Method and system for acquiring shape information

Abstract

To provide a method that acquires shape information.SOLUTION: A method for acquiring shape information on an object is configured to measure a measurement surface by a plurality of sensor devices respectively attached to a plurality of measurement points different in a position about at least one of mutually crossing two directions in the measurement surface of the object; send out measurement information on the measurement surface by the plurality of sensor devices to a server via a network; fit a discrete distribution of a physical quantity related to the measurement information to a prescribed polynomial function and calculate a coefficient of the polynomial function on the basis of the measurement information in the plurality of measurement points and position information on the plurality of measurement points; obtain a shape of the measurement surface to be represented by a polynomial function including the calculated coefficient as shape information on the object; and provide a terminal to be connected to the server via the network with the obtained shape information, in which the plurality of sensor devices each has an angle sensor that can acquire information on a tilt angle of the measurement surface.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a shape acquisition method, an object management method and work support method, and a shape acquisition system and work support system, and more particularly to a shape acquisition method and shape acquisition system suitable for when the object is at least a part of a structure (also called a structural body, etc.) constructed at a construction site such as earth retaining wall work, bridge construction, and platform construction, a method for managing an object, and a work support method and work support system that utilizes the shape acquisition method. This application claims priority based on Japanese Patent Application No. 2021-176498, filed on October 28, 2021, the contents of which are incorporated herein by reference. [Background technology]

[0002] In order to ensure safety and economic efficiency, earth retaining construction requires various measurements to be taken at the construction site and the current state of the earth retaining structure to be confirmed using the measured values. Conventional measurement management for earth retaining construction involves measuring the depth distribution of horizontal displacement using an inclinometer. However, this conventional method only provides point, linear, and localized measurement data, making it difficult to grasp the overall behavior of the earth retaining wall.

[0003] Against this background, inventions have recently been proposed relating to measurement systems and methods that enable area-wide evaluation of measurement management of earth retaining walls (see, for example, Patent Document 1). According to the invention described in Patent Document 1, multiple tilt sensors are arranged two-dimensionally, which is thought to enable the above-mentioned area-wide evaluation based on the measurement values ​​of each sensor. However, because the invention described in Patent Document 1 simply processes the measurement values ​​of each sensor using a geometric method, it cannot necessarily be said that the overall behavior of the earth retaining wall can be grasped with sufficient accuracy, and there is room for improvement. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-52467 Summary of the Invention [Means for solving the problem]

[0005] According to a first aspect of the present invention, there is provided a method for acquiring shape information of an object, the method comprising: measuring the measurement surface of the object using a plurality of sensor devices attached to a plurality of measurement points that are positioned differently in at least one of two directions that intersect with each other on the measurement surface of the object; transmitting measurement information of the measurement surface obtained by the plurality of sensor devices to a server via a network; fitting a discrete distribution of physical quantities related to the measurement information to a predetermined polynomial function based on the measurement information at the plurality of measurement points and position information of the plurality of measurement points to calculate coefficients of the polynomial function; and determining, as shape information of the object, a shape of the measurement surface that is expressed by a polynomial function including the calculated coefficients; and providing the obtained shape information to a terminal connected to the server via the network, wherein each of the plurality of sensor devices has an angle sensor capable of acquiring information on the inclination angle of the measurement surface. According to a second aspect of the present invention, there is provided a system for acquiring shape information of an object, the system comprising: an analysis device that receives measurement information of the measurement surface of the object from a plurality of sensor devices attached to a plurality of measurement points that are positioned differently in at least one of two intersecting directions on the measurement surface of the object via a network, and that calculates shape information of the object based on the measurement information; and a storage that stores the calculated shape information, wherein the analysis device fits a discrete distribution of physical quantities related to the measurement information to a predetermined polynomial function based on the measurement information and position information of the plurality of measurement points to calculate coefficients of the polynomial function, and calculates the shape of the measurement surface expressed by a polynomial function including the calculated coefficients as shape information of the object, and provides the calculated shape information to a terminal connected to the analysis device via the network, and each of the plurality of sensor devices has an angle sensor that can acquire information on the inclination angle of the measurement surface. According to a third aspect of the present invention, there is provided a shape acquisition method for acquiring shape information of an object, the shape acquisition method including: acquiring information on the inclination angle of the measurement surface using a plurality of sensor devices at a plurality of measurement points that are positioned differently in one of two intersecting directions within the measurement surface of the object; fitting a discrete distribution of a physical quantity related to the inclination angle obtained based on the acquired information on the inclination angle at the plurality of measurement points and position information of the plurality of measurement points to a predetermined polynomial function to obtain a coefficient of each term of the polynomial function; and acquiring, as shape information of the object, the shape of the measurement surface represented by a polynomial function that includes the obtained coefficients as determination coefficients of each term. In this specification, "shape information" is a concept that includes not only the shape of the object, but also all information relating to changes in the shape over time, spatial distribution of the amount of deformation, and the like.

[0006] According to a fourth aspect of the present invention, there is provided a method for managing an object, the method including repeatedly executing the above-mentioned shape acquisition method and monitoring changes in the shape of the object over time based on shape information obtained each time the method is executed.

[0007] According to a fifth aspect of the present invention, there is provided a method for managing an object, which comprises executing the above-mentioned shape acquisition method at a first time point and a second time point after the first time point, and identifying a position at which the deformation of the measurement surface of the object exceeds a predetermined tolerance value from the change in the coefficient of each term of the polynomial function obtained at each time point.

[0008] According to a sixth aspect of the present invention, there is provided a method for managing an object for maintaining deformation of the object in a desired state, the method including: setting a plurality of states in which a support force of a certain magnitude is additionally applied to only a specified one of the plurality of support members in a reference state in which the object is supported by a plurality of support members so that the deformation amount of the measurement surface is equal to or less than an allowable value, while changing the specified support member; repeatedly executing the above-described shape acquisition method in each of the plurality of states; and calculating each term of the polynomial function corresponding to a change from the reference state of the measurement surface caused by applying the support force to each specified support member in each of the plurality of states, which is obtained for each execution. a database consisting of matrix data having, as elements, amounts of change from the reference state in coefficients of the polynomial function of each term corresponding to a change from the reference state of the measurement surface in any state after the reference state; and a first column matrix having, as elements, amounts of change from the reference state in coefficients of each term of the polynomial function corresponding to a change from the reference state of the measurement surface in any state after the reference state; and then determining the magnitude of the support force to be applied to the support members by solving an equation in which the first column matrix is ​​equal to the product of the matrix and a second column matrix having elements representing the support force to be applied to each of the plurality of support members. Here, maintaining the deformation of the object in a desired state includes maintaining the deformation of the object in a state where it is within an allowable error range.

[0009] According to a seventh aspect of the present invention, there is provided a work support method for supporting construction work of an object, the work support method including acquiring shape information of a measurement surface of the object at one or more points in time including a first point in time by the above-mentioned shape acquisition method, and performing at least one of detecting abnormalities in the object, determining the support force of a support member that supports the object, and creating / proposing a work procedure based on the acquired shape information.

[0010] According to an eighth aspect of the present invention, there is provided a shape acquisition system for acquiring shape information of an object, comprising an analysis device and a plurality of sensor devices connected to each other via a network, wherein the plurality of sensor devices measure the inclination angle of the measurement surface at each of a plurality of measurement points that are positioned differently in one of two intersecting directions on the measurement surface of the object, and output a plurality of sensor data including information on the inclination angle to the analysis device via the network, and the analysis device receives the plurality of sensor data via the network, and calculates a discrete distribution of a physical quantity related to the inclination angle based on the information on the inclination angle included in the plurality of sensor data and position information of the plurality of measurement points, fits the distribution to a predetermined polynomial function to calculate the coefficients of each term of the polynomial function, and stores information on the shape of the measurement surface expressed by a polynomial function including the calculated coefficients as deterministic coefficients of each term in a storage.

[0011] According to a ninth aspect of the present invention, there is provided a shape acquisition system for acquiring shape information of an object, comprising an analysis device and a plurality of sensor devices connected to each other via a network, wherein the plurality of sensor devices measure an inclination angle of the measurement surface of the object at each of a plurality of measurement points positioned differently in one of two intersecting directions within the measurement surface of the object, and output a plurality of sensor data including information on the inclination angle to the analysis device via the network, and the output of the plurality of sensor data from the plurality of sensor devices to the analysis device via the network is performed at a first time point and a second time point after the first time point, and the analysis device a shape acquisition system that repeatedly performs the following steps each time the plurality of sensor data are received via the network: determining a discrete distribution of a physical quantity related to the tilt angle based on the tilt angle information included in each of the plurality of received sensor data and position information of the plurality of measurement points; fitting the distribution to a predetermined polynomial function to determine the coefficients of each term of the polynomial function; and determining the shape of the measurement surface expressed by a polynomial function including the determined coefficients as deterministic coefficients of each term; and identifying the positions where the deformation amount of the object exceeds a predetermined allowable value based on the magnitude relationship of the coefficients of each term of the polynomial function obtained at each point in time.

