JP7708943B1 - Coordinate unified measurement system and coordinate unified measurement method - Google Patents

Abstract

[Problem] To provide a coordinate-unified measurement system that can unify the coordinates of multiple measuring devices by a simple method and measure the posture with high accuracy. [Solution] A coordinate-unified measurement system U for measuring the posture of a structure constructed in the process of construction using a submerged construction method includes: multiple measuring units 40, ... that are installed around the structure 1 and scan the side wall 10 of the structure 1; one or more collimation units 30 for identifying the positions and rotation directions of each of the multiple measuring units 40; a total station TS for measuring the positions and orientations of the one or more collimation units 30; and a control unit 60 as a calculation unit that calculates the amount of subsidence s, the amount of inclination θ, and/or the amount of eccentricity e based on the measurement results of multiple points on the side wall 10 of the structure 1. The control unit 60 as a calculation unit is adapted to identify the positions and rotation directions of the multiple measuring units 40 in a unified coordinate system based on the measurement values of the reflection intensity from the one or more collimation units 30. [Selected Figure] Figure 1

Description

The present invention relates to a coordinate-integrated measurement system having multiple measuring devices that measure the amount of settlement, inclination, and/or eccentricity in a non-contact manner in work involving the sinking of a structure, such as the pneumatic caisson method and the open caisson method (hereinafter referred to as "sinking construction methods").

Traditionally, in submerged excavation using the submerged construction method, construction is carried out while checking the eccentricity, subsidence, and inclination of the caisson body in order to ensure the accuracy of submerged construction. In general, the amount of eccentricity is measured by attaching a target seal or the like to the body and using a total station (TS) installed outside the caisson body, and the amount of eccentricity is monitored while the submerged construction work is carried out.

The amount of settlement is measured using a settlement gauge or by measuring the structure directly with a level during the installation work. Furthermore, the inclination is measured by attaching an inclinometer to the structure, for example, and measuring the inclination during installation (see, for example, Patent Document 1).

JP 2018-168532 A

However, with conventional measurement methods using TS, including that described in Patent Document 1, the target seal is sometimes shaded by scaffolding materials under construction, making it impossible to measure, and the target seal needs to be frequently replaced (see Figure 5). In addition, separate settlement gauges and inclinometers need to be prepared for settlement and tilt management, leading to increased costs.

Therefore, the present invention aims to provide a coordinate-unified measurement system that can unify the coordinates of multiple measurement devices using a simple method and measure posture with high accuracy.

In order to achieve the above object, the coordinate unified measurement system for the submerged construction method of the present invention comprises: a plurality of measurement units installed around a structure constructed during the construction process of the submerged construction method, the measurement units having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor by the rotation mechanism; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the amount of subsidence, tilt, and/or eccentricity based on the measurement results of multiple points on the side wall of the structure; and the calculation unit is configured to identify the positions and rotation directions of the plurality of measurement units in a unified coordinate system based on the measurement values of the reflection intensity from the one or more collimation units.

The coordinate unified measurement system for the submerged construction method of the present invention is provided with a plurality of measurement units installed around a structure constructed in the construction process of the submerged construction method, each of which has a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor by the rotation mechanism; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the amount of subsidence, tilt, and/or eccentricity based on the measurement results of multiple points on the side wall of the structure; and the calculation unit is configured to identify the positions and rotation directions of the plurality of measurement units in a unified coordinate system based on the measurement value of the reflection intensity from the one or more collimation units. With this configuration, the coordinates of the plurality of measurement units can be unified by a simple method, and the posture can be measured with high accuracy.

