Measurement method, structure construction method, structure management method, and shape acquisition system

Abstract

To provide a method to acquire shape information of an object to accurately measure a displacement amount of a column capital of a steel frame column.SOLUTION: A field manager such as a field supervisor identifies a measurement object column and a measurement place (called as a measurement point or a measurement site) through a field side controller 14 according to an instruction from a server, sequentially mounts a plurality of sensor devices on the identified measurement object column and the measurement place, performs initial setting of the sensor devices (S1-S2), acquires information on a tilt angle in a measurement point (measurement site) of each of columns of the measurement object using each of the sensor devices (S3-S4), and calculates a position and a shape of the column capital of each of the measurement object columns using the acquired information on the tilt angle (S5).SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a shape acquisition method, a method for managing an object, a method for constructing a steel-framed structure, and a shape acquisition system; more specifically, the present invention relates to a shape acquisition method suitable for when the object is at least a portion of a structure (hereinafter also referred to as a building or a structural body) including a steel frame, a method for managing an object and a method for constructing a steel-framed structure using the shape acquisition method, and a shape acquisition system suitable for when the object is at least a portion of a structure. This application claims priority based on Japanese Patent Application No. 2021-106519, filed on June 28, 2021, the contents of which are incorporated herein by reference. [Background technology]

[0002] Conventionally, when constructing a building structure, it is necessary to inspect that the structural materials that make up columns, walls, etc. are assembled without tilting or distortion. For example, the accuracy of steel frame erection has generally been measured using a three-dimensional surveying instrument that optically measures the position of targets attached to steel frame columns. However, due to obstacles and other factors present at actual construction sites, it has sometimes been difficult to measure using an optical surveying instrument. To address this inconvenience, a tilt measuring device has been invented that measures the tilt of steel frame columns using a tilt measuring device (sensor) that does not use light in order to measure the accuracy of steel frame erection (see, for example, Patent Document 1).

[0003] However, while the device described in Patent Document 1 can measure the tilt of steel columns during the steel frame erection process, it cannot accurately measure the displacement of the column capital of the steel column, nor can it measure the shape of the steel column. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-179533 Summary of the Invention [Means for solving the problem]

[0005] According to a first aspect of the present invention, a measurement method for acquiring shape information of an object includes acquiring inclination angle information of the object at each of a plurality of points on the object, the positions of which differ in at least a first direction, using sensors attached to the plurality of points on the object; acquiring position information of the object at each of the plurality of points in a second direction that intersects with the first direction based on the acquired inclination angle information; and determining shape information of the object based on the acquired position information. According to a second aspect of the present invention, there is provided a method for constructing a structure in which each of a plurality of columns has multiple sections, the method comprising: installing a plurality of lower section columns substantially parallel to a first direction; connecting the lower section columns and the upper section columns of each of the plurality of columns with an erection jig in order to erect a plurality of upper section columns to the plurality of lower section columns, respectively; acquiring inclination angle information of the upper section columns at each of the plurality of points using sensors attached to each of the plurality of upper section columns at a plurality of different positions with respect to at least the first direction; acquiring position information of the upper section columns with respect to a second direction intersecting with the first direction at each of the plurality of points based on the acquired inclination angle information; determining shape information of the upper section columns based on the acquired position information; and adjusting the erection jig for the plurality of columns substantially in parallel based on the shape information acquired for the plurality of upper section columns. According to a third aspect of the present invention, there is provided a method for managing a structure, comprising the steps of: repeatedly executing the above-described measurement method with at least a portion of the structure as an object; and detecting shape change information of the object based on the shape information obtained each time the method is executed. According to a fourth aspect of the present invention, there is provided a shape acquisition system for acquiring shape information of an object, comprising: a sensor attached to the object to acquire inclination angle information of the object; and an analysis device connected to the sensor via a network, wherein data including the inclination angle information output from sensors attached to multiple points on the object that are positioned differently in at least a first direction is transmitted to the analysis device via the network; and the analysis device acquires position information of the object at each of the multiple points in a second direction that intersects with the first direction based on the inclination angle information, and determines shape information of the object based on the position information. According to a fifth 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 inclination angle information of the object at a plurality of points using a plurality of sensors attached to the object; and calculating the shape information of the object by calculation using the acquired inclination angle information at the plurality of points.

[0006] According to a sixth aspect of the present invention, there is provided a method for managing an object, which includes 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 seventh aspect of the present invention, there is provided a method for erecting a steel frame structure including multiple columns, the method including, when erecting multiple upper section columns individually on multiple lower section columns erected in a predetermined arrangement, acquiring shape information of one face extending in the longitudinal direction of each of the multiple lower section columns using the shape acquisition method according to the first aspect, determining a first positional deviation of the column capital of each of the multiple lower section columns from a reference in a direction perpendicular to the one face based on the acquired shape information, and newly determining a target plumbing value for each of the multiple upper section columns in consideration of the determined first positional deviation. Here, "plunging" is a term meaning the degree of verticality of a column, and the target plumbing value means the target value of the degree of verticality of the column, i.e., the target value of the inclination angle.

[0008] According to an eighth aspect of the present invention, there is provided a method for erecting a steel frame structure including multiple section columns, the method including: erecting a plurality of upper section columns individually on top of a plurality of lower section columns that have been erected in a predetermined arrangement, connecting each of the lower section columns and the upper section columns using a plurality of erection jigs while the plurality of upper section columns are individually placed on top of the plurality of lower section columns; acquiring, for each of the plurality of upper section columns, shape information about first and second surfaces that extend in the longitudinal direction and intersect with each other using the shape acquisition method described in claim 4; and automatically adjusting the positions of the column heads of the plurality of upper section columns by having a control device control in parallel a plurality of driving devices individually provided on the plurality of erection jigs based on the acquired shape information about the first and second surfaces of each of the plurality of upper section columns.

[0009] 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 terminal device connected to each other via a wide area network, and a plurality of sensor devices each connected to the terminal device via a communication line, attached to different positions on the object during use, and outputting sensor data via the communication line including information on the inclination angle at each attachment position, wherein each of the plurality of sensor devices outputs the sensor data based on an external command or at a predetermined timing, the terminal device transmits the sensor data output from each of the plurality of sensor devices to the analysis device via the wide area network, and the analysis device calculates the shape information of the object using the inclination angle information included in the plurality of sensor data received via the wide area network, and stores the calculated shape information in storage.

[0010] Here, the communication line and the wide area network may be part of the same network. [Brief explanation of the drawings]

[0011] [Figure 1]1 is a diagram schematically illustrating the overall configuration of a shape acquisition system according to a first embodiment for implementing a shape acquisition method. [Figure 2] 2 is a block diagram showing an example of the configuration of the sensor device of FIG. 1. FIG. [Figure 3] FIG. 1 is a perspective view showing a partially omitted steel-frame building including a large number of steel columns, which are the object of shape measurement. [Figure 4] Part (A) of FIG. 4 is a side view showing the sensor device fixed to a steel column, and part (B) of FIG. 4 is a bottom view showing the sensor device. [Figure 5] 1 is a flowchart showing the flow of a shape acquisition method according to the present embodiment. [Figure 6] 1 is a diagram showing a pillar selected as a measurement target and three sensor devices attached to the pillar, which are used to explain a shape acquisition method according to the present embodiment. FIG. [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 a CPU of the server. [Figure 9] 10A and 10B are diagrams for explaining the meaning of an inclination angle output from a sensor device. [Figure 10] FIG. 10 is a diagram for explaining a method for calculating the shape of the measurement surface (first surface) of a pillar 1001 to which sensor devices 181 to 183 are attached. [Figure 11] FIG. 10 is a diagram showing an example in which sensor devices are arranged at the same height on two mutually perpendicular faces extending in the longitudinal direction of a pillar. [Figure 12] FIG. 1 is a diagram illustrating an example of the configuration of a system for carrying out steel frame construction. [Figure 13] FIG. 10 is a diagram for explaining the erection jig, showing the erection jig in a state in which the erection piece 102a of the column 100m and the erection piece 102b of the column 100n are connected. [Figure 14]This is a diagram showing an erection jig attached to the erection piece 102a at the head of the column 100m, and also shows the erection jig in an open state. [Figure 15] This is a flowchart showing the process flow for erecting an n-node column. [Figure 16] FIG. 10 is a diagram for explaining a steel beam frame. [Figure 17] This figure explains the new setting of the target plumbing value of the second-section column to offset the positional deviation in the X-axis direction of the capital of the first-section column when the second-section column is erected on top of the first-section column. DETAILED DESCRIPTION OF THE INVENTION

[0012] First Embodiment A first embodiment will be described below with reference to Fig. 1 to Fig. 11. Here, as an example, a case will be described in which the target object is a steel column 100 that constitutes a steel-frame building 110 shown in Fig. 3, but the target object is not limited to a steel column. In the following description, as shown in Fig. 3, the vertical direction (gravity direction) is defined as the Z-axis direction, the left-right direction in the plane of Fig. 3 in a plane perpendicular to the Z-axis is defined as the X-axis direction, the direction perpendicular to the Z-axis and the X-axis is defined as the Y-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.