[0012] According to a tenth aspect of the present invention, there is provided a shape acquisition system for acquiring shape information of an object, comprising an analysis device and a plurality of sensor devices connected to each other via a network, wherein the plurality of sensor devices measure the inclination angle of the measurement surface of the object at each of a plurality of measurement points that are located at different positions in one of two intersecting directions within the measurement surface of the object, and output a plurality of sensor data including information on the inclination angle to the analysis device via the network, wherein in a reference state in which the object is supported by a plurality of support members so that the deformation amount of the measurement surface is equal to or less than an allowable value, a plurality of states in which a certain amount of support force is additionally applied to only a specified one of the plurality of support members is set while changing the specified support member, and the plurality of sensor data are repeatedly output from the plurality of sensor devices to the analysis device via the network in each of the plurality of states, and the analysis device, each time receiving the plurality of sensor data via the network, compares the information on the inclination angle included in each of the received plurality of sensor data and the information on the inclination angle of the plurality of measurement points a first function for calculating a discrete distribution of a physical quantity related to the tilt angle based on position information; fitting the distribution to a predetermined polynomial function to calculate a coefficient for each term of the polynomial function; calculating a shape of the measurement surface expressed by a polynomial function including the calculated coefficients as deterministic coefficients for each term; and creating a database consisting of matrix data in which the amount of change from the reference state in the coefficient of each term of the polynomial function corresponding to a change from the reference state of the measurement surface caused by applying the support force to each support member specified in each of the plurality of states is its element; a second function for calculating a first column matrix in which the amount of change from the reference state in the coefficient of each term of the polynomial function corresponding to a change from the reference state of the measurement surface in an arbitrary state after the reference state is its element; and a third function for determining the magnitude of the support force to be applied to the support members by solving an equation in which the first column matrix is ​​equal to the product of the matrix and a second column matrix in which the element is the support force to be applied to each of the plurality of support members.

[0013] According to an eleventh aspect of the present invention, there is provided a work support system for supporting construction work of an object, comprising an analysis device and a plurality of sensor devices connected to each other via a network, wherein the plurality of sensor devices measure the inclination angle of the measurement surface of the object at each of a plurality of measurement points that are positioned differently in one of two intersecting directions on the measurement surface of the object, and output a plurality of sensor data including information on the inclination angle to the analysis device via the network, the analysis device receives the plurality of sensor data via the network, and determines a discrete distribution of a physical quantity related to the inclination angle based on the inclination angle information included in the plurality of sensor data and position information of the plurality of measurement points, fits the distribution to a predetermined polynomial function to determine a coefficient of each term of the polynomial function, and acquires information on a shape of the measurement surface expressed by a polynomial function including the determined coefficients as deterministic coefficients of each term, the analysis device acquires the shape information at one or more time points including a first time point, and based on the acquired shape information, provides a work support system which performs at least one of detecting an abnormality in the object, determining a support force of a support member that supports the object, and creating / proposing a work procedure. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram illustrating an overall configuration of a shape acquisition system according to an embodiment for implementing a shape acquisition method. [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of the sensor device of FIG. [Figure 3] This is a perspective view showing, with some parts omitted, the side wall of an underground space that will eventually become an underground room, including a retaining wall that is the object of shape measurement. [Figure 4] This is a simplified diagram of a soil cement column wall, and is also a diagram for explaining measurements using a retaining wall as the object. [Figure 5] 1 is a flowchart showing the flow of a shape acquisition method according to the present embodiment. [Figure 6]FIG. 6(A) is a diagram for explaining the measurement surface on a three-dimensional Cartesian coordinate system (x, y, z), and FIG. 6(B) is a diagram for explaining the measurement surface on a polar coordinate system (x=ρcosθ, y=ρsinθ). [Figure 7] 4 is a flowchart showing a processing algorithm executed by a CPU of an arithmetic processing unit of the sensor device. [Figure 8] 10 is a flowchart showing a processing algorithm of an interrupt processing routine executed by the CPU of the server, which is used in the processing of step S2. [Figure 9] FIG. 1 shows the first few terms of the Zernike polynomials in equation (1) as a shading pattern within a unit circle in the polar coordinate system (ρ, θ). [Figure 10] 10 is a flowchart showing a processing algorithm executed by the server when creating a dedicated database for realizing optimal support by struts. [Figure 11] 10 is a flowchart showing an interrupt processing routine executed by the server 12 when optimal adjustment of the axial force of struts supporting an object (wall) is performed. DETAILED DESCRIPTION OF THE INVENTION

[0015] An embodiment will be described below with reference to FIGS. 1 to 11. Here, as an example, a case where the object is an earth retaining wall will be described, but the object is not limited to an earth retaining wall. In this embodiment, the "earth retaining wall" is a partition that protects the side of a cutting edge when excavating the ground, prevents soil collapse and spring water, and ensures the safety of other nearby structures. An earth retaining wall is also called an earth retaining wall. Note that "cutting edge" refers to excavating soil and bedrock below the ground surface to build a foundation or underground structure.

[0016] Examples of earth retaining walls include soil cement column walls, parent pile horizontal sheet pile walls, steel sheet pile walls, and steel pipe sheet pile walls. Of these, this embodiment will explain the case where the object is a soil cement column wall. A soil cement column wall is a wall constructed underground from core materials (e.g., H-shaped steel or I-shaped steel) and concrete (cement mix). In an earth retaining wall, the "core material" is a member that shares the load-bearing force as part of the earth retaining wall, and includes, for example, H-shaped steel, steel sheet piles, steel pipe sheet piles, and secondary concrete products.

[0017] 1 shows a schematic diagram of the overall configuration of a shape acquisition system 10 according to an embodiment for implementing a shape acquisition method. The shape acquisition system 10 includes a server 12, which also functions as an analysis device, a field computer 14, a mobile terminal 16, and a plurality of sensor devices 18, all of which are connected to one another via a wide area network 13 such as the Internet. ij (i=1, 2, 3, ... I, j=1, 2, 3, ... J). The total number is I x J = K. ij are connected to a wide area network 13 via a communication line, for example, a wireless LAN.

[0018] The communication lines can also be considered to be part of a network including the wide area network 13, and therefore, hereinafter, this network will be referred to as network 13 using the same reference numeral as the wide area network. The communication lines may all be wireless, but at least some may be wired.

[0019] The on-site computer 14 may be a general desktop PC (personal computer), a notebook PC, a tablet PC, a mobile PC, or a smartphone.

[0020] The mobile terminal 16 is carried by a worker on-site. The mobile terminal 16 is a commonly used portable computer, such as a tablet PC. The mobile terminal 16 may also be a smartphone.

[0021] In addition, the plurality of sensor devices 18 ij Instead of providing the output of the sensor devices 18 to the server 12 via the network, the output may be provided to the server 12 via the on-site computer 14 and the network 13. However, the on-site computer 14 is not necessarily provided, and the mobile terminal 16 may also serve as the on-site computer. Of course, the output of the sensor devices 18 may be provided to the server 12 via another terminal device connected to the network 13. ij The server 12 may also exchange information with the user.

[0022] A plurality of sensor devices 18 ij The sensor device 18 is placed in a predetermined positional relationship on the retaining wall made of soil cement column wall as the object. ij The placement of will be further described below.

[0023] In this embodiment, a commonly used server computer is used as the server 12, but a cloud (computer) may also be used. The server 12 is equipped with a CPU, ROM, RAM, HDD, etc. (storage), which are not shown, and the CPU uses, for example, the RAM as a work area to execute various processing algorithms defined by various programs stored in the ROM, HDD, etc. Note that the configuration of the server 12, which also functions as an analysis device, is not limited to that of this embodiment, and may be configured to store a plurality of sensor devices 18. ij It is sufficient if the analyzer has at least a configuration (or function) that can calculate and obtain shape information of the object (retaining wall) based on the output of the above. Furthermore, the analyzer is not limited to hardware as in this embodiment, but may be software that can at least execute a calculation function, for example.

[0024] Furthermore, when the server 12 receives sensor data (including ID) via the network 13 as described below, it executes an interrupt processing routine to obtain shape information of one surface of the object (measurement target) as shape information. The processing of the interrupt processing routine will be described in detail later.

[0025] Sensor device 18ij As shown in FIG. 2, each of the sensor devices 18 includes an angle sensor 181, a processing unit 182, a communication unit 183, a power supply unit 184 such as a battery, and a waterproof housing 185 that houses these components. ij The power supply to each part of the sensor device 18 can be turned on and off by operating a power switch 186 provided on the housing 185. ij The sensor device 18 further includes a display operation unit 187 that is made up of, for example, a small touch panel. The display operation unit 187 is connected to the arithmetic processing unit 182, and serves both as an input device and a display device. A part of the display operation unit 187 is exposed on the surface of the housing 185. In this embodiment, the communication unit 183 is configured by a wireless communication unit that performs wireless communication, but the communication unit 183 is not limited to being wireless, and at least a part of it may be wired. In addition, the sensor device 18 ij The sensor device 18 does not necessarily have to be provided with a power switch 186, and may be configured so that the power can be turned on and off by an external operation (such as from the server 12 or the mobile terminal 16). ij However, the configuration is not limited to the present embodiment, and the angle sensor 181, the communication unit 183, etc. may not be integrally configured, and at least the angle sensor 181, i.e., the sensor device 18 ij It is sufficient for the angle sensor 181 to have only the function of measuring angle information at the installation location. For example, the angle sensor 181 and other units (including the arithmetic processing unit 182, etc.) may be connected via a wireless or wired communication line, and the output of sensor data from the angle sensor 181 and the supply of power to the angle sensor 181 may be performed via the communication line. In this case, it is not necessary to provide an other unit for each angle sensor 181, and multiple angle sensors 181 may be connected to the same other unit via the communication line. Furthermore, the function of this other unit may be provided in another terminal device or the like connected to the network 13.

