured based on the same design data each satisfy the specified standard values ​​for shape and dimensions, each component contains errors within the standard range, and their three-dimensional shapes and states of distortion and twist will not be completely identical.

[0089] For this reason, the autonomous construction system 1 for precast prestressed concrete structures according to the present invention digitizes the 3D shape and dimensions from 3D images (or 3D point cloud data) taken (or scanned) of the precast prestressed concrete components to be registered, and uses this data for component identification and alignment processing by computer, thereby enabling the adjustment of component positions, which was previously performed on-site by an experienced construction worker through empirical trial and error, to be performed more accurately and efficiently.

[0090] FIG. 8 is a conceptual diagram for explaining an example of a method for controlling the arrangement of members in an autonomous construction system for a precast prestressed concrete structure according to one embodiment of the present invention.

[0091] In the example shown in Figure 8, a construction process will be described in which a third precast prestressed concrete member 803 is erected on a first precast prestressed concrete member 801 and a second precast prestressed concrete member 802 that are placed (erected) within a construction site 800 at a construction site.

[0092] FIG. 9 is a flowchart for explaining the process of operation in which the autonomous construction system for a precast prestressed concrete structure according to this embodiment cooperates to select optimal members in the construction process shown in FIG.

[0093] The construction process shown in FIG. 8 is the process immediately after a first precast prestressed concrete member 801 and a second precast prestressed concrete member 802 are erected (set up) at a construction site 800. In this process, a procedure is carried out to erect (join) a precast prestressed concrete member (a third precast prestressed concrete member 803) having a model number specified based on design data to the first and second precast prestressed concrete members (801, 802).

[0094] When the second precast prestressed concrete member 802 is erected (placed) at the construction site 800, a user (e.g., a site supervisor) of the autonomous construction system 1 for a precast prestressed concrete structure according to this embodiment inputs a completion report of the construction process (the process immediately preceding the construction process shown in FIG. 8 ) to the input unit 130 of the construction information management server 100. The completion report includes, for example, the process number of the construction process and individual identification information of the second precast prestressed concrete member 802. The completion report may be input using the input mobile terminal 550.

[0095] When the control unit 110 of the construction information management server 100 receives the completion report (step S200), it commands the construction data acquisition unit 111 to acquire 3D survey data of the completed part (second precast prestressed concrete member 802) of the completed construction process, and at the same time commands the construction instruction unit 112 to specify the model number of the precast prestressed concrete member (third precast prestressed concrete member 803) to be used in the next construction process based on the setting data. Note that in Fig. 9, precast-prestressed concrete is abbreviated as PCaPC.

[0096] In accordance with the command to acquire 3D surveying data, the construction data acquisition unit 111 sends a command to the 3D surveying device 300 requesting 3D surveying data for the completed portion of the completed construction process (second precast prestressed concrete member 802) (step S211).

[0097] The 3D surveying device 300 photographs the completed precast prestressed concrete member with a 3D camera mounted on a total station 900T and / or a drone 900D shown in Fig. 8, creates 3D surveying data from the photographed images, and transmits the data to the construction information management server 100 (step S220). Note that the 3D surveying device 300 performs surveying for position adjustment in the construction process in which the second precast prestressed concrete member 802 is erected, and therefore the construction data acquisition unit 111 may acquire the 3D surveying data created immediately before the completion report of the construction process.

[0098] The construction data acquisition unit 111 transmits the 3D survey data received from the 3D surveying device 300 to the component management server 200 as data for determining the current position of the precast prestressed concrete member (second precast prestressed concrete member 802) of the completed portion, and the control unit 210 of the component management server 200 associates the data for specifying the position and orientation in the three-dimensional space included in the received 3D survey data with the individual identification information and stores it in the storage unit 220 (or the component database 600) as construction history data, or updates the data for specifying the position and orientation that has already been stored (step S231). Note that when storing in the storage unit 220 (or the component database 600), the data for specifying the position and orientation may be converted from the on-site coordinate system to the geodetic coordinate system and stored in terms of traceability after the completion of construction.

