Bridge renewal method and support system

Abstract

To provide a renewal method and a support system capable of shortening the construction period for the renewal work of a bridge.SOLUTION: A support system 10 is a system for supporting the renewal of a bridge in which a plurality of floor slabs are arranged in parallel in a bridge axial direction. The support system 10 acquires on-road point cloud data of an existing bridge obtained by imaging the existing bridge from the sky and under-road point cloud data of the existing bridge obtained by imaging under the road of the existing bridge, and creates a 3D model of the existing bridge by synthesizing the on-road point cloud data and the under-road point cloud data. The support system 10 specifies the shape of the existing girder based on the 3D model and creates design data of a new floor slab in which the shape of a haunch part corresponding to the shape of an existing girder is determined by a haunch shape simulation.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a bridge renewal method and support system. [Background technology]

[0002] Renewal work is currently being carried out to renew an existing bridge. In this renewal work, for example, as in Patent Document 1, deck slabs arranged side by side in the bridge axis direction are replaced. Specifically, scaffolding is first erected around the bridge, and the bridge is surveyed using the scaffolding. Then, based on the survey results and the as-built drawings created during construction, the differences between the current bridge and the as-built drawings are identified. Next, a designer designs the new deck slab by allocating the new slab to be actually installed based on the as-built drawings, the differences between the current bridge and the as-built drawings, and the allocation rules. The new deck slab is fabricated based on the designer's design and then transported to the construction site. At the construction site, the existing deck slab is removed to expose the existing girders, and the new deck slab is then installed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-085172 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned renovation work is carried out under traffic restrictions, such as road closures on expressways, which can lead to traffic congestion and congestion on roads around the construction site. For this reason, there is a need to shorten the construction period for bridge renovation work, including the period of traffic restrictions. [Means for solving the problem]

[0005] A bridge renewal method that solves the above-mentioned problems is a bridge renewal method for renovating a bridge with multiple decks arranged side by side in the bridge axis direction, in which a support system that supports the bridge renewal acquires on-road point cloud data and under-road point cloud data of the existing bridge, synthesizes the on-road point cloud data and the under-road point cloud data to create a 3D model of the existing bridge, identifies the shape of the existing girder based on the 3D model, and creates design data for a new deck in which the shape of the haunch portion is determined according to the shape of the existing girder through haunch shape simulation. [Effects of the Invention]

[0006] According to the present invention, the construction period for bridge renewal work can be shortened. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a flowchart showing the flow of an embodiment of a bridge renewal method. [Figure 2] FIG. 1 is a diagram illustrating a schematic configuration of an embodiment of a support system. [Figure 3] FIG. 2 is a diagram illustrating an example of a hardware configuration of an information processing device. [Figure 4] 1 is a flowchart showing the flow of a design preparation process. [Figure 5] FIG. 1 is a diagram illustrating an example of a method for acquiring road point cloud data. [Figure 6] FIG. 10 is a diagram illustrating an example of a method for acquiring under-road point cloud data. [Figure 7] 1 is a flowchart showing the flow of a design process. [Figure 8] 10 is a flowchart showing the flow of the new floor slab allocation process. [Figure 9] FIG. 10 is a diagram schematically illustrating a representative diagram of an allocation draft. [Figure 10] 10 is a flowchart showing the flow of a cross-sectional shape design process. [Figure 11] FIG. 10 is a diagram showing a schematic diagram of a new deck slab and a part of the shape rules registered in the shape rule registration process. [Figure 12] 1A and 1B are diagrams showing the shape of a haunch portion in which a notch is formed, in which (a) is a diagram showing the shape of the haunch portion when viewed from the bridge axis direction, and (b) is a diagram showing the shape of the haunch portion when viewed from a direction perpendicular to the bridge axis. [Figure 13] FIG. 10 is a diagram schematically illustrating an example of a heat map for a newly constructed deck. [Figure 14] FIG. 10 is a diagram showing a schematic view of a finished product simulation. [Figure 15] FIG. 1 is a diagram schematically illustrating on-site work using a construction support system. DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment of a bridge renewal method and a support system therefor will be described with reference to Figures 1 to 15. In this embodiment, a case where an existing deck slab is replaced in renewal construction will be described.