[0026] In this embodiment, the angle sensor 181 is, for example, a 3D MEMS (three-dimensional microelectromechanical system) tilt angle (inclination angle) sensor. The 3D MEMS tilt angle sensor is a precision tilt sensor developed using 3D MEMS technology. The 3D MEMS tilt angle sensor requires extremely low power consumption, in the microampere range, making it suitable for wireless applications. The angle sensor 181, for example, is comprised of two MEMS acceleration sensors with symmetrical output characteristics and an ASIC. It outputs information on tilt angles (α, β, γ) in three directions (θx, θy, and θz). Here, the θx, θy, and θz directions are the tilt and rotation directions around the X, Y, and Z axes of the Cartesian three-dimensional coordinate system shown in FIG. 3 .

[0027] The angle sensor is not limited to a 3D MEMS tilt angle sensor, and other types of three-dimensional tilt angle sensors may be used. Furthermore, the angle sensor is not limited to a three-dimensional tilt angle sensor, and a two-dimensional tilt angle sensor or a one-dimensional tilt angle sensor may be used depending on the object to be measured. In this case, a two-dimensional tilt angle sensor and a one-dimensional tilt angle sensor may be combined, or multiple two-dimensional or one-dimensional tilt angle sensors may be combined.

[0028] The arithmetic processing unit 182 is composed of, for example, a microcontroller (MCU) and has a CPU, memory device (RAM, ROM), input / output circuit, and timer circuit (not shown). The arithmetic processing unit 182 executes a processing algorithm defined by a program stored in the ROM. Note that, instead of providing the arithmetic processing unit 182, an ASIC built into the angle sensor 181 may also have the function of the arithmetic processing unit 182.

[0029] Here, the sensor device 18 ij As a means for attaching the sensor device 18 to the object, various means can be used depending on the type of object. For example, if the object is made of a material that can be secured by screws, such as metal, the sensor device 18 can be attached to the object using screws (including bolts). ijIn addition, depending on the type of object and the method of use, the sensor device 18 can be fixed to the object by using the magnetic force of a magnet instead of or in addition to screwing or gluing. ij may be fixed to the object.

[0030] In the following description, the sensor device 18 ij A, sensor 18 ij Alternatively, they may be collectively referred to as sensors 18.

[0031] Figure 3 shows an example of a structure in the process of being constructed as an underground structure, specifically, a portion of the side wall of the underground space that will eventually become an underground room (a portion of the first wall 20 and the second wall 40 that are perpendicular to each other).

[0032] In the following description, as shown in FIG. 3, the vertical direction (gravity direction) is defined as the Y-axis direction, the direction parallel to the surface of the first wall 20 in a plane perpendicular to the Y-axis is defined as the X-axis direction, the direction perpendicular to the Y-axis and the X-axis is defined as the Z-axis direction, and the tilt (rotation) directions around the X-axis, Y-axis, and Z-axis are defined as the θx, θy, and θz directions, respectively.

[0033] In FIG. 3 , the first wall 20 is formed by a combination of a soil cement column wall 22 and a steel sheet pile wall 24, and the second wall 40 is formed by a combination of a steel sheet pile wall 24 and a parent pile horizontal sheet pile wall 42. In FIG. 3 , each of the first wall 20 and the second wall 40 is supported by a first-stage horizontal strut support 50. The first-stage horizontal strut support 50 includes waling members 52 arranged horizontally along the inner surfaces of the first wall 20 and the second wall 40, and strut members (hereinafter referred to as "struts") 54 arranged horizontally and perpendicular to the waling members 52. The waling members 52 are supported via waling support members 55 provided on the core members of the first wall 20 and the second wall 40, along the inner surfaces of the first wall 20 and the second wall 40. A plurality of struts 54 are provided perpendicular to each other on the first wall 20 and the second wall 40. Each strut 54 is essentially a single beam (bracket) formed by connecting multiple coaxially arranged steel members via intermediate connectors. The intermediate connectors are typically constructed with joint plates, but jacks, such as hydraulic jacks, are installed at certain locations (e.g., near the intersections where the struts 54 intersect). Two flints 56 are diagonally placed between the wale support members 52 and both sides of the end of each strut 54 (the portion closest to the wall). Each strut 54 is supported at its midpoint along its length by intermediate piles (support piles) 58. Once the first stage of horizontal strut support 50 is constructed in this manner, a preload (axial preload) is applied to the strut 54 via a jack (not shown). In the following explanation, the axial internal force (internal stress) of the strut is referred to as the axial force. The axial force of the struts 54 is applied as an external force directly to the waling members 52 from the struts 54, and is also applied as an external force indirectly to the waling members 52 from the struts 54 via the flints 56. The external force applied to the waling members 52 acts on the first wall 20 including the soil cement column wall 22, and opposes the force applied to the soil cement column wall 22 from, for example, earth and sand or spring water on the back side of the soil cement column wall 22.

[0034] In FIG. 3, reference numeral 57 denotes a strut support member, reference numeral 59 denotes a backfill material reinforcing metal fitting, reference numeral 61 denotes a corner stopper, and reference numeral 63 denotes a strut retainer.

[0035] Although not shown, after the first stage of horizontal strut support 50 is constructed, the ground inside each wall is again excavated to a predetermined depth, and the second stage of horizontal strut support is constructed. Thereafter, the same process as above is repeated until the desired depth is reached.

[0036] Figure 4 shows a simplified view of the soil cement column wall 22 after the horizontal strut supports have been constructed in multiple stages. The horizontal strut supports are not shown in Figure 4. However, the positions of the struts 54 are indicated by dashed lines.

[0037] As shown in Fig. 4, in the soil cement column wall 22 of this embodiment, sensors 18 are placed at predetermined positions on the core material 22a every few columns (for example, every other column) (see Fig. 3). Here, H-shaped steel is used as the core material 22a.

[0038] Each of the multiple sensors 18 is fixed at the same position (this position is determined in advance by the server 12 based on the design data) in the longitudinal direction (Y-axis direction) of the core material 22a to be attached. That is, the multiple sensors 18 are arranged in a matrix with the X-axis direction being the row direction (the direction in which the column number changes) and the Y-axis direction being the column direction (the direction in which the row number changes). Hereinafter, the sensors 18 will be referred to as the first row, second row, third row, etc. from top to bottom in FIG. 4, and as the first column, second column, third column, etc. from left to right. For identification purposes, the sensor 18 located in the i-th row and j-th column will be referred to as sensor 18. ij In FIG. 4, only some of the sensors located in the first row and some of the sensors located in the first column are labeled with symbols.

[0039] The arrangement of the multiple sensors 18 is not limited to this, and it is sufficient that the attachment positions are predetermined based on the design data for each core material 22a to be attached. The multiple sensors 18 may be arranged two-dimensionally (in other words, they may be arranged so that their positions differ in at least one of the X-axis direction and the Y-axis direction), and for example, the sensors 18 may be arranged at each vertex of a figure in which many equilateral triangles of the same size but facing different directions are lined up without gaps.

[0040] After the ground inside the soil cement column wall 22 is excavated to expose the surface of the core material 22a, the multiple sensors 18 are fixed to each core material 22a by a worker. The sensors 18 are fixed to the core material 22a at predetermined positions using screws. Alternatively, multiple sensors 18 may be arranged at predetermined intervals on one side of a tape-like substrate, and each sensor 18 may be fixed to one side of the substrate using adhesive or other means to prepare multiple sensor-attached tapes. The backside of the substrate of each sensor-attached tape may be fixed to the core material 22a. The worker in charge of installing the sensors 18 may obtain the sensor 18 placement information determined by the server 12 in advance, or may obtain it on-site from an administrator or other person via information exchange via the mobile terminal 16. It is also possible to fix the multiple sensors 18 to the core material 22a at a factory before embedding the core material 22a in cement milk during construction of the soil cement column wall 22.

[0041] Next, the flow of the shape acquisition method according to this embodiment will be described with reference to the flowchart of FIG.

[0042] Before describing the flow of shape acquisition, the prerequisites for starting shape acquisition will be described. As a premise, the soil cement column wall 22 is provided with a plurality of sensors 18 as described above. ij The sensors 18 are arranged in a matrix, with the X-axis direction being the row direction (the direction in which the column number changes) and the Y-axis direction being the column direction (the direction in which the row number changes). ijIt is assumed that the sensor is calibrated in advance (before installation) to prevent measurement errors.