[0099] FIG. 10 is a diagram showing an example of the data configuration of the construction history data in this embodiment. As shown in FIG. 10, the construction history data 1000 in this embodiment is configured with a model number of a precast prestressed concrete member set as an index for reference (search), i.e., a root node, and is configured with a set (tuple) of data including a manufacturing number for identifying the member in association with the model number, a storage address of individual identification information including individual identification data, plane coordinates for identifying the position and attitude of the member, altitude, and angle (attitude angle and azimuth angle) data, a process number of the construction process in which the member was used, a registrant number who input the completion report, and data registration date and time (update date and time if a change occurs in the position, etc.). In FIG. 10, the position coordinate data is recorded using geodetic coordinates, but is not limited to this. When the construction history is saved including data that can ensure traceability after the construction period (for example, geodetic coordinate data of the construction reference point, etc.), a site coordinate system may be used.

[0100] When the process (registration or update) of reflecting the received 3D survey data in the data (coordinate and angle data) specifying the position and attitude of the precast prestressed concrete member 802 of the completed portion in step S231 is completed, the construction data acquisition unit 111 transmits a completion notification to the construction instruction unit 112. Note that the data specifying the position and attitude of the first precast prestressed concrete member 801 erected in the previous construction process similarly reflects the 3D survey data from the previous process, and if the position and attitude are corrected in the current construction process, it is updated to the corrected data.

[0101] On the other hand, the construction instruction unit 112 specifies the model number of a precast prestressed concrete member (third precast prestressed concrete member 803) to be joined to the finished portion in the next construction process based on the design data of the structure stored in the memory unit 120 (or the design and construction data management server 700) (step S212). At this time, the construction instruction unit 112 checks, based on the design data, whether or not there is a precast prestressed concrete member to be joined simultaneously to a portion other than the finished portion. In the example shown in Fig. 8, this corresponds to the first precast prestressed concrete member 801.

[0102] Thereafter, when the construction instructing unit 112 receives from the construction data acquiring unit 111 a completion notification informing that the process of registering or updating the data specifying the position and posture of the precast prestressed concrete member 802 of the completed portion has been completed, it transmits the model number of the specified third precast prestressed concrete member 803 and the individual identification information of the second precast prestressed concrete member 802 of the completed portion to the component management server 200 (step S232), and at the same time transmits a command to simulate the alignment between these members. Note that, if there are precast prestressed concrete members to be joined simultaneously other than the completed portion, the individual identification information of those members is also transmitted to the component management server 200 at the same time.

[0103] The component management server 200 autonomously executes alignment simulations in parallel between the dedicated programs for the multiple third precast prestressed concrete components corresponding to the received model numbers and the dedicated program for the second precast prestressed concrete component 802 of the completed portion (step S240), and transmits the results of each simulation to the arranged component determination unit 113 of the construction information management server 100. In the example shown in Fig. 8, alignment with the second precast prestressed concrete component 802 of the completed portion is simulated in parallel with alignment with the first precast prestressed concrete component 801 erected in a previous construction process.

[0104] Based on the received result of the alignment simulation, the placement member determination unit 113 determines an optimal member (one that minimizes deviation from the design data of the structure under construction) from among the multiple third precast prestressed concrete members (step S250). Note that the positions and attitudes of the first and second precast prestressed concrete members are also reviewed from the viewpoint of minimizing deviation (placement deviation) from the design data of the structure under construction.

[0105] Thereafter, the placement component determination unit 113 determines data specifying the position and posture of each component (coordinates and angles (posture angle and azimuth angle)) based on the results of a simulation performed between the determined third precast prestressed concrete component and the first and second precast prestressed concrete components to be joined, as component position indication data, and transmits this to the output unit 150 (step S260).