FIG. 1 is an explanatory diagram illustrating an overall configuration of a coordinate unified measurement system. FIG. 2 is an explanatory diagram illustrating a configuration of a stand-alone posture measurement system. FIG. 2 is a block diagram illustrating the configuration of a control system of the unified coordinate measurement system. FIG. 1 is an explanatory diagram for explaining the posture of the structure in the submerged construction method. FIG. 11 is an explanatory diagram illustrating the relationship between a draft mark and a footing. 1A is a front view illustrating a configuration of a collimation unit when the lines of the special figure are thin, and FIG. FIG. 13 is a front view showing a specific configuration of a special graphic. 1A is an explanatory diagram for explaining angles when the collimation unit is scanned, and FIG. FIG. 11 is an explanatory diagram of a method for determining θ1 and θ2 based on L1 to L4. FIG. 11 is an explanatory diagram of a method for identifying points a, c, and e based on L1 to L4. FIG. 13 is a front view showing a specific configuration of a special figure in another embodiment.

The following describes the embodiments of the present invention with reference to the drawings. However, the components described in the following examples are merely examples and are not intended to limit the technical scope of the present invention.

(Overall configuration of coordinate unified measurement system)
First, the configuration of the coordinate unified measurement system U will be described with reference to Fig. 1. As shown in Fig. 1, the coordinate unified measurement system U of this embodiment includes four measuring units 40, ... that are installed around the skeleton 1 and measure the side walls of the skeleton 1, four collimation units 30, ... that are arranged corresponding to the four measuring units 40, ..., two total stations TS for measuring the position and orientation of the collimation units 30, and a calculation unit (60; not shown, see Fig. 3) that calculates the amount of subsidence, tilt, and eccentricity. Although two total stations TS are drawn in Fig. 1, one total station TS can be used by rearranging the installation.

As shown in the figure, the four measuring units 40, ... of this embodiment are arranged at positions each 90 degrees apart (north, south, east and west positions) with the body 1 at the center. In addition, four collimating units 30, ... are arranged in the opposite direction to the body 1 corresponding to each measuring unit 40. Note that the number of measuring units 40 and collimating units 30 is not limited to four, and there may be two or more measuring units and collimating units.

2, the measuring unit 40 is disposed at a predetermined distance from the body 1, on the periphery (outside) of the body 1. The collimation unit 30 is disposed at an even further distance from the measuring unit 40, on the outside. The measuring unit 40 including the distance sensor 41 is preferably supported and installed by a supporting means such as a tripod. As described below, the rotation axis of the measuring unit 40 (the distance sensor 41) is oriented perpendicular to the direction facing the body 1, and is oriented approximately parallel to the plate surface of the collimation unit 30. Therefore, the central measuring unit 40 can continuously measure both the side wall 10 of the body 1 and the collimation unit 30 in a series of operations.

The distance of the measuring unit 40 from the structure 1 is determined by taking into consideration the most reasonable distance and direction, taking into account the displacement of the ground, the frequency of refilling, and the measurement accuracy. As mentioned above, it is preferable to install the four measuring units 40, ... in four locations near the north (90 degrees), west (180 degrees), south (270 degrees), and east (0 degrees) in consideration of the measurement accuracy. Even if the measuring unit 40 is displaced due to the subsidence and excavation of the structure 1, the collimation unit 30 is scanned continuously (in real time), and the position after the displacement can be identified in real time, so there is no problem with the measurement.

(Configuration of Standalone Posture Measurement Device S)
Next, the configuration of a single (set of) attitude measurement device S will be described in more detail with reference to Figures 2 and 3. As shown in Figure 3, the attitude measurement device S is mainly composed of a measurement unit 40 and a control unit 60 as a calculation unit. By adding a collimation unit (30) and a total station (TS) to each of these components, a coordinate unified measurement system (U) is configured (see Figure 3).

The measurement unit 40 is a so-called 2D-LIDAR, and as shown in Figures 2 and 3, has a non-contact distance sensor 41, a rotation mechanism 42 such as a motor and gear that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 by the rotation mechanism 42. Of these, the rotation mechanism 42 has a rotation axis perpendicular to the radial direction of the body 1. Therefore, the distance sensor 41 of the measurement unit 40 can continuously scan multiple points in the vertical direction on the side wall of the body 1. Furthermore, the measurement unit 40 is designed to measure the collimation unit 30 with a series of operations. In other words, the collimation unit 30 is placed on the scanning surface scanned by the measurement unit 40.