[0043] In addition, each installed sensor 18 ij In order to enable communication via the network 13, the on-site worker turns on the switch 186 to turn on the power, and then performs the necessary initial settings in advance. ij The initial setting of the sensor 18 is performed via the display operation unit 187. ij Specifically, the identification information of the sensor 18 in the i-th row and j-th column is input. ij Identification information (01-ij) is input individually to each of the processing units 182, and each processing unit 182 stores the input identification information in its internal memory (RAM). Here, "01" in the identification information is the identification number of the first wall 20 including the soil cement column wall 22 to be measured, and "ij" is the number of each sensor 18. ij For example, the three sensors 18 in the first row shown in FIG. 11 , 18 12 , 18 13 The identification information (01-11), (01-12), and (01-13) are input to each of the sensors 18. ij The server 12 recognizes the placement positions of the sensors 18. It should be noted that the sensors 18 are not placed on the steel sheet pile wall 24 that constitutes the first wall 20. In the following, the soil cement column wall 22 and the first wall 20 will be used interchangeably, and the soil cement column wall 22 will be referred to as the "object (wall) 22" as appropriate. Upon completion of the initial setting, each sensor 18 ij After the initial setting, each sensor 18 ijThe switch 186 is maintained in an ON state (ON state). If each sensor 18 is configured so that its power can be turned on and off by external operation, the power may be temporarily set to OFF after the initial setting. Furthermore, if multiple sensors 18 are fixed to the core material in advance at a factory, it is preferable that each sensor 18 is configured so that its power can be turned on and off by external operation.

[0044] Based on this premise, the sensor 18 measures the inclination angle at each of a plurality of measurement points arranged two-dimensionally on one surface of the object (wall) 22. ij are used to obtain the data (step S1 in FIG. 5).

[0045] Next, after the acquisition of the inclination angle information at each measurement point of the object (wall) 22 is completed, the shape of the object (wall) 22 is calculated by a calculation including function fitting using a discrete distribution of a physical quantity related to the acquired inclination angle information (step S2 in FIG. 5). The processing of step S2 will be specifically described below.

[0046] In this embodiment, the shape of the surface (hereinafter also referred to as the measurement surface) on which the sensor 18 is attached is calculated as the shape of the object (wall) 22. The shape of the measurement surface can also be referred to as the distribution of the deformation amount of the object.

[0047] As shown in Figure 6(A), the measurement plane corresponds to a set of points at Z position z at point P(x, y) on the XY plane in a three-dimensional Cartesian coordinate system (x, y, z), and can be expressed by the function z = f(x, y). On the other hand, as shown in Figure 6(B), in a polar coordinate system (x = ρ cos θ, y = ρ sin θ), point P is expressed as P(ρ, θ). Therefore, the measurement plane W can be expressed as z = W(ρ, θ) in the polar coordinate system (x = ρ cos θ, y = ρ sin θ). Hereinafter, the measurement plane will also be referred to as measurement plane W or measurement plane W(ρ, θ) as appropriate.

[0048] The output of each sensor 18 is the tilt angles α, β, and γ in three directions (θx direction, θy direction, and θz direction) at its installation position, which are nothing but the tilt angles of the normal vector of the measurement surface W at the measurement point of each sensor 18. However, in the following, the θz direction will not be taken into consideration.

[0049] The shape (surface shape) of the measurement surface of the object can be derived from the measurement point coordinates and the measured values ​​of the tilt angle of the normal vector. For example, the deviation z (i.e., height z relative to the reference plane, hereinafter referred to as height z) of each measurement point relative to the reference plane (XY plane) can be calculated by calculating the gradient of the surface slope of each measurement point (coordinates (x, y)) and its first-order integral, or by geometric calculations. This allows information on the in-plane distribution of deviation z from the reference plane at multiple measurement points. However, at this stage, information on height z of points other than the point where sensor 18 is located can only be obtained approximately using proportional calculations, making it difficult to accurately determine it. In addition, for example, if sensor 18 is not located at the position where height z is maximum, it is difficult to determine the maximum value of height z.

[0050] Therefore, in this embodiment, discrete information is fitted to a function to obtain a function that represents the measurement surface W. Any orthogonal polynomial function can be used for fitting using the function. By using an orthogonal polynomial, it is possible to uniquely determine the amount of deformation and the position where that deformation occurs.

[0051] In this embodiment, Zernike polynomials are used as the orthogonal polynomials. Zernike polynomials are orthogonal polynomials defined on a unit circle.

[0052] The first method using Zernike polynomials will be described below. <<Method 1>> The Zernike polynomials are defined by the following equations:

[0053]

number

[0054]

number

[0055] Here, we adopt the fringe notation and combine two indices n and m into one index i. That is, in the fringe Zernike polynomials, the index i is defined as follows:

[0056]

number

[0057] [Table 1] In this specification, each term of the fringe Zernike polynomial is referred to as Z i Therefore, the measurement plane W(ρ,θ) can be expressed as follows:

[0058]

number

[0059] [Table 2] Here, since equation (4) is calculated for the number of sensors 18 (the number of measurement points), the second term to the q-th term (for example, the 37th term) of the Zernike polynomial are used for fitting, the number of sensors 18 is set to K (K>q-1), and z obtained at each measurement point of the K sensors 18 is subjected to function fitting. In other words, by solving K observation equations, the coefficient k of each term in equation (4) is calculated. i (i=2,3,……q) is calculated. Here, z contains an error, so the coefficient k i In order to minimize the error contained in the equation, the equation is calculated using the least squares method.

[0060] In the first method, the coefficient k of each term of the function W(ρ,θ) is calculated by the above-mentioned method. i Calculate the coefficient k i The determined function W(ρ,θ) is calculated as a function representing the shape of the surface of the object, i.e., the distribution of the deformation amount. According to this first method, information on the height z of points other than the point where the sensor 18 is placed can also be calculated from the function z=W(ρ,θ) without proportional calculation, and even if the sensor 18 is not placed at the most protruding position, for example, the most protruding position and the protrusion amount can be calculated from the function z=W(ρ,θ).

[0061] <<Second Method>> The tilt angles α and β in the θx and θy directions of the normal vector of the measurement surface at each measurement point, which are the output of sensor 18, are nothing but the gradient of the tangent plane at each measurement point of the measurement surface expressed by the function z = W(ρ, θ), and can also be expressed as gradients α = ∂W / ∂x and β = ∂W / ∂y, where ∂W / ∂x and ∂W / ∂y are the differential coefficients of the function W.

[0062] Therefore, instead of the first method described above, by fitting the discrete measurement values ​​of sensor 18 to a function obtained by differentiating Zernike polynomials (also referred to as a differential Zernike polynomial in this specification), it is possible to obtain a function dW(ρ,θ) that represents the distribution of the measurement values ​​of sensor 18. By integrating the obtained dW(ρ,θ), it is possible to obtain the function W(ρ,θ).

[0063] The second method using differential Zernike polynomials will now be briefly described. The distribution dW(ρ, θ) of the measurement values ​​can be expressed as in equation (5) using differential Zernike polynomials.

[0064]

number

[0065]

number

[0066]

number

[0067]

number

[0068] In this embodiment, the Zernike polynomials and differential Zernike polynomials, as well as the equations of each of these terms, are calculated in advance and stored in the storage of the server 12.

[0069] The measurement values ​​(∂W / ∂x, ∂W / ∂y) of the discrete sensor 18 are functionally fitted to the polynomial of the above equation (5), and the coefficient k of each term is calculated using the least squares method. i In this case, if the number of sensors 18 is K, the number of observation equations is 2K. As a result, the coefficient k of each term of the polynomial in equation (5) is i In this second method, the calculation (approximation) for determining the height z from the measurement value of the sensor 18 is not performed, so the obtained coefficient k i The value of has a smaller error from the true value than the first method.

[0070] Then, the coefficients of each term found are used as the deterministic coefficients k i Then, the polynomial in equation (5) after the coefficients are determined is integrated to find the function W(ρ, θ).

[0071]

number

[0072] According to the second method, similar to the first method, information on the height z of points other than the point where the sensor 18 is placed can also be obtained from the function z = W(ρ, θ) without proportional calculation, and even if the sensor 18 is not placed at the most protruding position, for example, the most protruding position and protruding amount can be obtained from the function z = W(ρ, θ). In addition, compared to the first method, k i Since the error from the true value of is small, the shape of the surface represented by W(ρ,θ) can be obtained with high accuracy.

[0073] In this embodiment, the above steps S1 and S2 are performed by the shape acquisition system 10, and therefore the operation of each component of the shape acquisition system 10 will be described below.

[0074] First, the operation of each sensor 18 used in the processing of step S1 will be described based on the flowchart of Fig. 7. This flowchart shows a processing algorithm defined by a program executed by the CPU of the calculation processing unit 182. The processing algorithm shown in the flowchart of Fig. 7 starts when an instruction to start measurement is input.

[0075] First, in step S24, the angle sensor 181 is instructed to perform measurement, and information on the tilt angle (here, in at least two directions including the θx direction and the θy direction) measured by the angle sensor 181 is acquired. In the next step S26, an ID (identification code) is assigned to the captured output information and transmitted as one piece of sensor data to the server 12 via the communication unit 183 and the network 13. Here, the ID is a number (code) that is input by the operator at the time of initial setup and is created based on the identification information stored in the RAM. When the process of step S26 is completed, the process ends. ij The device will be in a standby state until the next measurement start instruction is input. The processes in steps S24 and S26 are performed for all the sensors 18. ij It is held at.

[0076] The server 12 stores the received sensor data in a predetermined storage area of ​​the RAM in sequence. When multiple pieces of sensor data are received simultaneously, the server 12 stores the sensor data simultaneously in a predetermined storage area of ​​the RAM in a time-sharing manner.

[0077] Next, the operation of the server 12 used in the process of step S2 will be described with reference to the flowchart of Fig. 8. This flowchart shows a processing algorithm of an interrupt processing routine defined by a program executed by the CPU of the server 12.