[0009] As shown in Figure 1, renewal work to replace the existing deck of an existing bridge involves a design preparation process (step S101), a design process (step S102), a deck production process (step S103), a construction preparation process (step S104), and a construction process (step S105).

[0010] As shown in FIG. 2, a support system 10 that supports renewal work includes a design support system 20, a production support system 30, and a construction support system 40. The design support system 20 is a system used by designers who design renewal work. The design support system 20 includes a design support device 21. The production support system 30 is a system used by producers who produce replacement objects such as deck slabs. The production support system 30 includes the production support device 31. The construction support system 40 is a system used by contractors who carry out renewal work. The construction support system 40 includes the construction support device 41. These support devices (21, 31, 41) are configured to be able to communicate with each other via the server 100. In other words, each support device (21, 31, 41) is configured to be able to share information uploaded to the server 100.

[0011] As shown in FIG. 3, each of the support devices (21, 31, 41) is configured around an information processing device H10. The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage device H14, and a processor H15. Note that this hardware configuration is an example, and the information processing device H10 may include other hardware.

[0012] The communication device H11 is an interface that establishes a communication path with other devices and transmits and receives data. The input device H12 is a device that receives input from an operator, such as a mouse or keyboard. The display device H13 is a display or touch panel that displays various information. The storage device H14 is a storage unit that stores data and various programs for executing various functions. Examples of the storage device H14 include a ROM, a RAM, a hard disk, etc.

[0013] The processor H15 controls each process in each support device using programs and data stored in the storage device H14. Examples of the processor H15 include a CPU and an MPU. The processor H15 loads programs stored in a ROM or the like into a RAM and executes various processes corresponding to the various processes. For example, when a specific application program is launched, the processor H15 runs a process that executes each process according to the program.

[0014] The processor H15 is not limited to a processor that performs all of its processing using software. For example, the processor H15 may include a dedicated hardware circuit (e.g., an application-specific integrated circuit (ASIC)) that performs hardware processing for at least some of the processing it performs. That is, the processor H15 may be configured as follows:

[0015] (1) One or more processors operating according to a computer program (software) (2) One or more dedicated hardware circuits that perform at least some of the various processes; or (3) Circuits including combinations thereof The processor H15 includes a CPU and memory, such as RAM and ROM, that stores program code or instructions configured to cause the CPU to perform processes. Memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or special-purpose computer.

[0016] (Design preparation process) The design preparation process (step S101) is carried out using the design support system 20. In the design preparation process, an existing bridge is photographed to obtain point cloud data, and CIM data for the existing bridge is created based on the point cloud data. The point cloud data for the existing bridge is composed of on-road point cloud data photographed from above and under-road point cloud data photographed from below. At each point on the existing bridge, a control point is provided that serves as a reference when combining the on-road point cloud data and the under-road point cloud data.

[0017] As shown in FIG. 4, the design preparation process includes an on-road point cloud data acquisition process (step S201), an under-road point cloud data acquisition process (step S202), and a model creation process (step S203).

[0018] As shown in FIG. 5, in the road point cloud data acquisition process (step S201), road point cloud data is acquired using a road camera 23 mounted on an unmanned aerial vehicle 22 whose flight area is the periphery of an existing bridge 50.

[0019] The right side of the existing bridge 50 is imaged using an unmanned aerial vehicle 22 flying on the right side of the existing bridge 50. The left side of the existing bridge 50 is imaged using an unmanned aerial vehicle 22 flying on the left side of the existing bridge 50. It is preferable that the road camera 23 images from a 45-degree angle and a 60-degree angle relative to a predetermined reference point of the existing bridge 50 so that traffic will not be obstructed even if the unmanned aerial vehicle 22 falls. The road camera 23 acquires road point cloud data by imaging the existing bridge 50 from above while flying the unmanned aerial vehicle 22 above the existing bridge 50. The road point cloud data is input to the design support device 21 by connecting the road camera 23 to the design support device 21.