As described above, the measuring unit 40 including the distance sensor 41 is disposed on the periphery (outside) of the body 1. More specifically, the measuring unit 40 (the distance sensor 41) in this embodiment is disposed at four locations around the body 1, each spaced at a central angle of 90 degrees from the body 1 as shown in FIG. 1.

The measurement value (reflected pulse) by the distance sensor 41 has a reflection intensity (the relative strength/size of the reflected pulse). Possible object characteristics that affect this reflection intensity include the reflectance of the material at the wavelength of the LIDAR, the smoothness or roughness of the surface, and the orientation of the reflecting surface relative to the sensor. In this embodiment, the difference in reflectance based on whether or not a special shape is scanned is detected as reflection intensity. The special shape will be described later.

In this embodiment, two or more (multiple) collimation units 30, ... are used for the collimation unit 30. When multiple collimation units 30, ... are used, as shown in the figure, it is preferable that each collimation unit 30, ... is placed in a north-south, east-west position outside the measurement unit 40, corresponding to the measurement unit 40 placed in a north-south, east-west position. However, the multiple collimation units 30, ... may be placed anywhere as long as they can be seen from the total station TS and scanned by the corresponding measurement unit 40.

The collimation unit 30 of this embodiment is composed of a plurality of measuring units 40, a specifying means for specifying the position and rotation direction of each, and a measured means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. In other words, the measuring unit 40 is positioned indirectly via the collimation unit 30. The specific configurations of the specifying means and measured means will be described later.

The control unit 60 as a calculation unit is, for example, a general-purpose personal computer having a memory, a CPU, an SSD, etc. The control unit 60 has, as its functional units, a subsidence amount calculation unit 61 that calculates the subsidence amount s based on the measurement results of multiple points on the side wall of the structure 1, a tilt amount calculation unit 62 that calculates the tilt amount θ, an eccentricity amount calculation unit 63 that calculates the eccentricity amount e based on the measurement data from the multiple measurement units 40, ..., and a coordinate unification unit 64 that specifies the coordinates of each of the multiple measurement units 40, ... in a unified coordinate system. (See FIG. 4 for the subsidence amount s, the tilt amount θ, and the eccentricity amount e.)

The settlement amount calculation unit 61 measures the positions of multiple equally spaced draft marks 10a, ... that are placed on the side walls 10 of the structure 1 so that light and dark (e.g. black and white) can be distinguished, and calculates the amount of change, thereby calculating the amount of settlement s. The tilt amount calculation unit 62 calculates the amount of tilt θ by measuring the angle based on the distance to the side walls 10. The eccentricity calculation unit 63 calculates the center of the structure 1 based on the measurement results of the distance to the multiple side walls 10, and calculates the amount of eccentricity. Of these, the settlement amount s can be calculated by calculating the posture of the structure 1 based on each measurement value, and then the value on the central axis and the value at each corner can be obtained. The function of the coordinate unification unit 64 will be described later.

The control unit 60, which serves as a calculation unit, may be installed in a remote location, near the site, or both. In other words, the measurement data from the distance sensor 41 is sent to the control unit 60 via a cable. Furthermore, the data sent to the control unit 60 via the cable can also be transferred to a remote terminal via the Internet.

In addition to the input values from the measurement unit 40, the control unit 60 is connected to input means such as a keyboard 65 and a mouse 66. Furthermore, the control unit 60 is connected to a monitor 71 and a separate PC 72 for subsidence management as output means. The point cloud data acquired on the side wall 10 of the structure 1 becomes singular points at the upper and lower ends (ground surface), so the side wall of the structure 1 can be clearly recognized on the coordinate axis of the distance sensor 41.

(Specific configuration of collimation unit)
As shown in Figures 6 and 7, the collimation unit 30 of this embodiment is composed of a plurality of measuring units 40, ... an identifying means for determining the position and rotation direction of each of them by reverse calculation, and a measured means for measuring the position and orientation of the collimation unit 30 itself by a total station TS.