[0013] 1 shows a schematic diagram of the overall configuration of a shape acquisition system 10 according to a first embodiment for implementing a shape acquisition method. The shape acquisition system 10 includes a server 12 that also functions as an analysis device, a field controller 14 and a mobile terminal 16 that also function as terminal devices, which are connected to each other via a wide area network (hereinafter abbreviated as network) 13 such as the Internet, and a plurality of sensor devices 18 that are connected to the field controller 14 via a communication line, for example, a wireless LAN. i (i=1, 2, 3, . . . ) in the sensor device 18 shown in FIG. iOf these, three sensor devices 181 to 183 are shown as representatives. Note that all communication lines may be wireless, but at least some may be wired. Also, it is not necessary to provide the terminal device 14, and multiple sensor devices 18 i The output of the above may be provided directly to the server 12 via the network 13. That is, the communication line and the wide area network 13 may be part of the same network. Also, the terminal device may not include a field controller, and may be only a mobile PC or a smartphone.

[0014] 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. i It is sufficient that the analyzer has at least a configuration (or function) that can calculate and obtain shape information of the object (steel column 100) based on the output of the analyzer. Furthermore, the analyzer is not limited to hardware as in this embodiment, but may be software that can at least execute calculation functions.

[0015] Furthermore, when the server 12 receives sensor data (including ID) from the on-site controller 14 via the network 13 as described below, it executes an interrupt processing routine to obtain shape information of a part of the object (measurement target). The processing of the interrupt processing routine will be described in detail later.

[0016] In this embodiment, the on-site controller 14 is a commonly used computer. The on-site controller 14 includes, as an example, a CPU, a ROM, a RAM, and a HDD (not shown). The CPU uses, for example, the RAM as a work area and executes processing algorithms defined by programs stored in the ROM, HDD, etc. The on-site controller 14 includes an operation unit such as a keyboard and a mouse, and a display screen such as a liquid crystal display. In this embodiment, the on-site controller 14 performs data communication with the server 12 and the mobile terminal 16 via the network 13 in response to instructions input via the operation unit by a site supervisor or other manager. The on-site controller 14 also includes a plurality of sensor devices 18, as will be described later. i When multiple pieces of sensor data are sent from the server 10 via a communication line, the server 10 extracts sensor data about the same object from the multiple pieces of sensor data, compiles them into a single group (for example, by linking them using the same ID), and transmits them to the server 12.

[0017] The mobile terminal 16 is carried by a worker at a construction 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.

[0018] Sensor device 18 i As shown in Fig. 2, each of the sensor devices 180 includes an angle sensor 181, a processing unit 182, a wireless communication unit 183, a power supply unit 184 consisting of, for example, a battery, and a waterproof housing 185 that houses these components. The power supply unit 185 can be turned on and off by operating a power switch 186 provided on the housing 185. Note that 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 i The power switch 186 does not necessarily have to be provided, and the power may be turned on and off by an external operation (such as the server 12 or the on-site controller 14). iHowever, 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 i The on-site controller 14 only needs to have a function of measuring angle information at the installation location of the angle sensor 181. 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 sensor data from the angle sensor 181 and power supply to the angle sensor 181 may be performed via the communication line. In this case, it is not necessary to provide another 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 the other unit may be provided in the on-site controller 14.

[0019] In this embodiment, a 3D MEMS (three-dimensional microelectromechanical system) tilt angle (inclination angle) sensor is used as the angle sensor 181, as an example. The 3D MEMS tilt angle sensor is a precision tilt sensor developed using 3D MEMS technology and is simply referred to as a 3D MEMS sensor hereinafter. 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 includes 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). The angle sensor is not limited to a 3D MEMS tilt angle sensor; other types of 3D tilt angle sensors may also be used. Furthermore, the angle sensor is not limited to a 3D tilt angle sensor; a 2D tilt angle sensor or a 1D tilt angle sensor may also be used depending on the object being measured. In this case, a 2D tilt angle sensor and a 1D tilt angle sensor may be combined, or multiple 2D or 1D tilt angle sensors may be combined.

[0020] 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.

[0021] Here, the sensor device 18 i An example of a structure for attaching a sensor device 18 to a steel frame pillar (hereinafter, abbreviated as pillar as appropriate) will be described. FIG. 4(A) shows a structure for attaching a sensor device 18 to a pillar 100. i 4(B) shows a side view of the sensor device 18. i A bottom view of the is shown.

[0022] As shown in Figures 4(A) and 4(B), a plate-shaped cushion member 188 made of, for example, urethane, silicone, rubber, or felt is attached to the bottom surface of the housing 185. A plurality of recesses, for example, six recesses, are formed in the bottom of the housing 185 opposite the cushion member 188, and a permanent magnet 190 is disposed in each recess. i The sensor device 18 is attached to the pillar 100 by the magnetic force of a plurality of permanent magnets 190 via a cushion member 188. This allows the sensor device 18 to be mounted without being affected by irregularities on the mounting surface of the pillar 100 caused by rust or the like. i The occurrence of tilt errors during installation can be effectively suppressed. A magnetic shield member 189 is provided near the bottom of the housing 185. The number and shape of the permanent magnets are not particularly limited, and the shape of the recess formed in the bottom of the housing 185 may be any shape that allows the permanent magnets to be placed therein. The cushion member 188 is also provided to prevent the sensor device 18 from being tilted. i Depending on the flatness of the installation surface of the pillar to which the column is attached, it may not necessarily be provided.

[0023] Next, the flow of the shape acquisition method according to this embodiment will be described with reference to the flowchart of FIG.i are attached to a column selected as a measurement target from among the many columns that make up the steel-frame building 110 shown in Fig. 3. Below, a description will be given by taking up one column 1001 and three sensor devices 181 to 183 attached to the column 1001 as appropriate, as shown in Fig. 6. In Fig. 6, the three sensor devices 181 to 183 are arranged side by side from bottom to top on the +X side surface of the column 1001 (hereinafter also referred to as the first surface or measurement surface).

[0024] As a premise, the server 12 stores data such as design drawings of the steel frame building 110 in a storage device (such as a HDD) through communication between the on-site controller 14 and the server 12 via the network 13. Based on the design drawing data, the server instructs the on-site controller 14 on the conditions that are prerequisites for measurement. These conditions include the number of sensor devices to be attached to the columns to be measured and their installation positions.

[0025] First, a site manager, such as a site supervisor, responds to instructions from the server by identifying the target pillar and measurement location (also referred to as a measurement point or measurement point) via the site controller 14, notifying the site worker of the identification details via email or the like, and instructing them to prepare for measurement (step S1 in FIG. 5 ). The instructions are also displayed on the display screen of the mobile terminal 16. Here, pillars are identified using pillar numbers (001, 002, . . .), and measurement locations are identified using numbers (01, 02, . . .) from the bottom up. Each measurement location is determined, for example, so that the distance from the base of the pillar is a predetermined value when it is erected. In this embodiment, instructions are given to the site worker via the site controller 14. However, work instructions may also be sent from the server 12 to the mobile terminal 16 carried by the worker via the network 13. In this case, it is preferable for the manager to input the identification details, such as the measurement locations, into the server 12 in advance.