[0020] As shown in FIG. 6 , in the under-road point cloud data acquisition process (step S202), under-road point cloud data is acquired by an under-road camera 26 mounted on a mobile robot 25 moving along an existing girder 51. The mobile robot 25 is supported on the lower flanges 52 of a pair of adjacent existing girders 51 perpendicular to the bridge axis and is configured to be movable in the bridge axis direction. The mobile robot 25 has a moving machine 27 and an erection member 28. The moving machine 27 moves on the lower flanges 52 of each existing girder 51 in the bridge axis direction by rolling on the lower flanges 52 of each existing girder 51 with rollers 29 arranged to sandwich the webs 53. The erection member 28 connects the lower end of the moving machine 27 below the existing girder 51. The under-road camera 26 is mounted on the erection member 28 so as to be positioned in the center of the pair of moving machines 27. The under-road camera 26 captures images of the under-road area of the existing bridge 50 while moving by the mobile robot 25 in the bridge axis direction, thereby acquiring under-road point cloud data within the imaging range. The under-road point cloud data is input to the design support device 21 by connecting the under-road camera 26 to the design support device 21. By capturing images of the under-road in this manner for the entire existing bridge 50, under-road point cloud data for the entire existing bridge 50 is obtained.

[0021] In the model creation step (step S203), a model generation process is executed in the design support device 21. In the model generation process, the design support device 21 combines the on-road point cloud data and the under-road point cloud data based on the control points included in each data, and creates CIM (Construction Information Modeling) data, which is 3D model data that reproduces the existing bridge 50. This CIM data specifies the shape of the existing girder 51, including any interfering objects that may interfere with the haunch portion of the new deck slab.

[0022] In this way, by acquiring the on-road point cloud data and under-road point cloud data from which CIM data of the existing bridge 50 can be created using the above-mentioned method, it is possible to survey the existing bridge 50 without restricting the roads leading to the existing bridge 50. The on-road point cloud data acquisition process (step S201) and the under-road point cloud data acquisition process (step S202) may be performed in parallel, or the under-road point cloud data acquisition process (step S202) may be performed first.

[0023] (design process) The design process (step S102) is carried out using the design support system 20. The design process is a process of designing a new deck slab to be installed on the existing girder 51 based on CIM data. The new deck slab is manufactured by the PCa (Precast Concrete) construction method.

[0024] As shown in Figure 7, in the design process, a new deck allocation process (step S301) and a cross-sectional shape design process (step S302) are performed, followed by a design data creation process (step S303) in which design data for the new deck is created based on the results of these processes.

[0025] (New floor slab layout process) As shown in FIG. 8, in the new deck allocation process (step S301), an allocation rule setting process is first carried out (step S401). In the allocation rule setting process, the designer operates the design support device 21 to input various information. The designer basically sets the allocation rules so as to reduce the number of new deck slab types, that is, to reduce the number of new deck slabs with different shapes. The designer also sets, as allocation rules, basic design items such as the overall area where the new deck slabs will be installed, the materials used and the placement of rebar, and the standard pitch of the new deck slabs in the bridge axis direction, as well as the location of any interfering objects that may interfere with the haunch portion of the new deck slab and non-placement areas for the joint portions of the new deck slab.

[0026] Next, an allocation simulation (step S402) is performed. In the allocation simulation, a simulation regarding the allocation of new deck slabs is executed by the design support device 21. The allocation simulation is started when the designer performs a predetermined start operation on the design support device 21.

[0027] In the allocation simulation, the design support device 21 performs a simulation based on the CIM data and allocation rules to allocate a new deck slab to be installed on the existing girder 51. The design support device 21 then creates allocation draft data that shows the allocation draft that is the result of the allocation simulation. The allocation draft data is data that can display the existing girder 51 as well as a top view of the state in which the new deck slab has been installed on the existing girder 51. The allocation draft data also includes the positions of interfering objects that may interfere with the haunch portion of the new deck slab, such as splice plates attached to the existing girder 51.

