Construction and management method of columnar body and construction and management system of columnar body

Abstract

To provide a construction and management method of a columnar body capable of controlling a horizontal position, an inclination angle, and a height of a columnar body such as a pile with high accuracy, with a simple structure, and to provide a construction and management system of the columnar body.SOLUTION: A construction and management method of a columnar body includes: an imaging step of acquiring a photographed image of the columnar body so that two or more gauge marks capable of acquiring the coordinates are included in the photographed image, by a camera capable of acquiring the coordinates of an imaging position; a 3D data creation step of creating 3D data including the coordinates of the imaging position and the coordinates of the gauge marks, and a 3D model of the columnar body arranged at a predetermined horizontal position, an inclination angle, and a height; an image synthesizing step of generating a composite image by synthesizing the 3D model with the photographed image based on the positions of the gauge marks in the photographed image and the coordinates of the imaging positions and the coordinates of the gauge marks in the 3D data; and an adjustment step of adjusting the horizontal position, inclined angle, and height of the columnar body so that a difference between the position of the columnar body in the composite image and the position of the 3D model becomes equal to or less than a predetermined allowable error.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a construction management method and a construction management system for columnar bodies, which are used to manage the construction of columnar bodies such as piles and drilled casings used in civil engineering and architectural structures, and columns installed on foundations. [Background technology]

[0002] Piles for civil engineering and architectural structures are installed by driving, pressing, rotary penetration, etc. directly into the ground, or by inserting the pile into a hole made in the ground with a drilling machine such as an earth auger or down-the-hole hammer, and then filling it with mortar or other material to secure it in place.

[0003] In pile construction management, in order to install the pile body in the position as designed, it is necessary to control and manage the horizontal position, height, and vertical inclination of the drilling casing (cylindrical material) that covers the outer periphery of the auger and hammer device used for drilling and protects the hole wall when drilling with a drilling machine. Similarly, when inserting the pile body into the hole made by the drilling machine, it is necessary to control and manage the horizontal position, height, and vertical inclination of the pile body.

[0004] Pile construction management is carried out by installing measuring instruments such as transits and total stations at positions away from the pile construction position in two different directions, and having surveyors aim the measuring instruments. In other words, the surveyor checks whether the horizontal position, height, and inclination to the vertical direction of the drilled casing or pile body measured by the measuring instruments are within the allowable range. If the measured values ​​are outside the allowable range, the surveyor instructs the operator of the construction machine by radio communication or other means in which direction the suspension position of the drilled casing or pile body needs to be moved by a crane or other device. Pile construction management is carried out by operating the construction machine according to these instructions.

[0005] However, this method requires several surveyors, and there are problems such as the time and effort required for the surveyors to measure the horizontal position, height, and vertical inclination of the drilled casing or pile body, and to communicate instructions to the operator of the construction machine, as well as the inability to accurately manage construction due to surveying errors.

[0006] As a result, technology is being developed to accurately and efficiently manage the construction of columnar structures such as piles by using IT technologies such as automatic measurement and GPS.

[0007] For example, Patent Document 1 discloses a method of using GNSS for construction management when installing piles or steel sheet piles made of shaped steel in the ground. Specifically, GNSS receivers are installed at two locations, one on the left and one on the right of the chucking part that grips the head of the pile or steel sheet pile, with a gap between them, to obtain the position and orientation of the pile or steel sheet pile in a three-dimensional coordinate system in real time. The current position and orientation of the pile or steel sheet pile thus obtained are displayed on a monitor together with the design position and orientation, and the driving device is controlled to superimpose the former on the latter, thereby performing construction management.

[0008] Patent Document 2 also discloses a method of using an image of a pile taken by a photographing means for construction management when driving a pile into the ground. Specifically, a target angle for driving the pile is displayed by a cursor line along with the pile image taken by a photographing means provided in front of the pile. An operator operates the pile driver while visually checking whether a marking provided on the side edge or side of the pile matches the cursor line in the pile image. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2015-048635 A [Patent Document 2] JP 2012-127091 A Summary of the Invention [Problem to be solved by the invention]

[0010] However, in the technology disclosed in Patent Document 1, the GNSS receiver is provided in the chucking section of the pile driving device, so the GNSS receiver vibrates significantly when the driving device drives the pile, which causes problems such as the GNSS receiver falling off or breaking down, and the measurement values ​​of the position information acquired by the GNSS receiver being unreliable.