More specifically, as shown in FIG. 7, the collimation unit 30 has a collimation plate 31 on which a special figure is drawn as the identifying means, and three prisms 33, 34, and 35 fixed to the collimation plate 31 as the measured means. On the collimation plate 31, vertical lines 31a, horizontal lines 31b, and diagonal lines 31c are drawn with a clear distinction between light and dark as special figures for back-calculating the position of each measurement unit 40. Furthermore, prisms 33, 34, and 35 are installed at three of the four corners of the collimation plate 31.

More specifically, as shown in Figure 7, the sighting plate 31 has a figure drawn of two rectangles with diagonals drawn on them, arranged one above the other, in the same direction and sharing one side. Therefore, the sides of each rectangle are vertical lines 31a, 31a and horizontal lines 31b, 31b, and the diagonal line is oblique line 31c. Prisms 33, 34, and 35 are located at the top left, top right, and bottom right of the sighting plate 31, respectively. Note that the prisms as the measurement means are not limited to these positions, and there need only be at least three, and there may be four or more.

When in use, the measuring unit 40 continuously scans the side wall 10 of the body 1 and the special figure on the sight plate 31, and the total station TS measures the direction and distance to the three prisms 33, 34, and 35.

(Method of identifying measurement position using reflection intensity)
Next, a method for identifying a measurement position using reflection intensity will be described.

1) The distance sensor 41 of the measurement unit 40 rotates the measurement device at recognition angle intervals of, for example, 0.125 degrees, measures the direction (angle), irradiates a laser in each direction, receives the reflected light, and measures (scans) the distance to the object corresponding to the angle.

2) At this time, the distance sensor 41 also measures the reflection intensity, which depends on the reflectance of the reflected light. For example, in the case of a monochrome figure, the whiter the object, the higher the reflectance, and the darker the object, the lower the reflectance.

3) Therefore, by drawing a white line on a black background, the reflection intensity can be perceived as a particularly large value only at angles that pass through this line. Note that as long as the skin emissivity varies in strength, it is not necessary to limit it to a combination of white and black.

4) As explained above, there is no need to identify the position on the board when the rotation of the distance sensor 41 is stopped, as in the existing method, and it is possible to identify the measurement position while continuing continuous measurements, making it possible to unify coordinates more efficiently.

5) It is also possible to improve accuracy by drawing lines that are thicker, preventing non-detection of the measurement position or allowing the measurement to be recognized as the average value of multiple points (see Figures 6(a) and 6(b)). In addition, it is also preferable to improve the precision of the reflection intensity measurement by relatively slowing down the rotation speed of the distance sensor 41.

The calculation unit, which is a functional unit of the control unit 60, has functional units 61-63 that calculate the amount of subsidence s, the amount of tilt θ, and the amount of eccentricity e, and a functional unit 64 that unifies the coordinates of the multiple measurement units 40, ... (i.e., the function of identifying the positions and rotation directions of the multiple measurement units 40, ... in a unified coordinate system). The control unit 60's function of calculating the amount of subsidence s, the amount of tilt θ, and the amount of eccentricity e and the function of unifying the coordinates of the multiple measurement units 40, ... enable accurate measurement (actual measurement and estimation) of the posture of the body 1. Of these, the function of calculating the amount of subsidence s, the amount of tilt θ, and the amount of eccentricity e has been described above, so a description thereof will be omitted. Below, a method for unifying the coordinates of the multiple measurement units 40, ... will be described.

(Method of coordinate unification)
Here, an example of a coordinate unification method when measuring the posture of the body 1 using a plurality of measuring units 40, ... will be described. This coordinate unification method is realized by executing each of the following steps 1) to 5).

1) After constructing a lot halfway through the structure 1, multiple measurement units 40 (range sensors) are fixed in the planned positions. Specifically, for example, four measurement units 40 are installed using tripods or the like at four locations near the 0 degree (east) position, the 90 degree (north) position, the 180 degree (west) position, and the 270 degree (south) position.