[0078] This interrupt processing routine is executed every time the acquisition of sensor data from all the sensors 18 arranged on the object (wall) 22 is completed. First, in step S32, the captured sensor data is used to calculate the surface shape (distribution of deformation amount) W expressed by the polynomial of equation (4) or equation (9) using the first or second method described above as shape information of the target wall. Then, in the next step S34, the obtained shape data is associated with the object number and stored in storage (such as a HDD), after which the interrupt processing routine is exited (return to the main routine). Here, the shape data is stored as data for the next matrix Q, linked to the ID data of the object (wall).

[0079]

number

[0080] The interrupt processing routine in Fig. 8 is executed every time sensor data of a wall (object) is acquired. That is, for each wall (object) to be measured, calculation of the shape and storage of the calculation result associated with the wall number (object number) are repeatedly performed every time sensor data is acquired.

[0081] Therefore, a rewritable data table associated with the object number (wall number) can be prepared in advance in a specified area of ​​the storage, and when storing the calculation results, the area associated with the object number (wall number) can be repeatedly overwritten (i.e., the stored contents can be updated).

[0082] In this embodiment, the server 12 has a database including the above-mentioned data table in which the latest information stored in the storage is associated with the design data, and updates the database every time measurement is completed. Note that the design data itself is usually stored in a predetermined area of ​​the data table and is not updated.

[0083] In this case, it is also possible to monitor changes in the shape of the object (wall) over time based on the created and updated database.

[0084] In this embodiment, before the first measurement of the object (wall) is started, provisional data is stored in the area inside the database where the measurement result data is stored. Then, when the first measurement is completed, the first update of the database is performed. If necessary, the server 12 may transmit information including the measurement results to the on-site computer 14 via the network 13 every time the database is updated.

[0085] Here, we will explain the component decomposition of the Zernike polynomial. In order to facilitate understanding, in Fig. 9, the components of the first few terms of the Zernike polynomial in Equation (1) are shown as a shading pattern within a unit circle in the polar coordinate system (ρ, θ) (the shading at each coordinate point (ρ, θ) corresponds to the magnitude of the z position at that point (which can also be considered the degree of deformation)). Fig. 9 shows a part of a map also known as a Zernike mode map.

[0086] The coefficient of determination k for each term in the above equation (4) or (9) iThe value of k4, k9, k 16 When is large compared to others, Z4, Z9, Z 16 It can be seen that the number of components of 4, 9, and 16 in the fringe Zernike order is obtained by arranging two indices (2, 0), (4, 0), and (6, 0) respectively and integrating them into one index, so Figure 9 gives the impression that the center part of the circle is the most prominent. However, Figure 9 also shows that Z 16 In this embodiment, the Zernike mode map for, for example, the 1st term to the 91st term of the Zernike polynomial is stored in the storage of the server 12. Therefore, the server 12 decomposes the Zernike polynomial, which expresses the shape of one surface of the object, i.e., the in-surface distribution of the deformation amount, into components of each term, thereby calculating the coefficient k i Based on the values ​​of and the Zernike mode map, for example, the most protruding position (ρ, θ) and its deformation amount (amount of deviation from the reference plane) can be numerically determined.

[0087] When measuring an actual earth retaining wall as the object, as shown in Figure 4, the XY coordinate system with the origin O at the center of the rectangular earth retaining wall is transformed into a polar coordinate system (ρ, θ), and an imaginary unit circle (0≦ρ≦1) is set on this polar coordinate system that circumscribes the four corner vertices of the earth retaining wall. This unit circle corresponds to the imaginary circle of radius Ra centered at the origin O in the XY coordinate system. In other words, the unit circle on the polar coordinate system is a circle obtained by reducing the circle of radius Ra on the XY coordinate system that has a common origin by a reduction factor of 1 / Ra. Note that in the polar coordinate system, the angle from the axis corresponding to the X axis is the deflection angle θ.

[0088] When the actual position of a measurement point where the sensor 18 is placed is a position (a, b), the coordinate position of the calculated measurement point is set to (a / Ra, b / Ra) and various calculations such as function fitting are performed.

[0089] <<Measurement of deformation of earth retaining walls caused by groundwater, etc.>> When using sensors 18 to determine deformation of the earth retaining wall due to groundwater or other factors, at a certain point in time, axial forces are applied to specific struts 54 (or all of the struts 54) selected based on predetermined criteria and design data, and the flatness of the wall is set to a reference level by adjusting each axial force. The reference level refers to a state in which the unevenness of the entire wall is below a predetermined threshold. At this time, the axial force of each strut 54 is adjusted visually by an experienced person, for example.

[0090] Then, when it is determined that the flatness of the wall has fallen within the reference level, the series of measurement processes in steps S1 to S2 described above is performed. This series of measurement processes is started based on an instruction from a site manager or the like to a manager of the server 12. The server 12 then evaluates the flatness from the component decomposition results of each term of the obtained wall shape information (the above-mentioned polynomial W). If the flatness falls within the reference level, flatness OK information is notified. On the other hand, if the flatness does not fall within the reference level, the server 12 determines the areas where the flatness does not fall within the reference level and information on the deformation amount of those areas, and notifies the information.

[0091] Based on the received flatness OK information, the on-site manager or the like confirms that the wall is set to the standard level. On the other hand, if the manager or the like receives information on areas where the flatness does not meet the standard level and the amount of deformation in those areas, the manager or the like notifies the on-site worker of the results. This allows the worker to make the necessary adjustments to the axial force of the struts 54. Once the adjustments are complete, the shape acquisition system 10 performs the same measurement process as described above again.

[0092] Then, when the server 12 confirms through measurement that the flatness falls within the reference level, it notifies the server 12 of flatness OK information and updates the database. Hereinafter, the point in time when the server 12 notifies the server 12 of flatness OK information and updates the database will be referred to as the first point in time, and the data stored in the database at that point in time will be referred to as reference data.

[0093] When the deformation of the earth retaining wall caused by groundwater or the like is determined using the sensor 18 at a second time point, a predetermined time after the first time point, a measurement instruction is given to the server 12 administrator by a site manager or the like, and the server 12 performs the above-mentioned series of measurement processes in accordance with the instruction. The server 12 then evaluates the state of deformation of the object (wall) from the results of component decomposition of each term of the determined wall shape information (the aforementioned polynomial W). Specifically, the coefficient k of each term included in the reference time data is calculated. i and the coefficients k of the corresponding terms contained in the measurement data at the second time point stored in RAM. i From the value of i The change in Δk i is calculated for each term, and the change amount Δk i Based on the values ​​of Δk4, Δk9 and the Zernike mode map, it is possible to numerically identify the positions (ρ, θ) where the wall deformation is large. For example, Δk4, Δk9 and Δk 16 When the change in the coefficient of the 0θ term, such as above, is large, it can be seen that particularly large deformation has occurred in the center of the object (wall). In this case, it is possible to determine the excavation position on the back side of the retaining wall based on the location of the large deformation, and take measures such as draining the water contained in the ground behind that part of the wall.

[0094] 《Optimal support for an object (wall) using struts》 To achieve optimal support by the struts 54, it is necessary to create a dedicated database in advance. The creation of this dedicated database will now be described with reference to the flowchart of FIG. 10, which shows the processing algorithm executed by the server 12.

[0095] As a premise, the flatness of the object (wall) is set to a reference level in the same manner as described above, with axial force applied to all of the multiple (here, N) struts 54. A series of measurement processes are performed on the wall in the state set to the reference level, and the shape information of the wall obtained by the measurements (the aforementioned polynomial W is decomposed into components, and the coefficients k of each term are calculated) is used. iThe data such as the above is stored in a predetermined storage area in RAM in association with the identification data and axial force data of the strut 54. Furthermore, a counter i, which will be described later, is initialized to 0. Under this premise, the dedicated database is created as follows.

[0096] First, in step S102, the counter i indicating the number of the strut 54 is incremented by 1 (i←i+1). In the next step S104, the server 12 notifies the site-side computer 14 of the i-th (here, the first) strut 54 i This command is given to increase the axial force of the strut 54 of the i-th (here, the first) strut. i An instruction to increase the axial force on the strut 54 is given, and the worker operates the jack. i A constant magnitude of axial force is additionally applied to the object. Here, the constant magnitude of axial force is the amount of change (based on the reference data) Δk of at least one of the coefficients of the second to q terms (for example, the 37th term) of the polynomial W that can be measured as a result of the measurement. i It is a constant magnitude of axial force (which can also be called a constant magnitude of bearing force or a unit magnitude of bearing force) that generates a constant magnitude of axial force (which will not be zero). In the next step S106, the strut 54 i Then, the i-th (here, the first) strut 54 i When the work of adding a certain amount of axial force to the strut 54 is completed, the manager is notified of this and the site manager issues a notice to the strut 54. i Information that the work of adding axial force to the workpiece has been completed is transmitted to the server 12. When the server 12 receives this information, the determination in step S106 becomes positive, and the process proceeds to the next step S108. In step S108, the i-th (here, the first) strut 54 i The change in coefficients of each term (from the second term to the q term) of the polynomial W(ρ,θ) due to the addition of a certain magnitude of axial force toi The process of step S108 performs a series of measurement processes in steps S1 to S2 described above, and further performs component decomposition of the shape information of the wall (the polynomial W described above) to obtain the i-th strut 54. i The change in coefficients of each term (from the second term to the q term) of the polynomial W(ρ,θ) due to the addition of a certain magnitude of axial force to i the i-th strut 54 i This is done by storing the identification data in a predetermined area in RAM in association with the identification data. In the next step S110, it is determined whether the addition of axial force to all struts 54 has been completed. Here, since the addition of axial force to only the first strut 541 has been completed, the determination in step S110 is negative, and the process returns to step S102. Thereafter, the processing (including determination) of steps S102 to S110 is repeated until the determination in step S110 is affirmative. As a result, the addition of axial force to the second and subsequent struts 54 (step S104) and the acquisition of the coefficient change amount after the addition of axial force (step S108) are performed in the same manner as above. However, when adding axial force to the second and subsequent struts 54, the axial force of the (i-1)th strut 54 is returned to the axial force immediately before the axial force of a certain magnitude was applied, and then the addition of axial force is performed.