[0011] In addition, in the technology disclosed in Patent Document 2, it is necessary to place the photographing means on the ground in front of the pile using a tripod or the like. In the construction management of piles on steep slopes, such as support piles for road structures in mountainous areas, it may be difficult to place the photographing means in an appropriate position, so there are cases in which the technology disclosed in Patent Document 2 cannot be applied. In addition, in the technology disclosed in Patent Document 2, although it is possible to control and manage the driving angle of the pile, it is necessary to position the pile by marking out the position by surveying or the like according to the design drawing in order to control and manage the position of the pile. Therefore, there is a problem that the work of surveying and construction time for positioning the pile are separately generated.

[0012] The present invention has been made to solve the above-mentioned problems, and aims to provide a construction management method and a construction management system for columnar bodies that can control the horizontal position, inclination angle, and height of columnar bodies such as piles and pillars with high precision using a simple configuration. [Means for solving the problem]

[0013] The means for solving the above problems are as follows. [1] A construction management method for a columnar body used to install a columnar body at a predetermined horizontal position, inclination angle, and height relative to the ground, comprising: a photographing process for capturing a photographed image of the columnar body using a camera capable of acquiring the coordinates of the photographing position such that the photographed image contains two or more reference points whose coordinates can be acquired; a 3D data creation process for creating 3D data including the coordinates of the photographing position and the coordinates of the reference points, and a 3D model of the columnar body placed at the predetermined horizontal position, inclination angle, and height; an image synthesis process for synthesizing the 3D model with the photographed image based on the position of the reference point in the photographed image and the coordinates of the photographing position and the coordinates of the reference point in the 3D data to generate a synthetic image; and an adjustment process for adjusting the horizontal position, inclination angle, and height of the columnar body so that the difference between the position of the columnar body in the synthetic image and the position of the 3D model is within a predetermined allowable error. [2] A construction management method for a columnar body described in [1], in which the camera and the reference point are equipped with GNSS receivers, and the coordinates of the shooting position and the coordinates of the reference point are acquired by the GNSS receiver. [3] A construction management method for a columnar body used to install a columnar body at a predetermined horizontal position, inclination angle, and height relative to the ground, comprising: a photographing process for acquiring a photographed image of the columnar body using a camera capable of acquiring the coordinates of the photographing position and the photographing direction; a 3D data creation process for creating 3D data including the coordinates of the photographing position and a 3D model of the columnar body placed at the predetermined horizontal position, inclination angle, and height; an image synthesis process for generating a synthetic image by synthesizing the 3D model with the photographed image based on the coordinates of the photographing position and the photographing direction and the viewing angle of the camera; and an adjustment process for adjusting the horizontal position, inclination angle, and height of the columnar body so that the difference between the position of the columnar body in the synthetic image and the position of the 3D model is within a predetermined allowable error. [4] A construction management method for a columnar body described in [1] or [3], in which the camera is equipped with a GNSS receiver, and the coordinates of the shooting position are obtained by the GNSS receiver. [5] The construction management method for a columnar body described in [2], wherein the camera is mounted on an aircraft. [6] The construction management method for a columnar body described in [4], wherein the camera is mounted on an aircraft. [7] The construction management method for a columnar body described in any one of [1] to [3], wherein the columnar body is a pile body or a drilled casing. [8] The construction management method for a columnar body described in any one of [1] to [3], wherein the columnar body is a column of a building. [9] A columnar construction management system used to install a columnar body at a predetermined horizontal position, inclination angle, and height relative to the ground, comprising: a camera arranged at a position where the columnar body can be photographed and capable of acquiring the coordinates of the photographing position; two or more reference points arranged at positions included in the image captured by the camera and capable of acquiring coordinates of the reference points; a data memory unit storing 3D data including the coordinates of the reference points and a 3D model of the columnar body arranged at the predetermined horizontal position, inclination angle, and height; a synthetic image generation unit that generates a synthetic image by combining the 3D model with the captured image based on the position of the reference point in the captured image and the coordinates of the photographing position and the coordinates of the reference points in the 3D data; and a display that displays the synthetic image.