[0026] After checking the instructions in the email, the workers on-site follow the instructions and install the 100 pillars to be measured. j and sensor device 18 at the measurement point. iThe sensors 18 are installed one by one. i Here, the initial setting of each sensor device 18 is performed (step S2 in FIG. 5). i It is assumed that each sensor device 18 has been calibrated in advance to prevent measurement errors. i The sensor device 18 is set up in advance so that it can communicate with the on-site controller 14 via a communication line (wireless LAN). However, after the setting, the switch 186 is temporarily set to OFF. i Pillar 100 j In this embodiment, the sensor device 18 is attached to the sensor by one touch using magnetic force as described above. i With switch 186 turned ON (ON state), column 100 j It may also be attached to.

[0027] The above sensor device 18 i The initial setting of the sensor device 18 i The switch 186 is turned on, and the sensor device 18 is displayed via the display operation unit 187. i For example, the identification information (001-01), (001-02), and (001-03) are input to each of the three sensor devices 181, 182, and 183 shown in FIG. 6, and each arithmetic processing unit 182 stores the input identification information in its internal memory (RAM). i The sensor device 18 is in a standby state where it can measure at any time. i When the switch 186 is installed while it is in the on state, there is no need to operate the switch 186.

[0028] When the installation and initial settings of all the sensor devices to be used for measurement are completed, the on-site worker notifies a manager such as the on-site supervisor by email or the like that the instructed measurement preparations are completed (step S3 in Figure 5).

[0029] Next, the measurement target pillar 100 jThe information on the tilt angle at each of the measurement points is acquired using the sensor devices (step S4 in FIG. 5).

[0030] After acquiring the information on the tilt angle at each measurement point of the pillar to be measured (i.e., the pillar as the object), the position and shape of the capital of each pillar to be measured are calculated using the acquired information on the tilt angle (step S5 in Fig. 5). In this embodiment, the two-dimensional shape (shape in the XZ plane) of one surface on which the sensor device is attached is calculated as the shape of the pillar.

[0031] Once the calculation of the column shape is complete, based on the calculated shape, the deviation of the column head from the reference (see Z axis in Figure 10) and the point where the deviation from the reference (equivalent to the deflection of the column) is maximum and the deviation amount are determined (step S6 in Figure 5).

[0032] In this embodiment, steps S4 to S6 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.

[0033] First, the operation of each sensor device used in the processing of step S4 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 arithmetic processing unit 182. For convenience, it is assumed that the processing algorithm shown in the flowchart of Fig. 7 starts when the initial setting of each sensor device described above is completed.

[0034] First, in step S22, the system waits for an instruction to start measurement to be input. The instruction to start measurement is input by the manager via the on-site controller 14. When the manager receives a notification from the worker in step S3 that the measurement preparations have been completed, the manager is able to recognize that the measurement preparations have been completed. From this point on, the system starts the operation of each sensor device 18 at an appropriate timing. i The operator inputs a command to start measurement to the on-site controller 14 via the operation unit.

[0035] Then, when an instruction to start measurement is input from the on-site controller 14 via the communication line and the wireless communication unit 183, the process proceeds to step S24. In step S24, the angle sensor 181 is instructed to perform measurement, and information on the tilt angle (of at least one axis out of a maximum of three axes) measured by the angle sensor 181 is acquired.

[0036] In the next step S26, an ID (identification code) is assigned to the captured output information, and the resulting data is sent to the on-site controller 14 via the wireless communication unit 183. Here, the ID is a number (code) created based on the identification information entered by the operator during initial setup and stored in RAM. For example, the sensor devices 181, 182, and 183 create IDs with numbers (codes) corresponding to the identification information 001-01, 001-02, and 001-03, respectively.

[0037] When the process of step S26 is completed, the process ends. i The device will be in a standby state until the next measurement start instruction is input. The above steps S22 to S26 are performed for all the sensor devices 18. i It is held at.

[0038] The on-site controller 14 sequentially stores the received sensor data in a predetermined storage area of ​​the RAM. When multiple pieces of sensor data are received simultaneously, the on-site controller 14 stores the sensor data simultaneously in parallel in a predetermined storage area of ​​the RAM by time-sharing processing. Then, when sensor data for three measurement points (top, middle, and bottom) for the same pillar is collected, the newly stored data is transmitted by the on-site controller 14 to the server 12 via the network 13. For example, in the case of pillar 1001, three pieces of data each containing IDs corresponding to identification information 001-01, 001-02, and 001-03 are transmitted to the server 12 in a single block.

[0039] When transmitting the data to the server 12, the on-site controller 14 may display the identification data of the pole corresponding to the transmitted data on the display screen.

[0040] Next, the operation of the server used in the processes of steps S5 and S6 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. This interrupt processing routine is executed, for example, every time the acquisition of sensor data sent from the on-site controller 14 is completed. Note that the timing for executing the interrupt processing routine is not limited to this, and it may be executed when the acquisition of sensor data is completed multiple times.

[0041] First, in step S32, the captured sensor data is used to calculate the height of the pillar 100. j Calculate the shape data. Here, an example of a method for calculating the shape of a pillar will be described. As an example, a case where the shape in the XZ plane of the first surface (hereinafter referred to as measurement surface Ws) on which the sensor devices 181 to 183 of the pillar 1001 are attached will be briefly described. The reason why the shape in the XZ plane is taken up here is that the pillar 1001 has three sensor devices 181 to 183 arranged along the vertical direction on the measurement surface Ws. i Since the angle sensor 181 includes a 3D MEMS sensor, the tilt angle β of the normal vector at each measurement point (measurement point) of the measurement surface Ws shown on the left side of FIG. i 9, the sensor device 18 i The tilt (angle based on the axis in the direction of gravity) is output. Therefore, there is no need to set a reference, as in measurements using conventional three-dimensional surveying instruments.

[0042] 10, if sensor devices 181, 182, and 183 are represented by points P1, P2, and P3, respectively, and the positions on measurement surface Ws where sensor devices 181, 182, and 183 are attached are P1 (X1, Z1), P2 (X2, Z2), and P3 (X3, Z3), then the X position X2 of point P2 and the X position X3 of point P3 can be calculated as follows: Note that the origin of the XZ coordinate system is set to the lower end point of measurement surface Ws whose shape is to be determined.

[0043] X2=X1+tan{(β1+β2) / 2}×(Z2-Z1)……(1) X3=X2+tan{(β2+β3) / 2}×(Z3-Z2)……(2)

[0044] 10 (and FIG. 9), in order to make the explanation visually easier to understand, the tilt angle β1 measured by sensor device 181 is shown larger than it actually is. In reality, tilt angle β1 is a small angle, so the X position X1 of point P1 is X1 ≈ Z1 tan β1 ≈ 0. By substituting this into equation (1), X2 can be calculated from the known values ​​Z2, Z1, β1, and β2, and by further substituting the calculated X2 into equation (2), X3 can be calculated from the known values ​​X2, Z2, Z3, β2, and β3.

[0045] Next, the shape of the measurement surface Ws on the XZ plane can be determined by fitting the determined points P1 (X1, Z1), P2 (X2, Z2), and P3 (X3, Z3) using an appropriate function.

[0046] In the above explanation, the sensor device 18 i The case where three sensors are arranged in the vertical direction on the measurement surface has been described. i It is also conceivable to arrange the sensor devices two-dimensionally on the measurement surface. In particular, when the measurement surface of the object is a three-dimensional curved surface, it is necessary to arrange the sensor devices two-dimensionally on the measurement surface. However, in reality, the sensor devices 18 iSince Ws outputs the tilt angle (three-dimensional tilt angle) of the normal vector of the measurement surface Ws, it is also possible to derive the shape (surface shape) of the measurement surface of the object from the measurement values ​​of the measurement point coordinates and normal vector. For example, the shape can be calculated by determining the height of each measurement point relative to a reference plane using the surface slope and its first-order integral. Alternatively, the shape of the object can be calculated based on a function obtained by fitting a function to slope distribution data obtained from multiple data sets for the same object obtained by measurement and converting it into an integral system. Examples of fitting functions include differential Zernike functions. The shape can also be calculated by optimizing the order and coefficients of an approximated surface expressed by Fourier series expansion using the actual measured values ​​of the coordinates and normal vectors of a finite number of discrete measurement points on the measurement surface of the object so that the error at each measurement point is minimized. In addition, the shape acquisition method according to this embodiment can use various methods using various functions as long as the shape can be calculated using the tilt angles at multiple measurement points.

