Patent Application
20190145770
This invention relates to an automatic surveying system that measures the position of a pile which moves.
As an apparatus that measures the position of a construction object such as a pile, an apparatus including a distance measurement member and a rotation member which performs horizontal rotation and vertical rotation of the distance measurement member is used. In, for example, PTL1, a measurement method which uses a surveying apparatus called a total station and which attaches a reflecting target called a prism to an object and measures the position of such a reflecting device is described. Moreover, there is a non-prism method which directly measures the surface of an object without using the reflecting target called a prism.
PTL1: JP-A-2016-138802
In a case such as the invention described in PTL1, it is required to attach a reflecting target to a measurement object. Attaching the reflecting target at a high position of a pile prior to driving the pile is troublesome work. In many cases, since a large number of piles will be driven in one round of construction, attaching reflecting targets to all of the piles and removing and collecting the reflecting targets after construction become a heavy burden. Moreover, this reflecting target is an expensive member, and, even in the case of rental, using a large number of reflecting targets causes an increase in cost accordingly.
Furthermore, to guide a pile which is moving to a scheduled piling position, it is required to continue measuring the position of the pile. In, for example, PTL1, causing a distance measurement member of the surveying apparatus to automatically follow the movement of the reflecting target is described. However, an optical element called a prism is the one recognized as a dot when viewed as a measurement object. It is difficult to automatically track the movement of this dot in a correct manner. Then, when the position of the reflecting target has become unable to be recognized, it is impossible to automatically perform searching in an effective manner.
On the other hand, if the non-prism method, which does not use a reflecting target, is employed, the work for attaching a reflecting target becomes unnecessary. However, it is impossible to perform surveying while automatically tracking an object which moves. Accordingly, during a construction period, it is necessary to allocate a worker to a measurement spot and continue manually tracking an object.
This invention has an object to provide an automatic surveying program and an automatic surveying system each of which is capable of measuring the position of a pile which moves while automatically tracking the pile in a non-prism method, which does not use a reflecting target.
To solve the above-mentioned problems, an automatic surveying program of this invention causes an information processing apparatus to repeatedly perform processing which drives a distance measurement member rotating member in such away as to cause a distance measurement member to face a first measurement position of a pile targeted for surveying and then acquires distance measurement data of the distance measurement member, processing which drives the distance measurement member rotating member in such a way as to cause the distance measurement member to face a second measurement position of the pile targeted for surveying and then acquires distance measurement data of the distance measurement member, and processing which determines a normal measurement state and an abnormal measurement state based on distance measurement data, and causes the information processing apparatus to perform processing which, in a case of the abnormal measurement state, drives the distance measurement member rotating member in such a way as to move a direction of the distance measurement member by a predetermined movement amount in a direction of a side which is not in the abnormal measurement state of the first measurement position or the second measurement position.
An automatic surveying system of this invention includes a surveying apparatus including a distance measurement member capable of performing distance measurement in a non-prism method and a distance measurement member horizontal angle rotating member which rotates the distance measurement member around a rotation axis in vertical direction and an information processing apparatus which controls the surveying apparatus, and performs processing which drives a distance measurement member rotating member in such a way as to cause the distance measurement member to face a first measurement position of a pile targeted for surveying and then acquires distance measurement data of the distance measurement member, processing which drives the distance measurement member rotating member in such a way as to cause the distance measurement member to face a second measurement position of the pile targeted for surveying and then acquires distance measurement data of the distance measurement member, processing which determines a normal measurement state and an abnormal measurement state based on distance measurement data, and processing which, in a case of the abnormal measurement state, drives the distance measurement member rotating member in such a way as to move a direction of the distance measurement member by a predetermined movement amount in a direction of a side which is not in the abnormal measurement state of the first measurement position or the second measurement position.
In the automatic surveying program and the automatic surveying system, when the first measurement position is set to a base side height position of the pile and the second measurement position is set to an upper portion side height position of the pile, in the case of the abnormal measurement state in the upper portion side height position, a distance measurement member vertical angle rotating member can be driven in such a way as to move the direction of the distance measurement member by a predetermined movement amount in a direction of the base side height position and that position can be set to the upper portion side height position.