[10] A construction management system for a columnar body used to install a columnar body at a predetermined horizontal position, inclination angle, and height relative to the ground, comprising: a camera arranged at a position where the columnar body can be photographed and capable of acquiring the coordinates of the photographing position and the photographing direction; a data memory unit storing 3D data including a 3D model of the columnar body arranged at the predetermined horizontal position, inclination angle, and height; a composite image generation unit that generates a composite image by combining the 3D model with the image captured by the camera based on the coordinates of the photographing position and the photographing direction and the viewing angle of the camera; and a display that displays the composite image.

[11] A construction management system for a columnar body as described in [9] or

[10] , wherein the synthetic image generation unit synthesizes into the synthetic image the allowable error range of the horizontal position, tilt angle and height of the columnar body in the captured image based on the horizontal position, tilt angle and height of the 3D model in the synthetic image.

[12] A construction management system for a columnar body as described in [9] or

[10] , wherein the composite image generation unit highlights the outer edge of the columnar body in the captured image to be composited into the composite image. Effect of the Invention

[0014] According to the columnar body construction management method and columnar body construction management system of the present invention, the horizontal position, inclination angle, and height of a columnar body such as a pile can be controlled with high precision using a simple configuration.

[0015] Specifically, in the columnar body construction management method and columnar body construction management system of the present invention, the construction management of the columnar body is performed using images of the columnar body taken by a camera placed at a location away from the construction position of the columnar body. Therefore, unlike in the case of performing construction management by providing measuring instruments and sensors on a columnar body construction machine or the columnar body itself, there is no risk of the measuring instruments and sensors falling off or breaking down due to vibrations of the columnar body construction machine, and no risk of the measured values ​​obtained by the measuring instruments and sensors becoming unreliable.

[0016] In addition, the captured images of the columnar body can be used to check not only the horizontal position, inclination angle, and height of the columnar body, but also the construction machinery and construction environment around the columnar body, allowing construction management of the columnar body to be carried out safely and appropriately.

[0017] Furthermore, the horizontal position, inclination angle, and height of the 3D model of the columnar body are synthesized with the photographed image of the columnar body to generate a synthetic image. Then, the horizontal position, inclination angle, and height of the columnar body in the synthetic image are adjusted so that the horizontal position, inclination angle, and height of the columnar body in the synthetic image are within a predetermined tolerance with respect to the 3D model in the synthetic image. Therefore, it is not necessary to position the columnar body by marking out the position by surveying or the like according to the design drawing to control and manage the horizontal position of the columnar body. Therefore, the labor and construction time for surveying to position the columnar body is not required, and the labor and construction time for the construction of the columnar body can be reduced. [Brief description of the drawings]

[0018] [Figure 1]FIG. 1 is a perspective view showing a construction management situation of a columnar body by a construction management method and a construction management system for a columnar body according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing the overall configuration of a columnar body construction management system according to the first embodiment of the present invention. [Diagram 3] FIG. 3 is a perspective view that illustrates a schematic example of a 3D model in the columnar body construction management method and columnar body construction management system of the present invention. [Figure 4] FIG. 4 is a perspective view that shows a schematic example of 3D data in the columnar construction management method and columnar construction management system of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of a composite image in the columnar construction management method and columnar construction management system of the present invention. [Figure 6] FIG. 6 is a flowchart showing a process flow by the method for managing construction of a columnar body and the system for managing construction of a columnar body according to the first embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of an image captured in the columnar construction management method and columnar construction management system of the present invention. [Figure 8] 8(a) and 8(b) are diagrams showing an example of a composite image in the columnar construction management method and columnar construction management system of the present invention. [Figure 9] 9(a) and 9(b) are diagrams showing an example of a composite image in the columnar construction management method and columnar construction management system of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a composite image in the method for managing construction of a columnar body and the system for managing construction of a columnar body of the present invention. [Figure 11] FIG. 11 is a perspective view showing a construction management situation of a columnar body by a construction management method and a construction management system for a columnar body according to the second embodiment of the present invention. [Figure 12]FIG. 12 is a perspective view showing a construction management state of a columnar body by a construction management method and a construction management system for a columnar body according to the third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, with reference to the drawings, an embodiment of the columnar body construction management method and columnar body construction management system of the present invention will be specifically described. First Embodiment FIG. 1 is a schematic diagram showing the construction management status of a columnar body by the columnar body construction management method and columnar body construction management system of the first embodiment of the present invention. As shown in FIG. 1, the columnar body construction management method and columnar body construction management system 1 of the first embodiment are used for construction management when a pile body C1 supporting a road structure S is installed at a predetermined horizontal position, inclination angle, and height with respect to the ground G. The columnar body construction management method and columnar body construction management system 1 of the first embodiment are also used for construction management when a drilling casing C2 for covering the outer periphery of an auger or hammer device for drilling and protecting the hole wall is rotated and inserted at a predetermined horizontal position, inclination angle, and height with respect to the ground G when a hole for inserting the pile body C1 into the ground G is drilled in advance.