[0106] The placement component determination unit 113 instructs the component management server 200 to associate the data specifying the position and posture based on the result of the simulation of the determined third precast prestressed concrete member and the dimensional data of the joints with the individual identification information of the member, and to store or update the data in the memory unit 220 (or the component database 600) of the component management server 200. Also, for the first and second precast prestressed concrete members, the placement component determination unit 113 instructs the component management server 200 to update and store the data specifying the position and posture revised by the simulation and the dimensional data of the joints with the individual identification information of the member, respectively, in the memory unit 220 (or the component database 600) of the component management server 200 (step S265).

[0107] Therefore, according to the present invention, it is possible to manage the history of multiple precast prestressed concrete members of the same model number after manufacturing, including the position (installation location) in the structure in which the member is used. In particular, the value of the gap at the joint end based on the 3D shape between the members (i.e., the joint dimensions) was difficult to record using conventional manual adjustment work, but according to the present invention, it is possible to record the joint dimension data, which can be used for maintenance information, etc.

[0108] The output unit 150 of the construction information management server 100 reconstructs the component position instruction data of each of the first to third precast prestressed concrete components into a predetermined data format corresponding to the control data of the external device, and transmits it as component placement instruction data to the external device control computer 400 via the communication unit 160 (step S270). After that, an external device (e.g., a crane) controlled by the external device control computer 400 proceeds to an operation of placing the selected components in the structure.

[0109] FIG. 11 is a flowchart for explaining the operation of placing designated members in a structure by the autonomous construction system for a precast prestress concrete structure according to this embodiment in the construction process shown in FIG.

[0110] 8, a material storage yard adjacent to the construction site 800 has stored therein a plurality of third precast prestressed concrete members (803a to 803d) of the same model number to be used for the structure under construction. The storage location of the materials is not limited to the area adjacent to the construction site 800, and may be any location that can be managed so that the necessary materials can be provided when needed.

[0111] When the third precast prestressed concrete member to be used in the next construction process is determined (step S250) according to the flow chart shown in Fig. 9, the construction information management server 100 can proceed to a preparation work for transporting the determined third precast prestressed concrete member from the material storage yard. Alternatively, after step S270 is completed (A), the construction information management server 100 may proceed to a preparation work for transporting the determined third precast prestressed concrete member from the material storage yard ((A) and subsequent steps in Fig. 11).

[0112] The construction information management server 100 receives an input commanding the start of the operation of placing the determined third precast prestressed concrete member on the structure (step S300). This is a step for the user (site supervisor) to check whether there is a problem with the processing up to step S270, and can be omitted.

[0113] When the control unit 110 of the construction information management server 100 receives an input via the input unit 130 (or the input mobile terminal 550) instructing the start of an operation to place the determined third precast prestressed concrete member in the structure, it activates a specified component photographing device 500 connected to the construction information management server 100 to photograph the multiple third precast prestressed concrete members (803a to 803d) placed in the material storage yard, and transmits the photographed images to the component management server 200 to identify the determined third precast prestressed concrete member (step S310).

[0114] In the example shown in Fig. 8, one third precast prestressed concrete member 803a among a plurality of third precast prestressed concrete members (803a to 803d) is identified, and storage location information of the identified third precast prestressed concrete member 803a is transmitted to the external device control computer 400 (step S320). The storage location information (location coordinate data) is associated with the individual identification information and stored in advance in the memory unit 220 (or the component database 600) of the component management server 200. At this stage, the storage location information of the component may be converted from the geodetic coordinate system to the on-site coordinate system, and the subsequent on-site work may be carried out based on the coordinates of the on-site coordinate system.

[0115] The external device control computer 400 controls an external device consisting of a lifting machine (crane) or a specified transport device (or transmits control data to the external device) based on the storage position information, and transports the identified third precast prestressed concrete member 803a out of the material storage area and moves it to the structure's placement position (step S330).

[0116] Furthermore, the external device control computer 400 uses the component placement instruction data for each of the first to third precast prestressed concrete components to adjust the placement position and posture of each precast prestressed concrete component by an external device such as a winch that is directly controlled by the external device control computer 400 or controlled by control data transmitted from the external device control computer 400 (step S340). Note that a configuration may be adopted in which a 3D surveying device 300 operates in conjunction with the external device 400 to adjust the position and posture, and 3D surveying data obtained by measuring each component during placement work is fed back to the construction information management server 100.