Alternatively, when the first measurement position is set to a right side measurement position of the pile and the second measurement position is set to a left side measurement position of the pile, in the case of the abnormal measurement state, the distance measurement member horizontal angle rotating member can be driven in such a way as to move the direction of the distance measurement member by a predetermined movement amount in a direction of a side which is not in the abnormal measurement state of the right side measurement position or the left side measurement position and a measurement reference position can be shifted by the movement amount and then set.
In an automatic surveying program and an automatic surveying system of this invention, it is not necessary to perform attachment and detachment of a reflecting target to and from a pile targeted for surveying. Then, it is possible to cause the direction of the distance measurement member to appropriately follow the displacement of the pile, thus automatically continuing surveying.
Embodiments will be explained in detail based on the drawings.
The surveying apparatus 1 includes a distance measurement member 4, which is capable of performing distance measurement in a non-prism method, a distance measurement member horizontal angle rotating member 6, which rotates the distance measurement member around a rotation axis extending in the vertical direction, and a distance measurement member vertical angle rotating member 5, which rotates the distance measurement member around a rotation axis extending in the horizontal direction. Here, the non-prism method is a method of directly performing distance measurement on the surface of a pile targeted for surveying without using a reflecting member called a prism. While, in the present example, an apparatus which is called a total station and is in widespread use is used, the surveying apparatus 1 is not limited to the total station as long as it is the one satisfying the above-mentioned requirement. A processing apparatus 21 is appended to the surveying apparatus 1 and controls the distance measurement member horizontal angle rotating member 6 and the distance measurement member vertical angle rotating member 5 to enable the surveying apparatus 1 to measure a distance to a point which the distance measurement member 4 is facing.
The surveying apparatus 1 and the surveying site terminal 22 each are equipped with a near-field wireless communication device, such as Bluetooth (registered trademark), and a wireless LAN device, and are able to communicate with each other via these devices. Moreover, the conveyance unit terminal 23 is also equipped with a wireless LAN device and is able to perform communication using TCP/IP. Here, a major portion of an automatic surveying program which is used in the present invention is installed on the surveying site terminal 22.
The automatic surveying program causes an information processing apparatus to repeatedly perform:
processing which drives a distance measurement member rotating member in such a way as to cause a distance measurement member to face a first measurement position of a pile targeted for surveying and then acquires distance measurement data of the distance measurement member;
processing which drives the distance measurement member rotating member in such a way as to cause the distance measurement member to face a second measurement position of the pile targeted for surveying and then acquires distance measurement data of the distance measurement member; and processing which determines a normal measurement state and an abnormal measurement state based on distance measurement data, and
causes the information processing apparatus to perform processing which, in the case of the abnormal measurement state, drives the distance measurement member rotating member in such a way as to move a direction of the distance measurement member by a predetermined movement amount in a direction of a side which is not in the abnormal measurement state of the first measurement position or the second measurement position. This automatic surveying program causes the direction of the distance measurement member 4 to follow movement of the pile targeted for measurement, thus automatically continuing measuring the distance to the pile.
An embodiment of the present invention will be described in more detail. Pile data is previously stored in a pile data storage unit M1 of the information processing apparatus. An example of a configuration of the pile data storage unit M1 is illustrated in
Next, the surveying apparatus 1 and the reference point reflecting member 3 are installed at the determined locations. Then, the distance measurement member 4 of the distance measurement member 1 is caused to face the reference point reflecting member 3. A common total station has the function of automatically searching for the reference point reflecting member 3, and, therefore, this can be used. When reference point detection processing in the automatic surveying program is performed, the surveying site terminal 22 instructs the distance measurement member 1 to search for the reference point reflecting member 3 and turn the distance measurement member 4 in the direction of that. Upon receiving this, the distance measurement member horizontal angle rotating member 6 and the distance measurement member vertical angle rotating member 5 of the distance measurement member 1 are driven, thus causing the distance measurement member 4 to face the reference point reflecting member 3. The direction of the distance measurement member 4 obtained at this time serves as a reference direction, and an included angle with respect to that direction will be output as a measured value of a horizontal angle obtained by the distance measurement member 1.