[0028] As shown in Figure 9, the display device H13 of the design support device 21 displays a top view of the state in which new deck slabs 55 have been installed on the existing girder 51 as a draft allocation plan. The new deck slabs 55 are displayed in different colors according to their shapes. In Figure 9, new deck slabs 55a, 55b, 55c, and 55d of different shapes are allocated as the new deck slabs 55, and the differences in color are indicated by different dots.

[0029] Once the allocation simulation is complete, a check process is carried out (step S403). In the check process, the designer checks the allocation draft. In checking the allocation draft, the designer checks whether there are any problems with the allocation draft based on the allocation draft data (step S404). Specifically, the designer checks the interference of rebars between adjacent deck slabs, the positional relationship between the deck slabs and interfering objects, the positional relationship between the deck slabs and the fixing hardware of the wall parapet, etc.

[0030] If there are any problems (step S404: NO), the designer modifies and sets the allocation rules (step S401), and then has the design support device 21 execute the allocation simulation again (step S402). On the other hand, if there are no problems (step S404: YES), the new floor slab allocation process ends.

[0031] (Cross-sectional shape design process) The cross-sectional shape design process (step S302) is a process in which the cross-sectional shape of each new deck slab is designed so as to avoid interference between the interfering object and the haunch portion.

[0032] 10, the cross-sectional shape design process first performs a shape rule registration process (step S501). In the shape rule registration process, the designer operates the design support device 21 to register basic design items for the cross-sectional shape of each new deck slab, including the haunch portion, as shape rules.

[0033] For example, as shown in Figure 11, the designer registers the slab thickness ts, slope i, planned height H, and bottom width W1 and slope width W2 of the haunch 58 as shape rules for each new deck slab 55. The designer also registers the maximum and minimum haunch thicknesses, which indicate the appropriate range for haunch thickness th, and the maximum and minimum adjustment thicknesses, which indicate the appropriate range for the adjustment thickness tm between the top flange 54 of the existing girder 51 and the bottom of the haunch 58. The adjustment thickness tm is the thickness of the seal sponge and mortar that integrate the top flange 54 of the existing girder 51 with the new deck slab 55. If a splice plate 61 is fixed to the existing girder 51 by a fixing hardware 62 as an interfering object, the designer registers the height of the fixing hardware 62 based on past data, etc. The designer also registers the avoidance width required to avoid interference with interfering objects such as the splice plate 61 and the fixing hardware 62.

[0034] Next, a space-reducing width input step (step S502) is performed. In the space-reducing width input step, the designer operates the design support device 21 to input the space-reducing width between the adjacent new deck slabs 55. Next, a haunch shape simulation is performed (step S503). The haunch shape simulation is started when the designer performs a predetermined start operation on the design support device 21. In the haunch shape simulation, the design support device 21 selects a shape of the haunch portion 58 for each new deck slab 55 having a different shape, based on the allocation draft data, shape rules, and filling width, so that interference with the splice plates 61 and fixing hardware 62 can be avoided. Furthermore, in the haunch shape simulation, the design support device 21 selects the shape of the haunch portion 58 so as to reduce the amount of formwork required when fabricating the new deck slab using the PCa method. For example, if multiple new deck slabs 55a are allocated as the new deck slab 55 as shown in Figure 9, the design support device 21 selects the shape of the haunch portion 58 so that the multiple new deck slabs 55a can be fabricated using one formwork.

[0035] More specifically, the design support device 21 selects the shape of the haunch portion 58 under the following conditions (a), (b), and (c). (a) Maintain the haunch thickness th and adjustment thickness tm within the appropriate range. (b) The adjustment thickness tm should be as small as possible. (c) For a newly constructed deck 55 in which the haunch portion 58 may interfere with the splice plate 61 and the fixing hardware 62, a cutout portion may be provided in the haunch portion 58.