[0047] Returning to the explanation of Figure 8, in the next step S34, based on the calculated shape, the deviation of the column capital from the reference (here, the Z axis) and the point where the deviation from the reference is greatest and the deviation (equivalent to the maximum deflection of the column) are determined.

[0048] Then, in the next step S36, the obtained data (shape, deviation amount of the column head, maximum deviation point and data on that deviation amount) is associated with the column number and stored in storage (such as a HDD), after which the interrupt processing routine is exited.

[0049] In this embodiment, the interrupt processing routine of FIG. 8 is executed each time sensor data for a column (object) is acquired. That is, for each sensor data acquisition for all columns (objects) to be measured, calculation of the shape, calculation of the column head deviation amount, and calculation of the maximum deviation amount (corresponding to the maximum deflection amount), as well as storage of the calculation results associated with the column number (object number), are repeatedly performed. Therefore, a rewritable data table associated with the object number (column number) may be prepared in advance in a predetermined area of ​​the storage, and when storing the calculation results, the area associated with the object number (column number) may be repeatedly overwritten (i.e., the stored contents are updated). Furthermore, the server device 12 may transmit the latest information stored in the storage as table data associated with the design data to the on-site controller 14 via the network 13 each time a data table is created or updated. In this case, the on-site controller 14 can use the transmitted table data to store it in a storage device such as a RAM or HDD to create or update a database.

[0050] In this case, it is possible to monitor the changes in the shape of the object (pillar) over time based on the created and updated database. It is also possible to perform strength calculations based on the shape and calculate the stress generated in the object (pillar).

[0051] In addition, when monitoring changes over time over a long period of time, it is necessary to supply power (power feeding) to each sensor device.In this case, countermeasures such as 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 may be used.

[0052] In this embodiment, as shown in FIG. 11, the sensor device 18 imay be arranged at the same height on two mutually orthogonal faces extending in the longitudinal direction of the pillar 100 (a first face orthogonal to the X-axis and a second face orthogonal to the Y-axis).

[0053] For example, suppose that sensor devices 181, 182, and 183 are arranged on the first surface, and sensor devices 184, 185, and 186 are arranged on the second surface. In this case, the shape of the first surface may be calculated based on the outputs of sensor devices 181, 182, and 183, and information on the shape of the second surface may be calculated based on the outputs of sensor devices 184, 185, and 186, using the interrupt processing routine described above.

[0054] Here, since each sensor device outputs a three-dimensional tilt angle, it is theoretically possible to determine the shape of the second surface simply by attaching sensor devices 181, 182, and 183 to the first surface, but in reality, rotation errors may occur around the normal to the attachment surface when the sensor devices are attached, so if you want to know the shapes of the first and second surfaces, it is better to attach sensor devices to both surfaces. Also, it is possible to use the results of measuring the first and second surfaces with an existing surveying instrument as initial values, and then continuously measure variations from those results with a sensor attached to the first surface to obtain the variation results for the first and second surfaces.

[0055] As explained above, according to the shape acquisition method of this embodiment, by performing a predetermined calculation using information on the tilt angles at multiple measurement points on the pillar acquired by multiple sensor devices attached to the pillar, it becomes possible to acquire the shape of a part of the object, for example, the shape of the surface (measurement surface) on which the sensor devices are attached, and ultimately the shape of the pillar and the maximum deviation from the reference surface in the entire measurement area, etc. This makes it possible to obtain the shape of the pillar without using light, eliminating the need for a three-dimensional measuring device that uses light and eliminating the influence of obstacles, etc.

[0056] Furthermore, by repeatedly acquiring the shape of the measurement surface, the shape of the column, the maximum deviation amount, etc., it becomes possible to manage the column (absolute value management, time-dependent change management). In particular, when the shape acquisition method according to this embodiment is implemented using the shape acquisition system 10 according to the above embodiment, it becomes possible to automatically acquire the shape of the measurement surface and, in turn, the shape of the column, acquire the deviation amount from the reference throughout the measurement area, and manage the column (absolute value management, time-dependent change management), except for the measurement preparation process. Therefore, the shape acquisition system 10 according to the above embodiment eliminates manual surveying work for steel frame construction, thereby alleviating labor shortages and shortening the construction period for steel frame construction.

[0057] Furthermore, according to the shape acquisition method of this embodiment, the shape of the measurement surface of the steel column can be acquired prior to the start of exterior construction work, making it possible to perform adjustments to the exterior panels using jigs within the factory.

[0058] In the above embodiment, each sensor device 18 i Although the example has been given in which identification information is input via a display operation unit at the time of initial setup of each sensor device, the timing and method of inputting identification information into the sensor device (or storing it in RAM (memory)) are not particularly important, but it is preferable that the sensor device used in this embodiment outputs data including the identification code (ID) of the sensor device. Note that in the above embodiment, the identification code (ID) of each sensor device includes the identification code of the object to which each sensor device 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.

[0059] In the above embodiment, the on-site controller (terminal device) 14 controls the plurality of sensor devices 18 iIn the above description, a case has been described in which sensor data about the same object is transmitted in bulk to server 12 (analysis device) based on IDs included in the multiple sensor data output from the server 12. However, instead of this, a configuration can be adopted in which the analysis device extracts multiple sensor data about the same object from the received multiple sensor data based on IDs included in the sensor data, and calculates shape information about the object using inclination angle information included in the extracted multiple sensor data. In this embodiment, the number of sensor devices used is the same as the number of measurement points from which inclination angle information is obtained, but this number does not necessarily have to be the same. In this case, it is sufficient to use one sensor device to obtain inclination angle information at two or more measurement points.

[0060] Second Embodiment In this second embodiment, the construction of a steel frame structure including multiple columns (steel columns) will be described as an example of how to use the shape acquisition method according to the first embodiment. Here, the same reference numerals will be used for components that are the same as or equivalent to those in the first embodiment, and detailed descriptions thereof will be omitted.

[0061] FIG. 12 shows an example of the configuration of a system 10A for carrying out this steel frame construction.

[0062] The system 10A includes a server 12, a field controller 14, a mobile terminal 16, and a plurality of sensor devices 18, all of which are connected to one another via a network 13 such as the Internet. i (i=1, 2, 3, ......) and a plurality of driving devices 50 p (p=1, 2, 3, 4...) is included. In FIG. 12, a plurality of sensor devices 18 i Among these, three sensor devices 181 to 183 are shown as representatives, and a plurality of drive devices 50 p Of these, four driving devices 501 to 504 are shown as representatives. i and a plurality of driving devices 50 pEach of the plurality of driving devices 50 is connected to the network 13 via a communication line such as a wireless LAN. Note that the communication lines may all be wireless, or at least some may be wired. p Each of them is an erection jig 30 described later. p (p=1, 2, 3, 4……) can be attached individually.

[0063] In the second embodiment, a square pillar having a rectangular cross section is used as the pillar 100. j On the four faces extending in the longitudinal direction of the column, erection pieces 102 (102a, 102b) are respectively protruding from the column capital and column base (see Figures 13 and 14). Each erection piece 102 is perpendicular to each face of the column 100 and extends in the vertical direction. In this second embodiment, for convenience, the erection piece 102 provided on the column capital is referred to as erection piece 102a, and the erection piece 102 provided on the column base is referred to as erection piece 102b.

[0064] As shown in FIG. 13, in the erection, the lower section column (hereinafter referred to as the lower section column) 100 m The erection piece 102a and the lower joint column 100 m Upper section pillar (hereinafter referred to as upper section pillar) 100 n The erection piece 102b is the erection jig 30 p are used to connect the columns on each of the four longitudinal faces of the columns.

[0065] Construction jig 30 p 13, the rack includes a main body frame 32 and various bolts provided on the main body frame 32, such as a tilt adjustment bolt 34, a misalignment adjustment bolt 36, a tip-over prevention bolt 38, and a fixing bolt 40. In this embodiment, hexagon socket head bolts are used as these bolts, for example.

[0066] The main body frame 32 is a frame member extending in a predetermined direction (vertical direction in FIG. 13) and having a hollow portion in the center in the width direction, the hollow portion being wider than the thickness of the erection pieces 100a, 100b.