2) Furthermore, a collimation unit (dedicated panel) 30, ... for unifying coordinates is installed on the outside of each measurement unit 40, ... corresponding to the measurement unit 40, .... Then, the structure 1 is actually lowered.

3) Each measuring unit 40 (range sensor) continuously scans the side wall 10 of the body 1 and the corresponding collimation unit (dedicated panel) 30 to measure the angle and distance. That is, the distance sensor 41 is rotated by the rotation mechanism 42 to measure the distance, while the rotation position detection unit 43 measures the rotation angle.
In this case, a special figure (see Fig. 6 and Fig. 7) is drawn on the collimation unit (dedicated panel) 30 for unifying coordinates, and prisms 33, 34, and 35 for the total station TS are attached to three of the four corners. Therefore, the positional relationship between the position scanned by the measurement unit 40 and the prisms 33, 34, and 35 can be recognized.

4) Without moving the position of the collimation unit (dedicated panel) 30, measure the three prisms 33, 34, and 35 using a total station TS installed, for example, in a position that overlooks the two collimation units 30, 30 (see Figure 7).

5) Then, the three-dimensional coordinates of each measuring unit 40 are analyzed from the measurement results of 2) to 4) above, and the coordinates are unified. The steps of 2) to 4) can be implemented using four collimation units 30. Furthermore, the collimation unit 30 can be implemented electronically using a commercially available tablet terminal or the like.
Regarding the coordinate unification method, various assumptions can be used to simplify the calculation conditions if necessary. The coordinate unification can be performed before the start of settlement, and can also be performed during construction for the purpose of calibration.

A specific calculation can be performed as follows.
a) Based on the measurement values, the relative positional relationship between the positions and angles of the four measurement units 40 (distance sensors 41) and the positions of the four collimation units 30, ... is calculated. This method will be described next.
b) Based on the measurement values, the relative positional relationship between the positions of the four collimation units 30, ... and the total station TS is calculated.
c) Based on the two positional relationships calculated in a) and b), the relative positional relationship between the position of the total station TS and the positions and angles of the four measuring units 40 (distance sensors 41) is calculated. In other words, this realizes coordinate unification.

(Identifying the position and angle of the measurement part using a special graphic)
Here, a method for specifying the position and angle of the measurement part using a special graphic will be described.
1) An example of a special shape is shown in FIG.
This figure is made up of two identical right-angled triangles with overlapping hypotenuses, and these are then overlapped. The background of the board is black, and the figure is drawn in white.
2) When the surface of this special-purpose board is continuously scanned with the distance sensor 41, the reflection intensity is recognized as a prominent value only at the positions of the figures drawn in white, and five points as shown in FIG. 8(a) can be recognized.
3) It is possible to calculate the distance L based on the recognized points.
4) If L can be specified, the angle can be specified (see FIG. 8(b)).
θ=sin ^-1 (A/L)=θ ₁ or θ ₂
θ ₁ + θ ₂ = 180°
5) Furthermore, if L ₁ , L ₂ , L ₃ , and L ₄ can be specified, then X ₁ , Y ₁ , X ₃ , and Y ₃ , that is, points b and d, can be specified (see FIG. 9).
X ₁ =B×L ₁ /(L ₁ +L ₂ ) Y ₁ =A×L ₁ /(L ₁ +L ₂ )
X ₃ =B×L ₃ /(L ₃ +L ₄ ) Y ₃ =A×L ₃ /(L ₃ +L ₄ )
Moreover, if X ₁ and X ₃ can be specified, it is possible to specify whether θ is θ ₁ or θ ₂ depending on the magnitude of X 1 and X 3 .
6) Furthermore, if L ₁ , L ₂ , L ₃ , and L ₄ can be specified, then ΔX ₁₁ , ΔX ₁₂ , ΔX ₂₁ , and ΔX ₂₂ , that is, points a, c, and e, can be specified (see FIG. 10).
X ₀₁ = cos θ×(L ₁ +L ₂ ) X ₀₂ = cos θ×(L ₃ +L ₄ )
ΔX ₁₁ =X ₀₁ ×L ₂ /(L ₁ +L ₂ ) ΔX ₁₂ =X ₀₁ ×L ₁ /(L ₁ +L ₂ )
ΔX ₂₁ =X ₀₂ ×L ₄ /(L ₃ +L ₄ ) ΔX ₂₂ =X ₀₂ ×L ₃ /(L ₃ +L ₄ )
7) As a result of the above, it becomes possible to determine the measurement coordinates of five points on the dedicated board. Since the positional relationship between multiple dedicated boards is determined using a separately prepared transit or the like, it becomes possible to unify the coordinates of multiple distance sensors 41.
8) Although the procedure is omitted, it is also possible to unify the coordinates using a shape other than the one shown here (for example, see FIG. 11), and the shape is not limited.