[0097] And the Nth strut 54 N When the addition of axial force to (step S104) and the acquisition of the coefficient change amount after the addition of axial force (step S108) are completed and the determination in step S110 is affirmative, the process proceeds to step S112, where a dedicated database is created and stored inside the storage. The processing in step S112 is realized as follows: That is, the first through Nth pieces of data stored in the area in RAM up to that point are used to create a matrix O expressed by the following equation. The data of O is stored inside the storage as the dedicated database.

[0098]

number

[0099] After creating the dedicated database, when optimal adjustment of the axial force of the struts supporting the object (wall) 22 is performed, the server 12 executes the interrupt processing routine of Figure 11 to calculate the optimal adjustment amount and transmits it to the on-site computer 14.

[0100] The interrupt processing routine in Fig. 11 is executed when the start condition of this interrupt processing routine is satisfied, that is, when a command to calculate the optimal adjustment of the axial force of the strut is given from the on-site computer 14 to the server 12, or when the time arrives when automatic setting is made to calculate the optimal adjustment amount at predetermined intervals. In either case, when the start conditions for the interrupt processing routine are satisfied, in step S222, all sensor data for the object (wall) 22 is acquired in the same manner as described above.

[0101] In the next step S224, the captured sensor data is used to calculate the shape information of the target wall, that is, the surface shape (distribution of deformation amount) W expressed by the polynomial of equation (4) or equation (9) using the first or second method described above.

[0102] Then, in the next step S226, the change amount Δk of the coefficients from the second term to the q term of the polynomial W from the reference time is calculated based on the obtained shape data and the reference time data. i (i=2, 3, ……q) and calculate the change Δk iThe data of the column matrix (i.e., vertical vector) Q' in the following equation (12), whose elements are (i=2, 3, ... q), is linked to the number of the object (wall) and stored in storage (such as a HDD).

number

[0103] The relationship shown in the following equation (13) holds between the above column matrix Q', the matrix O stored in the hard disk as the database mentioned above, and the axial force adjustment amount P of the multiple struts 54. Q'=O·P ……(13) In the above equation (13), P is a column matrix (i.e., a vertical vector) consisting of N elements expressed by the following equation (14).

[0104]

number

[0105] P=(O T ·O) -1 ·O T Q' ……(15) In the above equation (15), O T is the transpose of matrix O, and (O T ·O) -1 is (O T ·O). The site manager who receives the data on the target adjustment amount informs the worker of the received data on the target adjustment amount along with a command to readjust the axial force of the strut 54. The worker adjusts the axial force of the strut 54 according to the command to readjust the axial force of the strut 54 in accordance with the data on the target adjustment amount. This sets the flatness of the object (wall) to the reference level.

[0106] In addition, since the dedicated database of the formula (11) has already been created and stored in the storage of the server 12, if the setting of the above interrupt processing routine is automatic, the server 12 executes the above interrupt processing routine at a predetermined interval. Therefore, every time data of the target adjustment amount is received, the struts 541 to 544 are adjusted at the site in accordance with the target adjustment amount. N By adjusting the axial force, it is possible to achieve a pseudo-automatic control of the deformation of the object (wall).

[0107] In addition, when monitoring changes over time over a long period of time, it is necessary to supply power (power feeding) to each sensor 18.Possible solutions for this include power feeding using a MEMS vibration generator, wireless power feeding (contactless power feeding) that transmits power using the induced magnetic flux generated between the electromagnetic induction type power transmitting side and the power receiving side, solar power generation, or wired LAN power feeding using a LAN cable.

[0108] As described above, according to the shape acquisition method of this embodiment, discrete inclination angle information at multiple measurement points of the object (wall) acquired by multiple sensors 18 arranged two-dimensionally on the object (wall), or discrete information on the heights of each measurement point from a reference plane calculated based on the inclination angle information, is fitted to a predetermined function. This makes it possible to obtain with high accuracy the shape of the surface (measurement surface) on which the measurement points of the object (wall) are arranged, and thus the in-plane distribution of the deformation of the object (wall). This makes it possible to obtain, without proportional calculation, information on the protrusion amount (height z) of points other than the points where the sensors 18 are arranged, even when the object is an earth retaining wall. In particular, when function fitting is performed using an orthogonal polynomial such as the Zernike polynomial z = W(ρ, θ) described in the above embodiment, the most protruding position (ρ, θ) and the protrusion amount can be numerically obtained from the orthogonal polynomial.

[0109] Now, consider the case where the shape of the measurement surface is measured with the same accuracy as when function fitting is performed in this embodiment, for example, by the method described in Patent Document 1. In this case, it is clear that far more tilt sensors would be required than in this embodiment, and considering the costs required for acquiring and installing such a large number of sensors, this method must be said to be unrealistic. As can be seen from this, the shape acquisition method according to this embodiment makes it possible to perform planar evaluation of measurement management of objects such as retaining walls with high accuracy and at low cost.

[0110] The orthogonal polynomials that can be suitably used for the above function fitting are not limited to Zernike polynomials, but may also be Fourier series, Chebyshev polynomials, Legendre polynomials, and the like.

[0111] In the above embodiment, each sensor 18 ijAlthough the example has been given in which identification information is input via the display operation unit 187 at the time of initial setup of each sensor 18, the timing and method of inputting the identification information to the sensor 18 (or storing it in RAM (memory)) are not particularly limited, but it is preferable that the sensor 18 used in this embodiment outputs data including the identification code (ID) of the sensor 18. Note that in the above embodiment, the identification code (ID) of each sensor 18 includes the identification code of the object to which each sensor 18 is attached and the identification code of the attachment position on the object, but it is not necessary for the identification code of the object to be included.

[0112] Furthermore, in the above embodiment, the object is described as a soil cement column wall. However, the object may also be a steel sheet pile wall, a parent pile horizontal sheet pile wall, a steel pipe sheet pile wall, or other earth retaining walls. Furthermore, in the above embodiment, an earth retaining wall is used as the object, and shape calculation and management of deformation and changes over time of the earth retaining wall due to groundwater and the like are described. However, the shape acquisition method and shape acquisition system according to the above embodiment (hereinafter abbreviated as the method and system according to the above embodiment) can be suitably applied to various objects. They can also be applied to steel frame management (absolute value management and change over time management) and other construction process management. Furthermore, the object may also be other infrastructure, such as bridges, dams, tunnels, expressways, plants (including tanks, etc.), wind turbine blades for wind power generation, aircraft fuselages, wings, or propellers, high-speed railway (such as Shinkansen) car bodies (particularly the lead cars), railway rails, monorail (straddle-type or suspended-type) rails, ships and their propellers, etc. In addition to these, the target object may be a vehicle (automobile, including F1 cars, airplane, train, ship, etc.), underwater vehicle (submarine, deep-sea exploration vessel, etc.), space-related object (spacecraft, re-entry vehicle, etc.), flying object (rocket, missile, satellite, etc.), power plant (hydroelectric, thermal, natural gas, nuclear, etc.), etc. The target object (measured by the sensor device) may be, for example, an infrastructure structure or a part or component of a vehicle or other moving object. Infrastructure structures include, for example, theaters, viewing arenas, public halls, auditoriums, concert halls, traditional performing arts halls, entertainment halls, movie theaters, international conference centers, cultural centers, civic halls, multipurpose halls, assembly halls, libraries, art galleries, museums, archives, aquariums, indoor facilities such as indoor pools and ball game and other indoor sports facilities, and outdoor facilities such as stadiums (including athletics stadiums, baseball fields, soccer fields, etc.). The measurement target may be the ceiling in indoor facilities, or the roof covering the seating area in outdoor facilities. In the case of infrastructure structures, measurements may be performed according to the above-described embodiment during their construction, as in the case of the aforementioned retaining wall or the later-described tunnel being the object (measurement target), or deformation of the measurement target may be measured after construction.

[0113] Examples of construction process management to which the methods and systems according to the above embodiments can be suitably applied include pile driving management (absolute value management, time-dependent change management), etc. Here, piles refer to structures that serve as the foundation during construction.