[0067] The fixing bolt 40 is attached to the erection jig 30 p It is a bolt for attaching the bolt 40 to the erection piece to be attached so that it can rotate (swing) up and down. The fixing bolt 40 consists of a head and a shaft, and the shaft has a stepped cylindrical shape with a large diameter part and a small diameter part. The large diameter part is provided on a part of the head side of the shaft, and a threaded part is formed on its outer circumferential surface, and the side opposite the head of the threaded part, i.e., the tip side, is the small diameter part.

[0068] Construction jig 30 p When attaching the fixing bolt 40 to the erection piece (erection piece 102a in FIG. 13) to be attached, the fixing bolt 40 is inserted from the tip side (small diameter portion) into the inside of a screw hole formed near the lower end of one side of the main body frame 32, and the screw portion is screwed into the screw hole. The small diameter portion of the fixing bolt 40 is inserted into a hole formed on the other side of the main body frame 32 through an elongated hole formed in the erection piece 102a. p However, when attached to the erection piece 102a, the tip of the small diameter part is exposed to the outside of the main body frame 32 by a predetermined amount. p However, it is attached to the erection piece 102a to be attached in a state in which it can be rotated up and down around the axis of the fixing bolt 40 (see FIG. 14).

[0069] A boost member 44 is disposed inside the center of the hollow portion of the main frame 32 in the longitudinal direction. The boost member 44 is a lower joint column 100 shown in FIG. m The erection piece 102a and the upper joint column 100 n The erection piece 102b and the erection jig 30 p The connection state (i.e., the erection jig 30 p13) via a support pin to the main body frame 32, and a pressing lever 48 having one end connected to the tip of the movable lever 46. The pressing lever 48 is rotatably connected to the movable lever 46. A through pin is attached to the other end (the upper end in FIG. 13) of the pressing lever 48 opposite to the connecting portion. Both ends of the through pin are inserted into vertical guide holes formed in both side walls of the main body frame 32, and the through pin can move up and down along the guide holes. The boost member 44 is attached to the main body frame 32 in a V-shape. By pressing the connecting portion between the movable lever 46 and the pressing lever 48, the overall shape of the boost member 44 changes (deforms) so that the distance between the upper end and the lower end of the boost member 44 increases.

[0070] A support member 42 with a U-shaped cross section is fixed to the main body frame 32 so as to cover the connection portion between the movable lever 46 and the pressing lever 48. A threaded hole is formed on one surface of the support member 42, and the tilt adjustment bolt 34 is screwed into the threaded hole.

[0071] The erection jig 30 shown in FIG. p In the state where the upper and lower sections are attached to the columns, by rotating (threading) the tilt adjustment bolt 34 clockwise, the pressing lever 48 of the lifting member 44 moves the upper section column 100 n The erection piece 102b is configured to be pushed up. As the configuration of the push-up member, a configuration using a cam or the like is also conceivable, and the configuration is not particularly limited.

[0072] In this embodiment, the erection jig 30 p 13 , but even in this case, by rotating (threading) the tilt adjustment bolt 34 clockwise, the upper section column 100 is deformed by the tilt adjustment bolt 34. n The erection piece 102b is pushed up.

[0073] A total of three misalignment adjustment bolts 36 are provided, one on each side of the upper half of the main body frame 32 in FIG. 13 and one on one side of the lower half of the main body frame 32. The misalignment adjustment bolts 36 are screwed into the main body frame 32 via screw holes. The two misalignment adjustment bolts 36 in the upper half are rotated clockwise so that their respective tips come into pressure contact with both side surfaces of the erection piece 102b of the upper joint column, and they press the erection piece 102b in opposite directions. Therefore, when adjusting the misalignment, the two misalignment adjustment bolts 36 must be rotated in opposite directions. The single misalignment adjustment bolt 36 in the lower half presses one side of the erection piece 102a of the lower joint column by rotating it clockwise.

[0074] As shown in FIG. 13, the erection jig 30 p are attached to the erection pieces 102a and 102b, and the upper and lower sections are connected to each other. Then, the drive unit 50 is connected to the erection pieces 102a and 102b via a support member (not shown). p Construction jig 30 p Specifically, the support member is configured so that it can be attached to the main frame 32 in a state that does not interfere with the operation of the above-mentioned bolts and in a position that makes it difficult for relative displacement to occur with respect to the main frame 32. A circular opening is formed in this support member at a position facing the top surface of the head of the tilt adjustment bolt 34, and one end of a hexagonal wrench-shaped member that fits into the hexagonal hole of the tilt adjustment bolt 34 is connected through this opening. The other end of the hexagonal wrench-shaped member is connected to the drive unit 50 via a rotating shaft. p The reduction mechanism is connected to the drive unit 50. p In this embodiment, the driving device 50 p has an MPU (microcomputer for control), and a sensor that measures the amount of rotation of the rotating shaft and a motor are electrically connected to this MPU.

[0075] In this embodiment, the lower joint 100 m and upper section pillar 100 nFour erection jigs 30 are arranged on the four sides of the p Four drive units 50 are mounted on the main body frame 32 via support members (not shown). p are mounted separately. Each drive unit 50 p The MPU is connected to a network 13 via a communication unit.

[0076] In this embodiment, each of the driving devices 50 is driven in accordance with a command value given from an external terminal, for example, a server 12 via a network 13. p Of course, the rotation amount is controlled by the motor of each drive unit 50. p Since the rotational speed is measured by a sensor provided in the motor, the amount of motor rotation can be accurately controlled, i.e., the tilt adjustment bolt 34 can be adjusted.

[0077] In addition, construction jig 30 p The detailed configuration of a steel column tilt adjustment device having a similar configuration to that described above is disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-355340. p Further detailed explanations about are omitted.

[0078] Next, the erection of steel frame construction will be explained with reference to the flowchart in Figure 15, focusing on the erection of n (≧2) section steel frames (hereinafter referred to as n-section columns where appropriate). Figure 15 shows the flow of the process for erecting n-section columns. As a prerequisite for starting the erection of n-section columns, the erection of the (n-1)-section column has been completed. Here, as a prerequisite, the lower section column (here, the (n-1)-section column) 100 m is assumed to be erected vertically.

[0079] First, in step S102, the upper column (here, the n-th column) 100 n It is lifted by a crane and removed from the ground. In the next step S104, the lower column 100 m The erection piece 102a of the capital of the column (or the upper column 100 n The erection piece 102b of the column base is attached to the erection jig 30 pThe four erection jigs 30 are attached to the four-sided erection piece 102a. p are assembled respectively (see Figure 14).

[0080] In the next step S106, the upper section column 100 n The crane is used to lift the assembly jig 30 p Lower column 100 m That is, the upper section column 100 n The lower column is 100 m The erection piece 102a of the capital of the column (or the upper column 100 n Four erection jigs 30 attached to the erection piece 102b) of the column base p In the open state (see Figure 14), the upper section column 100 n Lower column 100 m Place it on top of the upper section pillar 100 n The erection piece 102b (or the lower joint 100 m The erection piece 102a) is attached to the four erection jigs 30 p The main frame 32 is wrapped around the upper section 100. n Column base and lower column 100 m The four sets of erection pieces 102a, 102b provided on the respective column heads are connected to each other using four erection jigs 30. p Connect each with.

[0081] In the next step S108, the misalignment of the columns is adjusted. m Capital and upper column 100 n This refers to the misalignment in the horizontal plane between the upper section column and the base of the column. n While hanging it with a crane, n Lower column 100 m When the lower section is placed on top of the lower section, the upper and lower sections are placed on top of the lower section so that the upper and lower sections appear to be one column. m Upper section pillar 100 n The X-axis and Y-axis positions of the four erection jigs 30 p The rotation direction and amount of each of the plurality of misalignment adjustment bolts 36 are adjusted, for example, by visually checking.m The erection piece 102a and the upper joint column 100 n The erection piece 102b is positioned on a substantially vertical line on each of the four sides. m The erection piece 102a and the upper joint column 100 n The lower joint column 100 is positioned so that the erection piece 102b is positioned on a substantially vertical line on each of the four sides. m Upper section pillar 100 n The misalignment in the X-axis and Y-axis directions of the four erection jigs 30 p It can also be said that this is to adjust the direction and amount of rotation of each of the plurality of misalignment adjustment bolts 36.