(effect)
Next, the effects achieved by the coordinate unified measurement system U of this embodiment will be listed and explained.

(1) As described above, the coordinate-unified measurement system U of this embodiment is a coordinate-unified measurement system U that measures the posture of the structure 1 in a submerged construction method, and is a plurality of measurement units 40, ... that are installed around the structure 1 and scan the side wall 10 of the structure 1, and has a non-contact distance sensor 41, a rotation mechanism 42 that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 by the rotation mechanism 42; and The apparatus includes one or more collimation units 30 for determining the position and rotation direction; a total station TS for measuring the position and orientation of the one or more collimation units 30; and a control unit 60 as a calculation unit that calculates the amount of subsidence s, the amount of tilt θ, and/or the amount of eccentricity e based on the measurement results of multiple points on the side wall 10 of the structure 1. The control unit 60 as a calculation unit determines the positions and rotation directions of the multiple measurement units 40 in a unified coordinate system based on the measurement values of the reflection intensity from the one or more collimation units 30. With this configuration, the coordinates of the multiple measurement units 40, ... can be unified by a simple method, and the posture can be measured with high accuracy. Furthermore, by unifying the coordinates in this way, the posture of the structure 1 can be predicted based on the measurement values by linking multiple measurement values with other multiple measurement values.

(2) In addition, one or more collimation units 30 are provided with an identification means for identifying the position and rotation direction of each of the multiple measurement units 40, etc., and a measurement means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. In this way, by using the identification means and measurement means along the way, it becomes possible to indirectly measure and calculate the relative positions of the multiple measurement units 40, etc. from the total station TS.

(3) Furthermore, one or more collimation units 30 have a collimation plate 31 on which a special figure including vertical lines 31a, horizontal lines 31b, and diagonal lines 31c is drawn as a determination means, and at least three prisms 33, 34, and 35 fixed to the collimation plate 31 as a measured means, thereby realizing the determination means and the measured means with a relatively simple configuration.

(4) Furthermore, the sighting plate 31, which serves as the identification means, has a figure drawn on it of two diagonal rectangles arranged in the same direction and sharing one side, so that a special figure can be constructed extremely easily and accurately, and the position and orientation of the measurement unit 40 can be easily identified.

(5) Furthermore, one or more collimation units 40, ... are arranged on the scanning plane of the measurement unit 40, ... and are arranged so that their position and orientation can be observed by the total station TS. Therefore, measurement of the side wall 10 and self-positioning can be completed as a series of operations with a single scanning operation, making it possible to perform real-time measurements, obtain accurate measurements, and achieve extremely high work efficiency.

(6) In addition, in the body 1, draft marks 10a are drawn at predetermined heights on the surface of the side walls facing the multiple measuring units 40, so the amount of subsidence s can be measured in real time with almost no error. Furthermore, one measuring unit 40 can measure not only the distance (the amount of tilt θ in the front-to-rear direction) but also the left-to-right tilt.