[0036] 12(a) and 12(b), cutout portion 59 is formed in haunch portion 58 to avoid interference with splice plate 61 and fixing hardware 62. Cutout portion 59 is formed on the base of a new deck slab (base deck slab) that is unlikely to interfere with splice plate 61 and fixing hardware 62. Cutout portion 59 may be formed by cutting away a portion of the base deck slab after manufacture, or may be formed by placing a cutout-forming material such as an iron plate inside a formwork used to manufacture the base deck slab.

[0037] If, as a result of the haunch shape simulation, the design support device 21 is unable to select a shape that satisfies condition (a) even when the cutout portion 59 is provided in the haunch portion 58 (step S504: NO), the designer registers the raised planned height H as a shape rule for each new deck slab 55 (step S505) and then causes the design support device 21 to perform the haunch shape simulation again. On the other hand, if a shape that satisfies the above condition (a) is selected (step S504: YES), the design support device 21 performs a shape data creation step (step S506) to create shape data that indicates the shape of the new deck slab 55. This shape data includes 3D model data that indicates the base deck slab of the new deck slab 55, as well as 3D model data that indicates the new deck slab 55 having the cutout portion 59.

[0038] In the design data creation process (step S303), the design support device 21 creates design data. The design data is created based on the layout draft data and shape data. In addition to 3D model data for each new deck slab, the design data specifies identification information for each new deck slab, design coordinates indicating the installation position, materials to be used, rebar placement, and the shape and position of reference marks used when confirming the installation position, etc. Once the design data is created, the design support device 21 uploads the design data to the server 100 based on the designer's sharing operation. The server 100 notifies the production support device 31 of the upload of the design data.

[0039] Creating design data in this way can significantly reduce the time required for the design process. Also, uploading the design data to the server 100 allows the design data to be shared between the designer and the manufacturer.

[0040] (Floor slab production process) The deck slab fabrication process (step S103) is performed using the fabrication support system 30. The deck slab fabrication process is a process in which a new deck slab is fabricated based on design data.

[0041] The manufacturer inputs production information for each new deck slab, such as progress status and materials used, into the production support device 31. The production support device 31 uploads the input production information to the server 100. A camera 32 (see FIG. 1) capable of capturing images of the production process may also be installed at the production site. This camera 32 is connected to the production support device 31. The production support device 31 uploads the image data captured by the camera 32 to the server 100 as needed. This allows the designer to access the server 100 using the design support device 21 and grasp the production information and the current situation at the production site.

[0042] The manufacturer uses a measuring device 33 (see Figure 1) such as a 3D scanner to perform three-dimensional measurements of each new deck slab after completion. The manufacturer inputs identification information for the new deck slab to be measured and measurement data showing the results of the three-dimensional measurement into the production support device 31. The production support device 31 creates quality record data that associates the identification information with a 3D model of the new deck slab based on the measurement data, as well as as-built errors that show the results of comparing the shape based on the design data with the shape based on the measurement data. The quality record data is data that can display as-built errors in a heat map. The production support device 31 uploads the created quality record data to the server 100. The server 100 notifies the design support device 21 of the upload of the quality record data. Identification information is written in a predetermined position on each completed new deck slab.

[0043] (Construction preparation process) The construction preparation process (step S104) is carried out using the design support system 20. In the construction preparation process, the designer uses the design support device 21 to access the server 100 and checks the quality of the new deck slab to be delivered to the construction site based on the quality record data.

[0044] 13, the design support device 21 displays a heat map of the new deck slabs 55 based on the quality record data. Based on this display, the designer can check in advance for errors in the finished form of each new deck slab 55 and deviations from standard values.

[0045] By displaying the as-built errors of the new deck slabs as a heat map, the designer can easily grasp the singular points of each new deck slab. Furthermore, if there are many new deck slabs with large as-built errors, the designer can check the work details using images captured by camera 32 as well as the production information of the new deck slabs, and provide quality improvement guidance to the producers.