[0082] After this, the crane is released (step S110). If the weight of the pillar is lighter than a predetermined value, it is also possible to release the crane before carrying out the misalignment adjustment.

[0083] In the next step S112, the tilt adjustment of the columns is performed. In this embodiment, the tilt adjustment is performed by adjusting the server 12 and the four erection jigs 30. p A drive unit 50 attached to each of the p This is done automatically by the MPU.

[0084] This will be explained in more detail as follows. As an example, six sensor devices 18 are arranged in a similar manner to the pole 100 shown in FIG. i Upper section pillar 100 with n The following explains how to adjust the tilt.

[0085] The server 12 is connected to the upper section column 100. n Six sensor devices attached to the i The six sensors 18 i Acquire sensor data from The server 12 then n Three sensor devices 18 attached to the first surface of i Based on the sensor data output from the upper section column 100, nThe server 12 also obtains the shape information of the first surface of the upper section column 100. n Three sensor devices 18 attached to the second surface of i Based on the sensor data output from the upper section column 100, n Here, the shape information of the second surface of each sensor device 18 is calculated. i IDs and sensor devices included in the sensor data i The relationship between the pole to which the sensor is attached and the attachment position (that is, the measurement point of the sensor device) is managed by the server 12.

[0086] Sensor device 18 i The sensor devices 18 are attached to the poles 100 before or after erection of the poles 100, and the attachment positions are marked, and the positions of the marks are determined by the server 12 based on the design information. i The information on which position on which pillar the sensor device 18 is to be attached (or has been attached) is stored in the storage device 18 in the same manner as in the first embodiment. i The worker in charge of installing the sensor device 18 i Alternatively, the sensor device 18 may be configured to perform an initial setting and include the information input during the initial setting as ID information in the sensor data. i At the shipping stage, sensor device 18 i The information on the pole number and the installation position may be input in advance to the calculation processing unit 182 and stored in memory, and the information on the pole number and the installation position may be displayed on the screen of the display operation unit 187.

[0087] Next, the server 12 n Based on the shape information of the first and second surfaces, the upper section column 100 n The positional deviations (Δx, Δy) in the X-axis direction and the Y-axis direction from the reference of the column head are calculated, and the four erection jigs 30 are adjusted so that the positional deviations are almost zero (or fall within a predetermined tolerance). p Using this, the upper section column 100 n This adjustment is performed by the server 12 adjusting the positional deviation (Δx, Δy) of the upper joint column 100. nThe command values ​​of the control amounts of the four motors are converted into tilt angles so that the tilt angles are offset. p By giving each MPU, four erection jigs 30 p In this embodiment, the rotation of the four erection jigs 30 is controlled in parallel. p Since the rotation of the tilt adjustment bolts 34 can be controlled in parallel, it is not necessary to operate the four erection jigs 30 by a joint work of multiple people as in the past. p Compared to the case where the rotation adjustment of each tilt adjustment bolt 34 is performed one by one, n The tilt angle can be adjusted quickly and accurately.

[0088] In the next step S114, the erection jig 30 p Using the upper section pillar 100 n and lower column 100 m This is done by using four erection jigs 30 p This is done by temporarily tightening (lightly tightening) the fixing bolts 40 and the fall prevention bolts 38 provided in the frame using a special tool. The processing from step S102 to step S114 is performed for a plurality of upper section pillars (n section pillars) 100. n These will be carried out sequentially (or partially in parallel).

[0089] FIG. 16 shows a plurality of upper section columns (n-section columns) 100 n 16, the state after the processing up to step S114 is completed is shown with some parts omitted. Also, in FIG. 16, the erection jig is not shown.

[0090] In the next step S116, beam insertion and re-measurement after beam insertion are performed. Here, beam insertion generally refers to placing a steel beam frame between two columns and connecting both ends of the steel beam frame to the two columns. In this embodiment, as shown in FIG. 16 , a beam 200 is used as the steel beam frame (steel beam). The beam 200 has a pair of beam end members 200a located at both ends of the steel beam and joined to the columns 100, and a beam central member 200b (indicated by a two-dot chain line in FIG. 16 ) one end of which is joined to the pair of beam end members 200a. Therefore, in this embodiment, beam insertion refers to placing the central member 200b between the two beam end members 200a joined to the two columns 100, respectively, and connecting the central member 200b to each of the beam end members 200a on both sides with beam joints. However, due to manufacturing errors that inevitably exist in the steel beams, when the beams are inserted, the horizontal force acting on the columns 100 connected to both ends of the steel beams can change the inclination angle of the columns 100 from before the beams are inserted. To check for this change, it is necessary to remeasure the inclination angle after the beams are inserted.

[0091] Returning to the explanation of FIG. 15, in the next step S118, readjustment after the beam insertion is carried out as necessary based on the results of the remeasurement. Readjustment after the beam insertion may include adjustment of the misalignment of the columns and adjustment of the column tilt. As described above, adjustment of the misalignment of the columns is carried out by adjusting the four erection jigs 30. p The amount and direction of rotation of each of the plurality of misalignment adjustment bolts 36 are adjusted visually. On the other hand, the adjustment of the column tilt is performed automatically. Specifically, the server 12 and the four erection jigs 30 used to connect the plurality of upper and lower column sections are adjusted automatically. p A drive unit 50 attached to each of the p By using the MPU, similar to the above-mentioned step S112, the plurality of upper joint columns 100 to be adjusted are n This automatically performs the adjustment on the multiple upper joint columns 100 to be adjusted. n The tilt error is adjusted to approximately zero (or within a predetermined tolerance) at once.

[0092] In the next step S120, the beam joints and the column joints are finally tightened. The beam joints are finally tightened by tightening the high-strength bolts of the beam joints, and the column joints are finally tightened by tightening the four erection jigs 30. p This is done by fully tightening the fall prevention bolts 38 and the fixing bolts 40 (and the misalignment adjustment bolts 36, if necessary). After this fully tightening, n The tilt angle of the column is measured, and it is confirmed that the tilt error is within a predetermined tolerance. Here, the tolerance differs from the specification value (a positional deviation of the column capital of a 10m-long steel frame of 10mm or less), and a value smaller than the specification value and greater than zero is set. Here, in the above readjustment stage (step S118), the tilt error is automatically adjusted to be nearly zero (or to fall within the predetermined tolerance), so the tilt error of the column is usually within the tolerance.

[0093] After a predetermined time has passed, the upper section pillar 100 n Lower column 100 m After welding, the four erection jigs are removed (step S122). After that, the erection piece is cut. n In order to check that the inclination angle of the upper section column 100 is within the allowable value, n Here, since it has been confirmed in step S120 that the tilt error is within the allowable range, the tilt angle of the upper section column 100 is usually measured. n However, since a considerable amount of time passes between the end of final tightening and the start of welding, the upper section column 100 n It is possible that the tilt error, in other words, the positional deviation of the column head, is not within the tolerance. In such cases, since welding has already been completed, readjustment is no longer possible, but the tilt angle measurement results can be effectively used in subsequent processes. For example, based on the tilt angle measurement results, it is possible to set an offset to the target plumbing value (of the column head position) of the upper node column (here, the (n+1) node column) to cancel out the tilt error (its influence).

[0094] The explanation so far is about the lower section 100m The test was carried out on the assumption that the columns were erected vertically, but in reality, the columns were erected vertically. m Even if the column is vertical at the end of erection, the lower column 100 m 100m from the end of erection n Before erection of the upper section column 100 begins, a certain amount of time will have passed. n At the time of starting construction, the lower column 100 m may not be vertical.

[0095] Therefore, the lower columns 100 are erected in a predetermined arrangement. m 100 upper columns on each n When installing the sensors individually, i Using multiple lower joint columns 100 m Shape information of a first surface and a second surface that extend in the respective longitudinal directions and intersect with each other (for example, are perpendicular to each other) is acquired, and based on the acquired shape information, a plurality of lower joint columns 100 m A first positional deviation amount of the column head from the reference in the direction perpendicular to each first surface (Y-axis direction) and a second positional deviation amount of the column head from the reference in the direction perpendicular to each second surface (X-axis direction) are calculated, and the first and second positional deviation amounts are taken into consideration to calculate the positional deviation amount of the plurality of upper section columns 100. n In this case, for example, the target plumbing value of the upper section pillar can be newly determined so that the first positional deviation amount and the second positional deviation amount are offset.