(7) The coordinate unified measurement method using the coordinate unified measurement system U of this embodiment is a coordinate unified measurement method using the coordinate unified measurement system of (5) above, and includes the steps of installing multiple measurement units 40, ..., the multiple measurement units 40, ... measuring one or more collimation units 30, ..., the total station TS measuring one or more collimation units 30, ..., the control unit 60 as a calculation unit determining the positions and rotation directions of the multiple measurement units 40, ... in the unified coordinate system based on the measured values of the reflection intensity from the one or more collimation units 30, ..., the multiple measurement units 40, ... whose positions and rotation directions have been determined in the unified coordinate system scanning the side wall of the body 1, and the control unit 60 calculating the amount of subsidence s, the amount of tilt θ, and/or the amount of eccentricity e based on the measurement results. With this configuration, the coordinates of the multiple measurement units 40, ... can be standardized using a simple method, allowing the posture to be measured with high accuracy. Furthermore, by standardizing the coordinates in this way, multiple measurement values can be linked to other multiple measurement values, allowing the posture of the structure 1 to be predicted based on the measurement values.

The above describes an embodiment of the present invention in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention.

1: body; 10: side wall; 10a: draft mark;
30: collimation unit;
31: collimation plate; 31a: vertical line; 31b: horizontal line; 31c: oblique line;
33, 34, 35: prism;
40: measuring unit;
41: distance sensor; 42: rotation mechanism; 43: rotation position detection unit;
60: control unit (calculation unit);
61: Subsidence amount calculation unit; 62: Tilt amount calculation unit; 63: Eccentricity amount calculation unit;
64: Coordinate Unification Department;
65: keyboard; 66: mouse; 71: monitor;
S: attitude measurement device;
TS: total station;
U: coordinate unified measurement system;
s: Settlement amount; θ: Inclination amount; e: Eccentricity amount

Claims (7)

A coordinate unified measurement system for submerged construction method;
A plurality of measuring units are installed around a structure constructed in a construction process of a submerged construction method and scan a side wall of the structure, the measuring units having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting a rotation position of the distance sensor by the rotation mechanism;
One or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units;
a total station for measuring the position and orientation of one or more of the collimation units;
A calculation unit that calculates the amount of settlement, the amount of inclination, and/or the amount of eccentricity based on the measurement results of multiple points on the side wall of the body;
A coordinate unified measurement system, wherein the calculation unit is configured to identify the positions and rotation directions of the multiple measurement units in a unified coordinate system based on measurement values of reflection intensity from one or more of the collimation units. The coordinate unified measurement system according to claim 1, wherein one or more of the collimation units are provided with an identification means for identifying the position and rotation direction of each of the multiple measurement units, and a measurement means for measuring the position and orientation of the collimation unit itself by the total station. The coordinate unified measurement system according to claim 2, wherein one or more of the collimation units have a collimation plate on which vertical lines, horizontal lines, and diagonal lines are drawn as the identification means, and at least three prisms fixed to the collimation plate as the measurement means. A coordinate unified measurement system as described in claim 3, in which a figure is drawn on the sighting plate as the identification means, in which two rectangles with diagonals are arranged in the same direction and share one side. A coordinate-unified measurement system according to any one of claims 1 to 4, wherein one or more of the collimation units are arranged on the scanning plane of the measurement unit and are arranged so that their positions and orientations can be observed by the total station. A coordinate unified measurement system as described in claim 5, in which draft marks are drawn on the side walls of the body facing the multiple measurement units so that light and dark can be distinguished at predetermined heights. A coordinate unified measurement method using the coordinate unified measurement system according to claim 5,
A step of installing a plurality of the measurement units;
A step in which the plurality of measurement units measure one or a plurality of collimation units;
The total station measures one or more collimation portions;
The calculation unit specifies positions and rotation directions of the plurality of measurement units in a unified coordinate system based on measurement values of reflection intensities from one or more of the collimation units;
A step of scanning a side wall of the body with a plurality of the measurement units whose positions and rotation directions are specified in a unified coordinate system;
The calculation unit calculates the amount of subsidence, the amount of tilt, and/or the amount of eccentricity based on the measurement results.