[0046] As shown in Figure 14, after quality confirmation, the design support device 21 performs an as-built simulation using the quality record data of each new deck slab. In the as-built simulation, the design support device 21 sequentially installs a 3D model of the new deck slab 55 based on the quality record data on the existing girder 51. Based on the results of the as-built simulation, the designer checks for interference with road accessories, cumulative errors during installation, correlation errors with adjacent new deck slabs 55, interference with adjacent structures, and the like. The designer also updates the design data by using the design support device 21 to perform a pre-construction correction simulation in which the design coordinates of the new deck slab are corrected based on the results of the as-built simulation.

[0047] In this way, by performing a finished product simulation based on quality record data, problems during construction caused by errors in finished product can be avoided in advance. Also, by knowing the quality of the new deck slab in advance, designers can provide guidance to the fabricators on quality improvements.

[0048] (Construction process) The construction process (step S105) is a process in which the contractor actually installs the new deck slabs in order. The contractor lifts the new deck slabs using a lifting device such as a crane and installs each new deck slab in order at its respective installation location. The contractor uses the construction support system 40 to install the new deck slab while checking the position of the new deck slab being lifted. Note that the contractor refers to a person involved in the installation work of the new deck slab.

[0049] 15, the construction support system 40 includes a construction support device 41 and an imaging device 42. The construction support device 41 and the imaging device 42 are configured to be able to communicate with each other. The construction support device 41 is preferably a portable device that can be carried by the builder, and preferably includes at least a display device H13 that can be carried by the builder.

[0050] In the construction process, the contractor installs the camera 42 so that the installation position of the new deck slab 55 is included in the imaging range. After installing the camera 42, the contractor inputs imaging coordinates indicating the position of the camera 42 into the construction support device 41. In addition, the contractor inputs identification information of the new deck slab 55 to be installed into the construction support device 41 based on the design data.

[0051] After inputting the imaging coordinates and identification information, the builder starts capturing images using the imaging device 42 when the new deck slab 55 being lifted is carried to the vicinity of the installation position. The imaging device 42 transmits the captured image data to the construction support device 41 as needed.

[0052] The construction support device 41 processes the image data transmitted by the imaging device 42 to obtain the relative coordinates of the new slab 55 relative to the imaging device 42, based on the reference marks 60 of the new slab 55 contained in the image data. The construction support device 41 then obtains the current position coordinates of the new slab 55 based on the relative coordinates and the imaging coordinates, and displays an image including the design coordinates and the current position coordinates on the display device H13. The display device H13 in Figure 15 shows an example of how an image including the design coordinates and the current position coordinates is displayed. The construction support device 41 displays an image showing the current position coordinates in a horizontal coordinate system centered on the design coordinates. The contractor adjusts the position of the new slab 55 based on this image, and installs the new slab 55.

[0053] After the new deck 55 is installed, when the contractor inputs that the installation is complete, the construction support device 41 transmits installation coordinates indicating the actual location where the new deck 55 is installed to the design support system 20. The design support device 21 stores the installation coordinates of the new deck 55 in the server 100 as installation coordinate data.

[0054] Once the installation coordinate data is saved, the design support device 21 performs a construction correction simulation to correct the design coordinates of the new deck slab 55 to be installed next and thereafter, based on the installation coordinate data and design data. The builder installs the new deck slabs 55 from next onwards based on the corrected design coordinates. In this way, the new deck slabs 55 are installed in order.

[0055] Once all the new deck slabs 55 have been installed and the designer has entered the completion information, construction data is created by adding quality record data and installation coordinate data for each new deck slab 55 to the design data. The construction data is submitted to the construction client upon completion of the construction and is used for bridge maintenance and management.

[0056] The operation and effects of this embodiment will be described. (1) According to the above embodiment, CIM data capable of reproducing the existing bridge 50 is created based on road point cloud data acquired using the unmanned aerial vehicle 22 and under-road point cloud data acquired using the mobile robot 25. This allows the existing bridge 50 to be surveyed without restricting the roads leading to the existing bridge 50. In addition, the shape of the haunch portion 58 of the new deck slab 55 is determined by a haunch shape simulation performed by the design support device 21. This reduces the time required to design the haunch portion 58, and by determining the shape of the haunch portion 58 of each new deck slab 55 in accordance with its installation position, problems are less likely to occur during actual construction. As a result, the construction period for renewal work can be shortened.