[0096] Here, as an example, m 2-section pillar 100 on top n When erecting a column, the column length is 100. m The two-section column 100 is used to offset the positional deviation of the column head in the X-axis direction. n The new setting of the target value for construction investment will be explained based on Figure 17.

[0097] The lower section pillar is 100 m Three sensor devices 18 attached to the first surface 100a of the i100 per column calculated using sensor data from m From the shape of the first surface 100a of the first column 100 m Assume that the displacement of the column head in the X-axis direction is +Δx (see Figure 17). In reality, this Δx is smaller than the specification value, so in the case of a 10m long steel column, it is a value smaller than 10mm. m , 2-section column 100 n The curved shape is exaggerated for ease of explanation.

[0098] 1 section pillar 100 m and 2-section column 100 n If the length of each is L, then +Δx / L=tanθy holds as shown in Figure 17, and when rewritten, it becomes +Δx=L·tanθy. Therefore, to cancel this, -Δx=L·tan(-θy) is written as n The target position of the column head in the X-axis direction is set anew.

[0099] The above-mentioned 2-section column 100 n As is clear from Figure 17, the new target position of the column head in the X-axis direction is n This essentially (resultingly) coincides with the target value of the tilt (tilt angle) of the sensor device 18 being (-θy). Here, the clockwise direction of θy is positive. i The inclination angle β of the first face of the column at each measurement point is measured i It refers to the overall tilt of the pillar around the Y axis (the tilt of the line connecting the bottom and top of the first face of the pillar relative to the Z axis in the XZ plane).

[0100] Therefore, 1st column (lower column) 100 m From the shape of the first surface, the first column is 100 m The column head position (amount of positional deviation) in relation to the X-axis direction is calculated, and the inclination θy is calculated from this column head position (amount of positional deviation). The inclination angle (-θy) that offsets this inclination θy is set to 100° from the 2nd column (upper column). nAs a result, the above-mentioned positional deviation amount +Δx=L·tanθy is offset. n This means that a new target position for the capital of the column in the X-axis direction has been set.

[0101] 1 section pillar 100 m The two-section column 100 is used to offset the amount of misalignment of the column head in the Y-axis direction. n The new target value for the plumbing of the column can be set in the same way as above. m There may be a case where the amount of misalignment of the column head in either the X-axis direction or the Y-axis direction is zero. In such a case, the amount of misalignment of the column head in either the X-axis direction or the Y-axis direction is zero. n A new target value for the pitching (a new target value for the inclination angle) may be set.

[0102] In addition, by using the above-mentioned method of automatically adjusting the inclination adjustment bolt 34, the first column 100 m The newly set second section pillar (upper section pillar) 100 was used to offset the positional deviation in the X-axis and Y-axis directions. n The two-joint column 100 is positioned at the target position in the X-axis and Y-axis directions. n When the column head is to be positioned, the server 12 uses the erection jig 30 used to fix the upper and lower columns. p Four drives attached to each 50 p For the MPU, 1 section column 100 m In this case, the control command values ​​of the motors are given so that the positional deviation of the column heads is cancelled out. m Similarly, 2-section column 100 n Sensor device 18 i When the sensor device 18 is installed, the server 12 i Based on the information on the tilt angle measured using n The shape of the first and second faces and the position of the column capital in the X-axis and Y-axis directions may be calculated, and the inclination adjustment bolt 34 may be automatically adjusted so that the difference between the calculated positions and the target positions described above is eliminated. mand 2nd section pillar 100 n However, the deformation does not necessarily occur in the same way, so by making such adjustments, the 2-section column 100 n This allows the stigma to be positioned at the target position more reliably.

[0103] In the second embodiment, a rectangular column has been described as an example of the type of steel column, but a circular column may also be used.Furthermore, a steel column may also be used in which H-beams or I-beams are combined in a cross shape.

[0104] In the second embodiment, the sensor device 18 i Based on the column shape or position information obtained from the output data (sensor data), the position of the column head in the XY plane (column tilt) is calculated using four erection jigs 30 p (i.e., four erection jigs 30 p The rotation of each tilt adjustment bolt 34 is automatically adjusted. In addition, the sensor device 18 detects misalignment of the pillars. i The driving device 50 may automatically adjust the position of the pillar based on the position information of the pillar obtained from the output data. p The shape and structure of the support member (not shown) on which the drive unit 50 is mounted may be changed to a shape and structure that allows the mounting of an adjustment device that can adjust the rotation direction and amount of the misalignment adjustment bolt 36. p Alternatively, a separate support member may be provided in addition to the support member on which the adjustment device is mounted, and the adjustment device may be mounted on the separate support member. In either case, by configuring the adjustment device to be controlled by the server 12, automatic adjustment of misalignment of the columns becomes possible.

[0105] In the first embodiment, a steel column was used as the object, and the shape calculation and management of the maximum deviation (corresponding to the maximum deflection) and changes over time were described. However, the shape acquisition method and system according to the first embodiment (hereinafter abbreviated as the method and system according to the first embodiment) can be applied to the management of steel frames other than steel columns (absolute value management and changes over time management), as well as other construction process management. In the first embodiment, the sensor device is fixed to the steel column using a magnet (magnetic force). However, other fixing means may be used instead of or in addition to the magnet. For example, if the object is a material that can be secured sufficiently strong by screwing, such as metal, the sensor device may be fixed to the object using screws (including bolts) instead of or in addition to the magnet. Alternatively, depending on the material of the object, the sensor device may be fixed to the object using an adhesive. Furthermore, the object is not limited to the above-described embodiment (steel columns of buildings, etc.), but may be other infrastructure, for example, a bridge, a dam, a tunnel (including structures such as inner walls and jet fans installed in tunnels), a highway, an overpass, a plant (including tanks, etc.), an indoor facility (indoor pool, gymnasium, hall), a wind turbine blade for wind power generation, an aircraft fuselage, wing, or propeller, a car body (particularly the lead car) of a high-speed train (such as a Shinkansen), a railroad track, a ship (for example, a hull or a screw), etc. In addition to these, the object may also be a vehicle (automobile, including a Formula 1 car, airplane, train, ship, etc.), an underwater vehicle (submarine, deep-sea exploration vessel, etc.), a space-related object (spacecraft, re-entry vehicle, etc.), a flying object (rocket, missile, satellite, etc.), a power plant (hydroelectric, thermal, natural gas, nuclear, etc.), etc.

[0106] Examples of construction process management to which the method and system according to the first embodiment can be suitably applied include pile driving management (absolute value management, time-dependent change management) and earth retaining wall management (time-dependent change management). Here, piles refer to structures that serve as the foundation during construction, and earth retaining walls refer to walls that hold back surrounding soil and sand when digging holes to create underground structures.

[0107] The method and system according to the first embodiment 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 method and system according to the above embodiment 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.

[0108] When the method and system according to the first embodiment are applied to bridge maintenance, for example, a plurality of sensor devices are placed on a bridge to constantly monitor changes in the three-dimensional shape from the initial state, and when an indicator of the shape change (such as the tilt angle or maximum deviation output by the sensor device) exceeds a threshold, an alarm is issued from the server 12 to the on-site controller 14. In this way, the manager of the on-site controller 14 can quickly recognize the occurrence and location of an abnormality, eliminating the need for periodic inspections by workers and enabling efficient inspections.

[0109] 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 an object on which a sensor device is to be installed (a pillar in the above embodiment) with the administrator of the on-site controller 14. For example, the server 12 may be under the management of a user of the sensor device, such as a construction company, or a supplier of the sensor device (such as a manufacturer or supplier). The server may also be a cloud service. When the server 12 is under the management of a supplier of the sensor device, the supplier leases (or rents) the sensor device to the user and provides optimal information, such as the installation position of the sensor device, determined based on the intended use of the sensor device. Based on this information, the supplier receives data acquired by the user using the sensor device, 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 leasing (or renting) the sensor device and providing the information. Such a business method (business model) can also be realized. In this case, instead of providing the analysis and the analysis results, application software (application program) for the analysis process may be leased together with the sensor device. [Explanation of symbols]

[0110] 10...shape acquisition system, 12...server, 13...wide area network, 14...on-site controller, 16...mobile terminal, 181-183...sensor device, 100...steel column, 110...steel building, 181...angle sensor, 182...arithmetic processing unit, 183...wireless communication unit, 184...power supply unit, 185...casing, 187...display operation unit, 188...cushion member, 190...permanent magnet.