[0114] The methods and systems according to the above embodiments can also be applied to infrastructure management. For example, they can be suitably applied to bridge maintenance (change over time management), bridge construction management (absolute value management), dam wall maintenance (change over time management), tunnel maintenance (change over time management), and plant / gas tank maintenance (change over time management). In addition, the methods and systems according to the above embodiments can also be applied to various types of deformation analysis. For example, they can be suitably applied to deformation analysis (change over time) of ship bottoms, deformation analysis (change over time) of wind turbine blades, deformation analysis (change over time) of unmanned aircraft wings, and deformation analysis (change over time) of railway rails.

[0115] When the method and system according to the above embodiment are applied to bridge maintenance, for example, a plurality of sensors 18 are arranged on the bridge, and changes in the three-dimensional shape from the initial state are constantly monitored, and when an indicator of the shape change (such as the tilt angle or maximum deformation amount output by the sensor 18) exceeds a threshold, for example, an alarm is issued from the server 12 to the on-site computer 14. In this way, the administrator of the on-site computer 14 can quickly recognize the occurrence and location of an abnormality, thereby enabling efficient visual inspection.

[0116] In particular, for the maintenance of cable-stayed bridges and other bridges, automatic adjustment of bridge girder shape can be achieved by improving the method described above for optimal support of the target object (wall) by struts. Specifically, the axial force of the struts is replaced with the tension of the cables in a cable-stayed bridge, and the dedicated database (matrix O) mentioned above is created during the initial adjustment of the bridge. After that, automatic adjustment of the bridge girder shape is performed at regular intervals as follows.

[0117] That is, the surface shape (distribution of deformation) W of the bridge girder expressed by the polynomial of Equation (4) or Equation (9) is calculated using the first or second method described above. Then, similar to step S226 described above, the data of the column matrix (i.e., vertical vector) Q' of Equation (12) is obtained.

[0118] Then, by solving the relationship of equation (13) that holds between matrix Q', matrix O, and the amount of tension adjustment for the multiple cables (expressed as a column matrix P similar to equation (14) above) using the least squares method, as described above, each element of matrix P, i.e., the optimal amount of tension adjustment for the multiple cables, is determined, and the tension for each of the multiple cables is adjusted based on the determined optimal adjustment amount.

[0119] Depending on the object, it may be possible to create multiple dedicated databases similar to the matrix O described above while changing the position of the support members through simulation, and then compare the multiple dedicated databases to find the arrangement of support members that can most efficiently support the object.

[0120] <<Modifications regarding deformation measurement of the tunnel interior surface>> When constructing or managing civil engineering or architectural structures (hereinafter referred to as structures), the time-dependent displacement of the surrounding, potentially unstable ground and other natural or artificial surfaces (hereinafter referred to as tectonic surfaces) is sometimes measured to confirm stability and safety and evaluate the appropriateness of the design and construction. For example, when excavating a mountain tunnel, tunnel A measurements are performed to erect the necessary supports and primary lining at the tunnel face immediately after excavation, and to understand the behavior of the surrounding ground and deformation of the supports to determine the safety of the construction and the appropriateness of the supports. Tunnel A measurements are a construction management method that continuously measures the displacement of the tunnel's internal surface (tectonic surface) from a distance from the tunnel face. When the displacement rate of the tunnel's internal surface (tectonic surface) converges to a predetermined value or below (e.g., 1 mm / week or below), the surrounding ground is deemed stable, and the secondary lining, which will become the final tunnel surface, is poured onto the internal surface after the displacement converges.

[0121] Conventionally, in tunnel A measurements, measurement points were set at predetermined locations (3 to 5 points in total) at cross-section positions a predetermined distance from the face, such as the top end, shoulders, and both legs, and targets (reflectors or prisms) were attached to each measurement point, and a total station (three-dimensional optical distance measuring device) was used to aim at each target in turn and determine the horizontal angle, vertical angle, and distance, thereby measuring the three-dimensional coordinates and displacement of each measurement point relative to the observation point.

[0122] However, with this method, the number of measurement points per tunnel interior (cross section) is limited to about three to five, making it difficult to grasp detailed changes in the cross section's shape. For this reason, a new method has been developed: attaching targets to three or more known positions (positions in the Earth coordinate system, hereinafter also referred to as tunnel coordinate values) on the tunnel interior surface (varying surface), scanning the interior surface including the targets using a three-dimensional laser scanner (hereinafter also referred to as a scanner device), and acquiring three-dimensional coordinate values ​​(positions in the scanner device's coordinate system, hereinafter also referred to as scan coordinate values) for multiple measurement points. The target's position is then detected from among the measurement points as a data-missing area by using a laser beam-high-reflection sheet (total reflection sheet) or laser beam-absorbing sheet (low reflection sheet). Next, the scan coordinate values ​​of the other measurement points are converted to tunnel coordinate values ​​based on the relationship between the scan coordinate values ​​of the identified target and the tunnel coordinate values. The shape of the tunnel interior cross section is measured based on the converted tunnel coordinate values ​​of each measurement point. This method allows for detailed understanding of changes in the shape of fluctuating surfaces, such as the surface inside a tunnel, by continuously measuring and sequentially comparing the shape of the fluctuating surface.

[0123] This modification uses the method and system according to the above embodiment to measure the shape and shape changes of the tunnel's interior surface (vulnerable surface). Specifically, multiple sensors 18 are placed across almost the entire area of ​​the tunnel's interior surface (vulnerable surface). Similar to the retaining wall, the tunnel's interior surface is used as the measurement surface. Using these multiple sensors 18, the shape of the tunnel's interior surface (vulnerable surface) is measured at multiple points in time, allowing for monitoring of changes in the tunnel's interior surface (vulnerable surface) over time. This provides the same benefits as using a three-dimensional laser scanner. Additionally, this modification allows for monitoring changes in the inclination angle (position information) at the same point (measurement point) because each of the multiple sensors 18 attached to the tunnel's interior surface measures the inclination angle at a measurement point. In contrast, when using a three-dimensional laser scanner, the laser beam from the three-dimensional laser scanner is irradiated onto a different measurement point each time a measurement is made, making it difficult to measure changes in position information at the same measurement point. Furthermore, when using a three-dimensional laser scanner, there is a risk that the scanner will need to be re-installed on the base plate behind the tunnel face each time a measurement is made. In contrast, in this modified example, multiple sensors 18 are left in place in a predetermined area of ​​the tunnel's internal surface (deformed surface), and changes in the shape of the tunnel's internal surface can be monitored simply by repeatedly acquiring output data from the multiple sensors 18 and performing predetermined calculations using that output data. Based on the monitoring results, the behavior of the surrounding ground and deformation of the supports can be ascertained. This allows necessary measures to be taken promptly. In this case, the distribution of deformation within the region may be calculated, for example, based on the Zernike mode map and the magnitude of the coefficients of each term in the Zernike components.

[0124] Furthermore, in this modification, the shape and shape changes of the tunnel's internal surface (deformable surface) are measured using the method and system according to the above embodiment. Therefore, by applying this modification to measure changes in the shape of the internal surface after erecting the necessary supports and primary lining at the excavation face immediately after excavation, the aforementioned tunnel A measurement, which continuously measures the displacement of the internal surface, can be essentially performed. This makes it possible to determine whether the displacement rate has converged to a predetermined value or less (e.g., 1 mm / week or less). That is, based on the results of the measurements of the internal surface shape acquired at multiple points in time, it becomes possible to determine whether or not to start pouring secondary lining on the internal surface. The server 12 determines whether the displacement rate has converged to a predetermined value or less (e.g., 1 mm / week or less), i.e., whether or not to start pouring secondary lining on the internal surface. In this case, if the sensor 18 is attached to the steel shoring, shape measurements of the tunnel's internal surface area, including the steel shoring, can be started immediately after erecting the steel shoring, allowing for an early determination of the suitability of the steel shoring. If it is determined that the steel support will become unstable, measures such as installing additional rock bolts can be taken. Furthermore, when tunnel A measurements are performed using a total station, it is necessary to predict the final displacement amount from the initial displacement velocity in the tunnel A measurements based on correlation data between the initial displacement velocity and the final displacement amount obtained in advance, but this modification eliminates the need for such prediction. The correlation data is obtained, for example, from the results of accumulating the initial displacement velocity and the final displacement amount in the tunnel A measurements, but this accumulation is also unnecessary in this modification.

[0125] <<Modifications regarding measurement of the shape of floors, etc., in factories, warehouses, etc.>> This modification applies the method and system according to the above embodiment to an automated warehouse, a factory of an automobile manufacturer, etc.

[0126] Automated warehouses, manufacturer factories, and the like are partially equipped with item storage facilities. The item storage facilities include a conveying device that conveys, for example, plastic containers (containers) for storing parts and the like used on production lines, and a control device that controls the conveying device. The building in which the item storage facility is installed is configured to store a group of containers, each of which is stacked, at multiple locations on a loading surface (floor) that constitutes a storage area. The conveying device may be a conveying device having a gripping unit that can move in three axes: two orthogonal axial directions (X-axis and Y-axis) within a horizontal plane (XY plane), which is an imaginary plane approximately parallel to the loading surface, and a direction perpendicular to the horizontal plane (Z-axis). The gripping unit may have multiple gripping units that can approach and move away from the container from multiple directions to grip the container.

[0127] Therefore, by disposing a plurality of sensors 18 over almost the entire predetermined area on the placement surface (floor surface), and using the plurality of sensors 18 to determine the shape of the placement surface (moving surface) in the same manner as the above-mentioned retaining wall, the control device can control the conveyance device using the measurement results, thereby adjusting the gripping position of the container by the gripping unit. In this case, the control device has the same function as the server 12.