[0057] (2) According to the above embodiment, the new deck slab 55 is allocated to the existing girder 51 by allocation simulation based on CIM data. This reduces the time required to design the new deck slab 55, thereby shortening the construction period for renewal work. Furthermore, in the haunch shape simulation, the haunch portion 58 of the new deck slab 55 is designed so that less formwork is required when manufacturing the allocated new deck slab 55. This reduces the manufacturing cost of the new deck slab.

[0058] (3) In the haunch shape simulation, the formation of a notch 59 that avoids interference with an interfering object is permitted, provided that the haunch thickness and adjustment thickness are kept within the appropriate range. This effectively reduces the amount of formwork required when fabricating the new deck slab 55. As a result, the fabrication cost of the new deck slab can be further reduced.

[0059] (4) According to the above embodiment, the designer can grasp in advance the finished shape error of the new deck slab 55 manufactured by the manufacturer. As a result, problems caused by finished shape error are less likely to occur during actual construction, and the construction period for the renewal work can be shortened.

[0060] (5) Furthermore, the design support device 21 displays the as-built errors of the new deck slabs 55 as a heat map, allowing the designer to easily grasp the singular points of each new deck slab 55. This reduces the time required to consider how to deal with as-built errors.

[0061] (6) In the above embodiment, a simulation of the installation of the new deck slab 55 on the existing girder 51 is performed based on the CIM data and the actual measurement data. This makes it possible to check with a high degree of reliability the interference with road accessories, the cumulative error during installation, the correlation error with adjacent members, the interference with adjacent structures, etc. Furthermore, the new deck slab 55 that is difficult to install can be rebuilt before construction. As a result, problems caused by errors in the installation are even less likely to occur during actual construction.

[0062] (7) In the above embodiment, the new deck slab 55 is installed based on the design coordinates and current position coordinates displayed on the display device H13 of the construction support system 40. This reduces the time required to install the new deck slab 55 and allows the new deck slab 55 to be installed with high positional accuracy. In addition, the safety of the contractor can be ensured because there is no need for the contractor to approach the new deck slab 55 during lifting in order to measure its position, etc.

[0063] (8) According to the above embodiment, it is possible to manage the coordinates of the design coordinates of the new deck slab 55 to be installed based on the installation coordinates of the already installed new deck slab 55. As a result, problems are even less likely to occur during actual construction.

[0064] This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility. In the above embodiment, the bridge renewal method and support system were described using the renewal of a deck slab. However, the bridge renewal method and support system may also be applied to other renewal target components, such as a wall parapet installed along the edge of a deck slab.

[0065] In the above embodiment, the adjustment of the installation position of the new deck 55 is not limited to the method using the camera 42. For example, it may be performed based on the visual inspection of the builder. In the above embodiment, the new deck slab 55 is installed after performing a finished form simulation. However, the present invention is not limited to this, and the new deck slab 55 may be installed without performing a finished form simulation.

[0066] In the above embodiment, the new slab 55 is displayed as a heat map based on the actual measurement data. However, the actual measurement data is not limited to this, and it is sufficient if it can grasp the shape of the new slab 55, and it is not necessarily required to display it as a heat map.

[0067] In the above embodiment, a haunch shape simulation may be performed for each new deck slab 55 for each installation position. In the above embodiment, the design support device 21 performed the haunch shape simulation while allowing the notch portion 59 to be formed in the haunch portion 58. However, the design support device 21 may perform the haunch shape simulation without allowing the notch portion 59 to be formed in the haunch portion 58.

[0068] In the above embodiment, the design support device 21 performed an allocation simulation and then performed a haunch shape simulation for the new deck slab after allocation. However, the design support device 21 may also perform a haunch shape simulation for the new deck slab allocated by the designer, for example.