[0020] As shown in Figure 1, the road structure S is constructed on the slope on the valley side of an existing road in order to widen the existing road that crosses a slope in a mountainous area, and the pile body C1 supporting this road structure S is installed on the sloping ground G.

[0021] A block diagram of the overall configuration of the columnar body construction management system 1 of the first embodiment is shown in Fig. 2. As shown in Fig. 2, the columnar body construction management system 1 of the first embodiment is configured to include two cameras 11 and 12, two reference points 21 and 22, a computer 40, and a construction management display 50.

[0022] As shown in Fig. 1, two cameras 11 and 12 are arranged at positions where they can photograph the pile body C1 and the drilled casing C2, and a general camera used for pile construction management can be used as is. Of the two cameras 11 and 12, one camera 11 is fixed near the tip of a work platform for constructing the road structure S. This camera 11 is used to control the horizontal position and inclination angle, as well as the height, of the pile body C1 and the drilled casing C2 in the Y direction perpendicular to the X direction, which is the progress direction of the construction of the road structure S.

[0023] Another camera 12 is mounted on an aircraft, for example, a drone 30. This camera 12 is used to control the horizontal position and inclination angle, as well as the height, of the pile body C1 and the drilled casing C2 in the X direction, which is the proceeding direction of the construction of the road structure S.

[0024] As shown in Fig. 1, the two reference points 21, 22 are provided on the ground G in front of the tip of a work platform for constructing the road structure S. Specifically, the reference points 21, 22 are arranged on both sides of the pile body C1 or the drilled casing C2 so as to sandwich the pile body C1 or the drilled casing C2, so that they are included in the images P11, P12 captured by the cameras 11, 12 capturing the images of the pile body C1 or the drilled casing C2.

[0025] In addition, the two cameras 11, 12 and the two reference points 21, 22 are arranged so as not to be aligned on a straight line. Specifically, the cameras 11, 12 and the reference points 21, 22 are arranged so that the positions of the reference points 21, 22 included in the image P11 captured by the camera 11 do not overlap on the captured image P11, and the positions of the reference points 21, 22 included in the image P12 captured by the camera 12 do not overlap on the captured image P12. When the image captured by a camera contains three or more reference points, the coordinates of the camera's shooting position and the coordinates of the reference points included in the image captured by this camera are arranged so as not to be aligned on a straight line. In other words, as long as at least one of these coordinates is deviated from the straight line, the rest may be aligned on a straight line.

[0026] GNSS (Global Navigation Satellite System) receivers 11a, 12a, 21a, 22a are built into the cameras 11, 12 and the reference points 21, 22, respectively, and it is possible to acquire the coordinates of the photographing positions taken by the cameras 11, 12 and the coordinates of the reference points 21, 22. In this way, by having the GNSS receivers 11a, 12a, 21a, 22a built into the cameras 11, 12 and the reference points 21, 22 and acquiring the coordinates of the photographing positions taken by the cameras 11, 12 and the coordinates of the reference points 21, 22, it is possible to reduce the work and construction period of the surveying.

[0027] In addition, the camera 12 used to control the horizontal position and inclination angle of the pile body C1 and the drilled casing C2 in the X direction, which is the progress direction of the construction of the road structure S, as well as the height, needs to be placed on the valley side or mountain side of the road structure S. However, it is often difficult to install this camera 12 on the slope of the ground G. Therefore, as described above, the camera 12 is mounted on the drone 30 and the coordinates of the photographing position by the camera 12 are obtained by the GNSS receiver 12a, which makes it easy to place the camera 12 for controlling the horizontal position and inclination angle of the pile body C1 and the drilled casing C2 in the X direction, as well as the height.