[0117] Thereafter, the control unit 110 of the construction information management server 100 monitors the placement status of each component measured by the 3D surveying device 300, judges whether the position and posture of each component is placed as specified by the component position indication data or is placed within a predetermined standard for the design data, and if it is placed as specified or within the standard, notifies the user (site supervisor) of the completion of the construction process (for example, displays on the display unit 140) (step S350), returns to (B) before step S200 in Fig. 9, and waits for the input of the completion report. Note that if it is not as specified or not within the standard, returns to step S340 and makes readjustments.

[0118] After notifying the user (site supervisor) of the completion in step S350, the construction instruction unit 112 of the construction information management server 100 refers to the design data to check whether there is a next construction process. If the next construction process is not found (i.e., all construction processes are completed), the construction instruction unit 112 proceeds to a construction completion decision step (step S360).

[0119] If the next construction process is not found, the construction instruction unit 112 notifies the user (site supervisor) of the completion of the entire construction process together with the completion of the current construction process (for example, displays on the display unit 140), and returns to before step S200 in Fig. 9 to wait for input of the completion report. When the completion report is then input by the user (site supervisor), the construction history data of the components placed in each construction process is stored as final information in the component database and / or the design and construction data management server 700, and the system operation is then terminated. At this time, the data specifying the position and attitude of the components placed in each construction process may be converted from the site coordinate system to the geodetic coordinate system and stored.

[0120] As described above, the autonomous construction system for precast prestressed concrete structures according to the present invention assigns to each precast prestressed concrete member a program configured to autonomously simulate the alignment between the members, and can provide optimized member position indication data by autonomously trying the selection and arrangement adjustment of members, which was previously performed by skilled workers at the construction site, by a computer, thereby significantly improving the efficiency of construction work for precast prestressed concrete structures. In addition, since arrangement control based on computer simulation results is possible without relying on the empirical sense (intuition) or know-how of skilled workers, construction accuracy is improved and construction time and construction costs are significantly reduced. Furthermore, since construction performance data in each construction process is automatically and traceably recorded, data that can be used for maintenance and quality assurance after construction can be easily and quickly provided.

[0121] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments and can be modified in various ways without departing from the technical scope of the present invention. [Explanation of symbols]

[0122] 1. Autonomous Construction System for Precast Prestressed Concrete Structures 100 Construction information management server 110 Control device (control unit) 120 Storage device (storage unit) 130 Input device (input section) 140 Display device (display section) 150 Output device (output section) 160 Communication device (communication section) 200 Parts management server 210 Control section 211 Material Registration Department 212 Image Analysis Unit 213 Individual Identification Data Creation Department 214 Dedicated Program Implementation Section 215 Placement Simulation Control Unit 220 Storage section 230 Input section 240 Display section 250 Output section 260 Communications Department 300 3D surveying equipment 400 External device control computer 500 Component Photography Device 550 Portable input terminal 600 parts database 700 Design and construction data management server 801, 802, 803 Precast prestressed concrete members 900D Drone 900T Total Station