Claims

1. A measurement method for acquiring shape information of an object, comprising: acquiring tilt angle information of the object at each of a plurality of points by sensors attached to the object at different positions in at least a first direction; acquiring position information of the object at each of the plurality of points in a second direction perpendicular to the first direction based on the acquired tilt angle information; determining shape information of the object based on the acquired position information; The first direction is the direction of gravity.

2. 2. The measurement method according to claim 1, The position information of the object in the second direction is obtained using the position information of the plurality of points in the first direction.

3. 3. The measurement method according to claim 2, the object includes a pillar that is installed substantially parallel to the first direction, shape information of one surface of the pillar that intersects with the second direction is obtained; The shape information includes inclination information of the one surface with respect to the first direction.

4. 2. The measurement method according to claim 1, the object has a surface that intersects with the second direction, In order to obtain shape information of the one surface, the sensors are attached to the plurality of points set on the one surface, respectively.

5. The measurement method according to claim 4, The object includes a pillar that is installed substantially parallel to the first direction, and shape information of one surface of the pillar that intersects with the second direction is obtained.

6. 6. The measurement method according to claim 5, In order to obtain shape information of another face of the pillar that intersects with the one face, second inclination angle information of the other face is obtained at each of the second points by sensors attached to the other face at different positions with respect to the first direction, and position information of the other face with respect to a third direction that intersects with the first and second directions is obtained based on the second inclination angle information.

7. 2. The measurement method according to claim 1, In acquiring the tilt angle information, a plurality of the sensors are attached to the plurality of points, respectively.

8. 2. The measurement method according to claim 1, the object has a surface that intersects with the second direction, the sensors are arranged two-dimensionally on the one surface, As the shape information, the surface shape of the one surface is obtained.

9. The measurement method according to any one of claims 1 to 8, The sensor measures the tilt angle information with respect to the first direction.

10. 10. The measurement method according to claim 9, The first direction is the direction of gravity.

11. The measurement method according to any one of claims 1 to 8, The sensor is connected to a server or cloud via a communication network, and the shape information is obtained by the server or cloud.

12. The measurement method according to any one of claims 1 to 8, The object includes at least one of a structure including a building, a bridge, an overpass, a road, a tunnel, a dam, a wind turbine, an aircraft, a railway, and a ship.

13. 1. A method of constructing a structure, comprising: The method includes determining shape information of the object by using the measurement method according to any one of claims 1 to 8, with at least a part of the structure as the object.

14. 14. The method of claim 13, a plurality of columns constituting the structure are installed substantially parallel to a first direction; The method further includes attaching sensors to each of the plurality of pillars at a plurality of points that are at different positions in at least the first direction in order to obtain the shape information using the plurality of pillars as the object.

15. 15. The method of claim 14, Each of the plurality of columns has a plurality of sections, the shape information is obtained for each of a plurality of lower nodes installed substantially parallel to the first direction by the measurement method; A plurality of upper section columns are erected on the plurality of lower section columns, respectively, based on the shape information obtained for the plurality of lower section columns.

16. 16. The method of claim 15, When erecting the plurality of upper section columns onto the plurality of lower section columns, The plurality of lower section columns and the plurality of upper section columns are connected by an erection jig, the shape information is obtained by the measurement method for each of the upper section columns connected to the lower section columns; Based on the shape information obtained for the plurality of upper section columns, the erection jigs are adjusted for the plurality of columns almost in parallel.

17. 17. The method of claim 16, The erection jig adjusts the tilt of at least the upper section column.

18. A method for managing a structure, comprising: Repeatedly executing the measurement method according to any one of claims 1 to 8, with at least a part of the structure as a target; and detecting shape change information of the object based on the shape information obtained each time the process is executed.

19. 19. The management method according to claim 18, The shape change information is detected during maintenance or construction of the structure.

20. 20. The management method according to claim 19, When an abnormality in the shape change information is detected, an alarm is issued.

21. 21. The management method according to claim 20, The sensor attached to the object is connected to a server or a cloud via a communication network; The server or cloud detects an abnormality in the shape change information and issues the alarm.

22. A method for constructing a structure in which a plurality of columns each have a plurality of sections, Installing a plurality of lower node columns each substantially parallel to the first direction; connecting the lower section columns and the upper section columns of the plurality of columns with an erection jig so as to erect the plurality of upper section columns onto the plurality of lower section columns, respectively; acquiring tilt angle information of the upper node columns at each of the plurality of points by sensors attached to the plurality of upper node columns at different positions in at least the first direction; acquiring position information of the upper node pillar in a second direction perpendicular to the first direction at each of the plurality of points based on the acquired tilt angle information; determining shape information of the upper section pillar based on the acquired position information; adjusting the erection jigs for the plurality of columns substantially in parallel based on shape information obtained for the plurality of upper section columns; The first direction is the direction of gravity.

23. 23. The construction method of claim 22, In order to obtain the shape information on one surface of the upper node pillar that intersects with the second direction and on another surface of the upper node pillar that intersects with the one surface, the sensors are attached to the multiple points on the one surface and the another surface, respectively.

24. 24. The construction method according to claim 22 or 23, In order to adjust the tilt of at least the upper section columns for each of the plurality of upper section columns, the position of the column capital of the upper section column is moved by the erection jig.

25. A shape acquisition system for acquiring shape information of an object, a sensor attached to the object to acquire tilt angle information of the object; an analysis device connected to the sensor via a network, data including the tilt angle information output from sensors attached to a plurality of points on the object, the positions of which differ in at least a first direction, is transmitted to the analysis device via the network; the analysis device acquires position information of the object in a second direction orthogonal to the first direction at each of the plurality of points based on the tilt angle information, and calculates shape information of the object based on the position information; The first direction is the direction of gravity.

26. 26. The shape acquisition system according to claim 25, The analysis device uses the position information of the plurality of points in the first direction to obtain position information of the object in the second direction.

27. 27. The shape acquisition system according to claim 26, the object includes a pillar that is installed substantially parallel to the first direction, shape information of one surface of the pillar that intersects with the second direction is obtained; The shape information includes inclination information of the one surface with respect to the first direction.

28. 26. The shape acquisition system according to claim 25, the object has a surface that intersects with the second direction, In order to obtain shape information of the one surface, the sensors are attached to the plurality of points set on the one surface, respectively.

29. 29. The shape acquisition system according to claim 28, The object includes a pillar that is installed substantially parallel to the first direction, and shape information of one surface of the pillar that intersects with the second direction is obtained.

30. 30. The shape acquisition system according to claim 29, In order to obtain shape information of another surface of the pillar that intersects with the one surface, the sensor is attached to a plurality of second points that are different in position with respect to the first direction on the another surface, and data including second inclination angle information of the another surface at each of the plurality of second points is transmitted to the analysis device via the network; The analysis device acquires position information of the other surface in a third direction intersecting the first and second directions based on the second tilt angle information, and also obtains the shape information of the other surface.

31. 26. The shape acquisition system according to claim 25, a plurality of the sensors are attached to the plurality of points to acquire the tilt angle information; the sensors are two-dimensionally arranged on one surface of the object intersecting the second direction and including the plurality of points; The analysis device determines the surface shape of the one surface as the shape information.

32. The shape acquisition system according to any one of claims 25 to 31, The sensor measures the tilt angle information with respect to the first direction.

33. 33. The shape acquisition system of claim 32, The first direction is the direction of gravity.

34. The shape acquisition system according to any one of claims 25 to 31, The analysis device is capable of storing the obtained shape information in a storage and outputting it to a terminal device connected to the network.

35. The shape acquisition system according to any one of claims 25 to 31, the sensors are attached to the plurality of points to acquire the tilt angle information; The data includes an ID for identifying the sensor.

36. 36. The shape acquisition system of claim 35, The ID includes identification information of the sensor and location information regarding the points at which the sensor is attached on the object.

37. 37. The shape acquisition system of claim 36, the object includes a plurality of pillars; the inclination angle information is information about the inclination angles of the plurality of pillars, The ID includes identification information of the plurality of pillars.

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