[0028] Alternatively, if the coordinates of the reference points 21, 22 set on the ground G and the coordinates of the camera 11 fixed to the work platform have been obtained in advance by surveying or the like, the GNSS receivers 21a, 22a, 11a of these reference points 21, 22 and the camera 11 may be omitted.

[0029] As shown in FIG. 2, the computer 40 is composed of a general-purpose computer capable of communicating with the cameras 11, 12, the reference points 21, 22, and the construction management display 50, and includes a data storage unit 41 and a composite image generation unit .

[0030] The data storage unit 41 stores 3D data 41d including a 3D model M of a pile C1 placed at a predetermined horizontal position, inclination angle, and height, which is created by CAD (Computer Aided Design), BIM (Building Information Modeling), or the like based on the design drawing of the road structure S. Fig. 3 shows a schematic perspective view of the 3D data 41d including the 3D model M of the pile C1 placed at a predetermined horizontal position, inclination angle, and height.

[0031] 2, the coordinates of the photographing positions taken by the cameras 11 and 12 and the coordinates of the reference points 21 and 22 acquired by the GNSS receivers 11a, 12a, 21a, and 22a are added to the 3D data 41d stored in the data storage unit 41. Fig. 4 is a schematic perspective view showing the 3D data 41d including the coordinates of the photographing positions taken by the cameras 11 and 12 and the coordinates of the reference points 21 and 22, as well as a 3D model M of the pile body.

[0032] The composite image generating unit 42 generates a composite image P21 by compositing the 3D model M of the pile body C1 in the 3D data 41d with the photographed image P11 based on the positions of the reference points 21, 22 in the photographed image P11 by the camera 11, the coordinates of the reference points 21, 22 in the 3D data 41d, and the coordinates of the photographing position by the camera 11. Specifically, the 3D model M of the pile body C1 in the 3D data 41d is two-dimensionalized by viewing the photographing position by the camera 11 in the 3D space as a viewpoint, and then compositing the two-dimensionalized projection view with the photographed image P11 by the camera 11 after adjusting the magnification and rotation angle to generate the composite image P21.

[0033] Here, the number of reference points 21, 22 included in the photographed image P11 is two. The positional relationship between the reference points 21, 22 in the projection of the 3D data 41d changes depending on the position of the viewpoint described above. Therefore, the magnification and rotation angle of the projection are adjusted so that the positions of the reference points 21, 22 in the projection with the photographing position of the camera 11 as the viewpoint match the positions of the reference points 21, 22 included in the photographed image P11. In this way, the 3D model M of the pile body C1 in the 3D data 41d can be synthesized with the photographed image P11.

[0034] Similarly, the composite image generating unit 42 generates a composite image P22 by synthesizing the 3D model M of the pile body C1 in the 3D data 41d with the photographed image P12 based on the positions of the reference points 21, 22 in the photographed image P12 by the camera 12, the coordinates of the reference points 21, 22 in the 3D data 41d, and the coordinates of the photographing position by the camera 12. The composite image P22 can be generated by adjusting the magnification and rotation angle of the projection view so that the positions of the reference points 21, 22 in the projection view, which is two-dimensionalized by viewing the 3D model M of the pile body C1 in the 3D data 41d from the viewpoint of the photographing position by the camera 12 in the 3D space, match the positions of the reference points 21, 22 included in the photographed image P12, in the same manner as in generating the composite image P21.

[0035] Fig. 5 shows a schematic diagram of the state in which the 3D model M of the pile body C1 is synthesized with the photographed images P11 and P12. Fig. 5 shows a conceptual diagram of the synthesis of the photographed images P11 and P12, which show a bird's-eye view of the road structure S from positions different from the cameras 11 and 12, and the 3D model M of the pile body C1.

[0036] 2, the construction management display 50 is an output device that receives the composite images P21 and P22 transmitted from the computer 40 and displays the images. The construction management display 50 may be any device that has a function for displaying images, but may also have an input function, such as a tablet terminal.

[0037] Next, a method for managing the construction of a columnar body according to the first embodiment, that is, a process flow by the system 1 for managing the construction of a columnar body, will be described with reference to FIG.

[0038] First, as shown in Figure 3, based on the design drawing of the road structure S, a 3D model M of the pile body C1 placed at a specified horizontal position, inclination angle, and height is created using CAD (Computer Aided Design), BIM (Building Information Modeling), etc. (Step S1 in Figure 6).