Claims

1. An autonomous construction system for a structure using precast prestressed concrete members, comprising: a member management means configured to associate and manage image-based individual identification information for each of a plurality of precast prestressed concrete members of the same model number, and to autonomously simulate the positioning of the members to be joined for each construction process; a 3D surveying means for acquiring three-dimensional (3D) surveying data of precast prestressed concrete members arranged in the structure under construction for each construction process; a construction information management means connected to the member management means and the 3D surveying means so as to be capable of communicating with the member management means, The construction information management means includes: A computer that manages a construction progress and a construction history of the structure under construction, For each construction step, a model number of a second precast prestressed concrete member to be joined to a first precast prestressed concrete member whose placement position has been specified by the 3D survey data of the completed portion of the structure acquired by the 3D surveying means is specified based on design data of the structure; transmitting the model number of the specified second precast prestressed concrete member to the member management means, and causing the member management means to simulate the alignment of the first precast prestressed concrete member with each of a plurality of second precast prestressed concrete members corresponding to the specified model number; receiving a result of the simulation from the component management means, and selecting, based on the received result, from among the plurality of second precast prestressed concrete components, one second precast prestressed concrete component that has a minimum deviation from the design data; outputting data specifying the positions and orientations of the selected one second precast prestressed concrete member and the first precast prestressed concrete member based on the results of the simulation performed between the selected one second precast prestressed concrete member and the first precast prestressed concrete member to a predetermined external device in association with the image-based individual identification information of each member; The member management means is implemented with a hierarchical program that realizes a function of simulating the arrangement positions of members to be joined, The member management means A dedicated program for autonomously simulating the alignment of the plurality of precast prestressed concrete members with other members is assigned to each of the plurality of precast prestressed concrete members, and the precast prestressed concrete members are grouped by the same model number and connected to a lower level of the hierarchical program; when receiving the model number of the specified second precast prestressed concrete member from the construction information management means, execute a program at a higher level in the hierarchical program, and command the dedicated program assigned to the first precast prestressed concrete member and the dedicated programs assigned to each of the plurality of second precast prestressed concrete members corresponding to the specified model number to exchange data representing their own 3D shapes and dimensions with each other and autonomously simulate alignment; An autonomous construction system for precast prestressed concrete structures, characterized in that the results of the simulation are transmitted to the construction information management means.

2. The component management means is a computer that manages each of the multiple precast prestressed concrete components of the same model number using the image-based individual identification information, From the images of each of the precast prestressed concrete components, 3D shape data, dimensional data, and individual identification data based on the color unevenness and / or texture characteristics of the component surface are created; The autonomous construction system for precast prestressed concrete structures as described in claim 1, characterized in that the created 3D shape data, dimensional data, and individual identification data are stored in the memory unit of the component management means as the image-based individual identification information corresponding to each of the precast prestressed concrete components, associated with the same model number, and stored in the memory unit of the component management means.

3. The construction information management means includes: An autonomous construction system for precast prestressed concrete structures as described in claim 1, characterized in that, for each construction process, 3D surveying data of the first precast prestressed concrete member of the completed portion of the structure obtained by the 3D surveying means is associated with individual identification information of the first precast prestressed concrete member and stored as construction history data in a specified memory means.

4. 2. The autonomous construction system for precast prestressed concrete structures according to claim 1, characterized in that the data specifying the positions and attitudes of both members is specified in a 3D coordinate system defined by a construction reference point set for the structure under construction, and the respective attitudes of the selected second precast prestressed concrete member and the first precast prestressed concrete member are specified by azimuth angles and attitude angles in the defined 3D coordinate system.

5. The member management means An artificial intelligence function is provided for extracting feature points of color unevenness and / or texture of the surface of the component that can be used for individual identification of the precast prestressed concrete component from the captured image and calculating feature amounts of the extracted feature points; The autonomous construction system for precast prestressed concrete structures according to claim 2, characterized in that the data for individual identification is created, the data including the feature points extracted by the artificial intelligence function and the calculated feature quantities.

6. The autonomous construction system for precast prestressed concrete structures described in claim 2, characterized in that the component management means acquires images of the precast prestressed concrete components from a camera capable of taking 2D or 3D images and / or a 3D laser scanner.

7. The 3D surveying means includes a total station, a 3D laser scanner, a camera capable of taking 2D or 3D images, or a 3D laser scanner or a 3D camera mounted on a drone or a self-propelled robot, The autonomous construction system for precast prestressed concrete structures as described in claim 1, characterized in that the 3D surveying data includes 3D scan data of the structure under construction or data identifying 3D shape data, dimensional data, and position and posture of the completed portion of the structure created from image data of the structure under construction.

Images