[0128] Here, the transport device that transports the container (container) can also be configured, for example, by a robot having a robot hand that can move in at least three orthogonal axial directions (X, Y, Z). Furthermore, some buildings within a factory are equipped with one or more production lines, and robots for picking up parts, for example, are installed on the production lines. In these cases, the control device uses the measurement results of the shape of the building floor (moving surface) to adjust the container grip position or part pick-up position of the robot hand. In either case, the position of the robot hand (robot tip position) is adjusted.

[0129] This modified example can be adopted not only when establishing a new automated warehouse or a manufacturer's factory, but also when adding or changing a line within a factory, and can set or reset (correct) the container gripping position by the gripping part of the conveying device or the tip position of the robot.

[0130] As can be seen from the above description, the shape acquisition method and shape acquisition system according to the above-described embodiment can easily realize a work support method and system for supporting construction work of an object, which includes acquiring shape information of the object using the shape acquisition method and, based on the acquired shape information, performing at least one of detecting abnormalities in the object, determining the bearing force of support members supporting the object, and creating / proposing a work procedure. In this case, the server device 12, which also functions as an analysis device, performs at least one of detecting abnormalities in the object, determining the bearing force of support members supporting the object, and creating / proposing a work procedure based on the shape information. In particular, if the object is an earth retaining wall such as the wall 22, the detected abnormalities may include flooding, and in this case, the bearing force of the support member corresponds to the axial force of the strut 54. Examples of creating / proposing a work procedure include setting / resetting the gripping position of a container by a gripper of a transport device or the tip position of a robot, as described in the example of the item storage facility.

[0131] The administrator of the server 12 is not particularly limited as long as the administrator of the server 12 shares design data and the like of a structure including the object on which the sensor 18 is to be installed (an earth retaining wall in the above embodiment) with the administrator of the on-site computer 14. For example, the server 12 may be under the management of a user of the sensor 18, such as a construction company, or under the management of a supplier of the sensor 18 (such as a manufacturer or supplier). The server 12 may also be a cloud service. When the server 12 is under the management of a supplier of the sensor 18, the supplier leases (or rents) the sensor 18 to the user and provides optimal information, such as the installation position of the sensor 18, determined based on the intended use of the sensor 18 obtained in advance. The supplier receives data acquired by the user using the sensor 18 based on the information, performs a predetermined analysis (including shape calculation) using the data, and provides information on the analysis results to the user. The supplier then receives payment from the user for the lease (or rental) of the sensor 18 and the provision of the information. Such a business method (business model) can also be realized. In this case, instead of providing the analysis and analysis results, application software (application program) for the analysis process may be leased together with the sensor 18.

[0132] In the above embodiment, the fitting process is performed by calculation using data acquired by measurement using the sensor 18. However, the present invention is not limited to this, and the component decomposition of fitting can also be applied to data not obtained by the sensor 18. It can also be used for results obtained by measuring instruments and deformation analysis results on CAD. It can also be used for 3D shape data, not just planar uneven shapes. It is also thought to be applicable to non-shape data such as temperature distribution data and acoustic distribution data. [Explanation of symbols]

[0133] 10...shape acquisition system, 12...server, 13...network, 16...mobile terminal, 18...sensor device, 22...soil cement column wall, 181...angle sensor, 182...arithmetic processing unit, 183...communication unit, 184...power supply unit, 185...casing, 187...display operation unit.

Claims

1. A method for acquiring shape information of an object, comprising: measuring the measurement surface of the object using a plurality of sensor devices attached to a plurality of measurement points that are positioned differently in at least one of two directions that intersect with each other on the measurement surface of the object; transmitting measurement information of the measurement surface obtained by the plurality of sensor devices to a server via a network; fitting a discrete distribution of a physical quantity related to the measurement information to a predetermined polynomial function based on the measurement information at the plurality of measurement points and position information of the plurality of measurement points to calculate coefficients of the polynomial function, and obtaining a shape of the measurement surface expressed by a polynomial function including the calculated coefficients as shape information of the object; providing the determined shape information to a terminal connected to the server via the network; Each of the plurality of sensor devices has an angle sensor capable of acquiring information on the tilt angle of the measurement surface.

2. 10. The method of claim 1, The polynomial function used for the fitting is an orthogonal polynomial or a function obtained by differentiating an orthogonal polynomial.

3. 3. The method of claim 2, The orthogonal polynomials include Zernike polynomials.

4. 3. The method of claim 2, The polynomial function including the calculated coefficients is an orthogonal polynomial obtained by integrating the function obtained by the fitting.

5. 10. The method of claim 1, The object may be an infrastructure structure or a moving object including a vehicle.

6. A method for managing an object, comprising: Repeatedly carrying out the method according to any one of claims 1 to 5; and monitoring changes in the shape of the object based on the shape information obtained each time the method is executed.

7. 7. The method of claim 6, When the change in shape of the monitored object exceeds a threshold, an alarm is generated.

8. 8. The method of claim 7, The object includes an infrastructure structure, and the shape change is monitored at least one of during and after construction of the infrastructure structure.

9. A method for managing an object, comprising: Repeatedly carrying out the method according to any one of claims 1 to 5; and identifying a position where the deformation amount of the measurement surface exceeds an allowable value based on the shape information obtained each time the measurement is performed.

10. A method for assisting in construction of an object, comprising: acquiring shape information of the object at one or more time points including a first time point by the method according to any one of claims 1 to 5; Based on the acquired shape information, the method includes performing at least one of detecting abnormalities in the object, determining the support force of a support member that supports the object, and creating / proposing a work procedure.

11. 11. The method of claim 10, The object is a retaining wall, and the detection of an abnormality includes the detection of flooding.

12. 11. The method of claim 10, the object is a tunnel, the measurement surface is an inner surface of the tunnel, Based on the acquired shape information of the internal surface, the behavior of the surrounding ground and deformation of the supports are understood.

13. 11. The method of claim 10, The object is an automated warehouse or a manufacturer's factory, and the measurement surface is the floor of a building where an article storage facility or a production line is installed. The container gripping position or the robot tip position is set based on the acquired floor shape information.

14. A system for acquiring shape information of an object, comprising: an analysis device that receives measurement information of the measurement surface of the object from a plurality of sensor devices attached to a plurality of measurement points that are positioned differently in at least one of two directions that intersect with each other on the measurement surface of the object via a network, and that calculates shape information of the object based on the measurement information; a storage for storing the obtained shape information, the analysis device calculates coefficients of a polynomial function by fitting a discrete distribution of physical quantities related to the measurement information to a predetermined polynomial function based on the measurement information and position information of the plurality of measurement points, and obtains a shape of the measurement surface expressed by a polynomial function including the calculated coefficients as shape information of the object, and provides the obtained shape information to a terminal connected to the analysis device via the network; Each of the plurality of sensor devices has an angle sensor capable of acquiring information on the tilt angle of the measurement surface.

15. 15. The system of claim 14, The polynomial function used for the fitting is an orthogonal polynomial or a function obtained by differentiating an orthogonal polynomial.

16. 16. The system of claim 15, The orthogonal polynomials include Zernike polynomials.

17. 16. The system of claim 15, The polynomial function including the calculated coefficients is an orthogonal polynomial obtained by integrating the function obtained by the fitting.

18. 15. The system of claim 14, The object may be an infrastructure structure or a moving object including a vehicle.

19. The system according to any one of claims 14 to 18, Measurement of the measurement surface is repeatedly performed by the plurality of sensor devices; The analysis device monitors changes in the shape of the object based on the shape information obtained each time the analysis device is executed.

20. 20. The system of claim 19, The analysis device issues an alarm when the change in shape of the object exceeds a threshold.

21. 21. The system of claim 20, the object includes an infrastructure structure; The analysis device monitors the shape changes at least one of during and after construction of the infrastructure structure.

22. The system according to any one of claims 14 to 18, Measurement of the measurement surface is repeatedly performed by the plurality of sensor devices; The analysis device identifies a position where the deformation amount of the measurement surface exceeds an allowable value based on the shape information obtained each time the analysis is executed.

23. The system according to any one of claims 14 to 18, The analysis device acquires shape information of the object at one or more points in time, including a first point in time, and, based on the acquired shape information, performs at least one of detecting abnormalities in the object, determining the support force of a support member that supports the object, and creating / proposing a work procedure.

24. 24. The system of claim 23, The object is a retaining wall, and the detection of an abnormality includes the detection of flooding.

25. 24. The system of claim 23, the object is a tunnel, the measurement surface is an inner surface of the tunnel, The analysis device grasps the behavior of the surrounding ground and deformation of the support based on the acquired shape information of the interior surface.

26. 24. The system of claim 23, The object is an automated warehouse or a manufacturer's factory, and the measurement surface is the floor of a building where an article storage facility or a production line is installed. The analysis device sets the container gripping position or the robot tip position based on the acquired floor surface shape information.

27. The system according to any one of claims 14 to 18, The measurement information includes ID information for identifying the plurality of sensor devices.

28. 28. The system of claim 27, The ID information includes an identification code of the sensor device and an identification code of the attachment position on the object.

29. The system according to any one of claims 14 to 18, The analysis device is installed at a supplier of the sensor device.

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