[0069] In the above embodiment, the road point cloud data was acquired using the road imaging device 23 mounted on the unmanned aerial vehicle 22. However, the present invention is not limited to this, and the road point cloud data may be acquired, for example, using an imaging device that is installed near the existing bridge 50 and is capable of capturing images of the road surface of the existing bridge 50. Furthermore, the road point cloud data may be acquired using a laser measuring device mounted on the unmanned aerial vehicle 22, or may be acquired using a laser measuring device installed near the existing bridge 50. Furthermore, the road point cloud data may be acquired based on the imaging results from the imaging device and the measurement results from the laser measuring device.

[0070] In the above embodiment, the under-road point cloud data was acquired using the under-road camera 26 mounted on the mobile robot 25. However, the under-road point cloud data may also be acquired using, for example, an imager mounted on an unmanned aerial vehicle. The under-road point cloud data may also be acquired using a laser measuring instrument mounted on an unmanned aerial vehicle, or may be acquired using a laser measuring instrument installed near the existing bridge 50. Furthermore, the under-road point cloud data may also be acquired based on the imaging results from the imager and the measurement results from the laser measuring instrument.

[0071] In the above embodiment, the splice plate 61 and the fixing hardware 62 are exemplified as interfering objects that may interfere with the haunch portion 58. However, the interfering object is not limited to these and may be anything that may interfere with the haunch portion 58, such as a catch basin. [Explanation of symbols]

[0072] 10...support system, 20...design support system, 21...design support device, 22...unmanned aerial vehicle, 23...road camera, 25...mobile robot, 26...underroad camera, 27...mobile device, 28...construction member, 29...roller, 30...manufacturing support system, 31...manufacturing support device, 32...camera, 33...measuring instrument, 40...construction support system, 41...construction support device, 42...camera, 50...existing bridge, 51...existing girder, 52...bottom flange, 53...web, 55...new deck slab, 58...haunch portion, 59...cutout portion, 60...reference mark, 61...splicing plate, 62...fixing hardware, 100...server.

Claims

1. A bridge renewal method for renewing a bridge in which multiple decks are arranged side by side in the bridge axis direction, comprising: The support system for supporting the renewal of the bridge comprises: Acquire road point cloud data of an existing bridge and under-road point cloud data of the existing bridge, synthesize the road point cloud data and the under-road point cloud data to create a 3D model of the existing bridge; The shape of the existing girder is identified based on the 3D model, and design data for a new deck slab is created in which the shape of the haunch portion is determined according to the shape of the existing girder through a haunch shape simulation. In the haunch shape simulation, a notch portion that avoids interference with an interfering object provided on the existing girder is allowed to be formed in the haunch portion, and the haunch thickness, which is the thickness of the haunch portion, and the adjustment thickness between the haunch portion and the existing girder are kept within an appropriate range while the adjustment thickness is reduced, and the shape of the haunch portion is determined. Bridge renewal methods.

2. The support system allocates the new deck slab through an allocation simulation based on the 3D model and the allocation rules, and then performs the haunch shape simulation for the new deck slab after the allocation. The bridge renewal method according to claim 1.

3. The new deck is manufactured by a precast construction method, The support system performs the haunch shape simulation so as to reduce the number of forms required for manufacturing the new deck. A bridge renewal method according to claim 1 or 2.

4. A support system that supports the renewal of a bridge in which multiple decks are installed side by side in the bridge axis direction, Acquire road point cloud data of an existing bridge and under-road point cloud data of the existing bridge, synthesize the road point cloud data and the under-road point cloud data to create a 3D model of the existing bridge; The shape of the existing girder is identified based on the 3D model, and design data for a new deck slab is created in which the shape of the haunch portion is determined according to the shape of the existing girder through a haunch shape simulation. In the haunch shape simulation, a notch portion that avoids interference with an interfering object provided on the existing girder is allowed to be formed in the haunch portion, and the haunch thickness, which is the thickness of the haunch portion, and the adjustment thickness between the haunch portion and the existing girder are kept within an appropriate range while the adjustment thickness is reduced, and the shape of the haunch portion is determined. Support system.

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