Suppose that the installation of the first pile is to be performed. First, pile selection processing Q00 in the automatic surveying program is performed. The worker determines a pile which is to be first installed from piles x1, x2, . . . , xn, which are stored in the pile data storage unit M1, and issues an instruction for selection via an input device of the surveying site terminal 22. In response to this, the surveying site terminal 22 reads out pile data about the selected pile xn from the pile data storage unit, and acquires the installation target position coordinates (x, y, z) and the diameter Dn of the pile. Moreover, in the present example, the length Ln of the pile xn is also previously stored as pile data in the pile data storage unit M1.
While the automatic surveying program and the automatic surveying system can be configured to have various functions, here, horizontal tracking processing Q10 for implementing the function of performing automatic surveying while following the horizontal movement of the pile and vertical tracking processing Q20 for implementing the function of performing automatic surveying while following the displacement in the vertical direction caused by driving of the pile are described. Automatic tracking surveying in the invention of the present application is applied to both.
For example, an example in which a pile is conveyed by a pile conveyance apparatus such as a ship equipped with a driving member for piles and pile driving is performed at a predetermined position on the sea is used for description. First, to guide a ship which conveys a pile x toward a predetermined position, horizontal tracking processing Q10 for the function of performing automatic surveying while following horizontal movement is caused to be performed.
A horizontal distance R is used for calculation of the center position and inclination of the pile x.
Next, distance measurement about a second measurement position Q2 is performed. Processing for acquiring distance measurement data R2 of the distance measurement member 2 by driving the distance measurement member horizontal angle rotating member in such a way as to cause the distance measurement member 1 to face the left side measurement position P2, which has shifted by D/4 from the center of the pile targeted for surveying, as the second measurement position is performed. An included angle ϕ2 can be acquired from the surveying apparatus 1, or can be calculated from ϕ1 and the turning angle of the distance measurement member 2. The position of the left side measurement position P2 is also identified based on the included angle ϕ2, the vertical angle θ, and the distance R2.
The center position O of the pile x is calculated by center position calculation processing Q3.
In this way, the pile center position O can be acquired based on a combination of distance measurement processing R1 of the right side measurement position P1 and distance measurement processing P2 of the left side measurement position P2. This processing for the combination is continuously repeated. Furthermore, while, in the above-mentioned example, the right side measurement position P1 is first measured, the order of measurement of right and left sides is optional. Moreover, the order does not need to be fixed, but, according to the direction of movement of the pile x, the measurement position at the side opposite to the direction of movement can be first measured.
In
In the present example, while the work for causing the distance measurement member to face the center of the pile x at the time of starting measurement is performed manually, after that, distance measurement is performed while the pile x is automatically tracked, so that staff does not need to stay at all times. The automatic surveying system 100 continues transmitting data about the center position of the pile x to the conveyance unit terminal 23 in the ship until the pile x arrives at the position designated in a design drawing.
When the pile x arrives at a scheduled position and driving thereof is performed, the function of performing automatic surveying while following the displacement in the vertical direction is performed by vertical tracking processing Q20.
In distance measurement processing Q5 at the base side height position H2, processing for driving the distance measurement member vertical angle rotating member 5 in such a way as to cause the distance measurement member 4 to face the base side height position H2 of the pile x targeted for surveying is performed. Then, at the base side height position H2 of the pile, distance measurement in the right side measurement position P1 and the left side measurement position P2 of the pile x targeted for surveying is performed, so that respective pieces of distance data R1 and R2 are obtained. This processing is the same as the case of horizontal direction follow, and, therefore, the detailed description thereof is omitted. The center position O2 of the pile x in the base side height position H2 is obtained based on the pieces of distance data R1 and R2.
In distance measurement processing Q6 at the upper side height position H1, processing for driving the distance measurement member vertical angle rotating member 5 in such a way as to cause the distance measurement member 2 to face the upper side height position H1 of the pile targeted for surveying is performed. Then, at the upper side height position H1 of the pile, distance measurement in the right side measurement position P1 and the left side measurement position P2 of the pile targeted for surveying is also performed, so that respective pieces of distance data R1 and R2 are obtained, and, then, a center position O1 of the pile x in the upper side height position H1 is obtained.
In the upper side height position H1, abnormality determination processing Q4 for determining a normal measurement state and an abnormal measurement state is performed based on distance measurement data. When pieces of distance data R1 and R2 are obtained and the center position O1 of the pile x is able to be obtained, it is determined that a normal state is occurring. At this time, evaluation Q7 of an inclination of the pile x is performed by comparing data about the center position O1 of the upper side height position H1 with data about a center position O2 of the base side height position H2.
Deviations Δx and Δy in the horizontal direction between the center position O1 (x1, y1) and the center position O2 (x2, y2) can be obtained.
Δx=x1−x2, Δy=y1−y2
ΔP=((x1−x2)2+(y1−y2)2)1/2
Alternatively, an inclination angle θ1-2 can be obtained.
θ1-2=tan−1(ΔP/(H1−H2))
Data about the center position O1 (x1, y1) and the center position O2 (x2, y2) of the pile x and data about the deviations Δx and Δy are transmitted to the conveyance unit terminal 23 via a communication line. The conveyance unit terminal 23 receives these pieces of data and causes a display member thereof to display these pieces of data. Moreover, a center position in the lower end portion of the pile x which has already inserted into the ground can also be calculated based on the inclination θ1-2, and, furthermore, a deviation from the center position O1 in the upper side height position H1 can also be calculated. Staff present in the ship can know the inclination state of the pile x in real time and can bring the pile x close to the vertical state while performing necessary corrections at appropriate timing based on the inclination state.
Furthermore, an allowable limit θLim of the inclination of the pile can be previously defined, the inclination θ1-2 and the allowable limit θLim can be compared with each other, and, when the inclination θ1-2 has exceeded the allowable limit θLim, a warning signal can be transmitted to the conveyance unit terminal 23. It can be determined whether the allowable limit is exceeded, based on the magnitude of a deviation between the center positions in the upper and lower sides.
With the above-described processing repeated, the inclination of the pile continues being automatically measured while lowering of the upper end portion of the pile x caused by pile driving is followed. When the pile x has been driven to the depth defined in the specifications mentioned in the design document, the vertical tracking processing Q20 for performing automatic surveying while following the displacement in the vertical direction is ended.
There is also a construction method of driving a plurality of short piles while joining them in succession at one place for pile driving. In this case, when a pile has been driven to a predetermined height, automatic surveying is temporarily stopped. A next pile is joined to the upper end of the driven pile by, for example, welding. Then, the upper side measurement position H1 is defined at the upper portion of the new pile, and, while the pile driving work is performed, automatic measurement processing is resumed.
Center position data O (x, y) of the pile acquired by horizontal tracking processing at the time of movement of the pile x and data about the center positions O1 (x1, y1) and O2 (x2, y2) and the inclination θ1-2 of the pile acquired by vertical tracking processing at the time of pile driving are sequentially stored in the information processing apparatus 2. Those can be stored in a storage device of the surveying site terminal 22, or can be transmitted to, for example, an external server present in, for example, an office of the constructor and stored in a storage device of the external server. Such stored data constitutes a strong evidence for verifying the accuracy of construction.
This invention is applicable as an automatic surveying program and an automatic surveying system in which it is not necessary to perform attachment and detachment of a reflecting target to and from a pile targeted for surveying and it is possible to cause the direction of the distance measurement member to appropriately follow the displacement of the pile, thus automatically continuing surveying.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-040347 | Mar 2017 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2018/002173 | 1/25/2018 | WO | 00 |