[0039] In Fig. 3, not only the 3D model M of the pile body C1 to be the subject of construction management, but also 3D models of other pile bodies adjacent to the pile body C1 to be the subject of construction management are illustrated, but it is preferable to use only the 3D model M of the pile body C1 to be the subject of construction management. In this way, the amount of data 41d including the 3D model M of the pile body C1 can be reduced and the calculation processing can be accelerated, which is suitable for performing construction management in real time in parallel with driving of the pile body C1 or rotational insertion of the drilled casing C2.

[0040] Next, the cameras 11 and 12 equipped with the GNSS receivers 11a, 12a, 21a, and 22a and the reference points 21 and 22 are installed at the site where the pile body C1 and the drilled casing C2 are driven or rotated and inserted (step S2 in FIG. 6). The two reference points 21 and 22 are arranged on both sides of the pile body C1 or the drilled casing C2 on the ground G in front of the tip of the work platform for constructing the road structure S, so as to sandwich the pile body C1 or the drilled casing C2. At this time, the positions of the reference points 21 and 22 are included in the images P11 and P12 captured by the camera 11 fixed near the tip of the work platform for constructing the road structure S and the camera 12 mounted on the drone 30.

[0041] As described above, if the coordinates of the reference points 21, 22 set on the ground G and the coordinates of the camera 11 fixed to the work platform have been obtained in advance by surveying or the like, the GNSS receivers 21a, 22a, 11a of these reference points 21, 22 and the camera 11 may be omitted.

[0042] Next, a photographing process is performed in which the camera 11 captures an image P11 of the pile body C1 or the drilled casing C2 so that the reference points 21 and 22 are included in the photographed image P11, and the camera 12 captures an image P12 of the pile body C1 or the drilled casing C2 so that the reference points 21 and 22 are included in the photographed image P12 (step S3 in FIG. 6). FIG. 7 shows an image P12 captured from the front of the construction machine H by the camera 12 mounted on the drone 30, showing a state in which the drilled casing C2 is being rotated and inserted into the ground G, together with the reference points 21 and 22. Photographing by the camera 12 is generally performed from a direction perpendicular to the road, but FIG. 7 shows an example of the photographed image P12 when the camera 12 captures the image from the front of the construction machine H.

[0043] Next, as shown in Fig. 4, the coordinates of the photographing positions taken by the cameras 11 and 12 and the coordinates of the reference points 21 and 22 acquired by the GNSS receivers 11a, 12a, 21a, and 22a are added to the 3D data 41d created in step S1. This completes the 3D data creation process of creating 3D data 41d including the coordinates of the photographing positions taken by the cameras 11 and 12 and the coordinates of the reference points 21 and 22, as well as the 3D model M of the pile body C1 placed at a predetermined horizontal position, inclination angle, and height (step S4 in Fig. 6).

[0044] Next, the composite image generation unit 42 performs an image synthesis process in which the 3D model M is synthesized with the captured images P11, P12 based on the positions of the reference points 21, 22 in the captured images P11, P12, the coordinates of the shooting positions by the cameras 11, 12 and the coordinates of the reference points 21, 22 in the 3D data 41d, to generate composite images P21, P22 (step S5 in Figure 6).

[0045] At this time, as described above, based on the positions of the reference points 21, 22 in the image P11 captured by the camera 11 and the coordinates of the photographing position by the camera 11 and the coordinates of the reference points 21, 22 in the 3D data 41d, the 3D model M of the pile body C1 in the 3D data 41d is synthesized with the photographed image P11 to generate a composite image P21. Specifically, the 3D model M of the pile body C1 in the 3D data 41d is two-dimensionalized by viewing the coordinates of the photographing position by the camera 11 in the 3D space as a viewpoint, and the magnification and rotation angle are adjusted before synthesizing the two-dimensional projection with the image P11 captured by the camera 11 to generate the composite image P21.

[0046] Similarly, based on the positions of the reference points 21, 22 in the image P12 captured by the camera 12 and the coordinates of the capturing position by the camera 12 and the coordinates of the reference points 21, 22 in the 3D data 41d, the 3D model M of the pile body C1 in the 3D data 41d is synthesized with the captured image P12 to generate a composite image P22.

[0047] Next, the composite images P21 and P22 generated by the composite image generation unit 42 are transmitted from the computer 40 to the construction management display 50 and displayed (step S6 in FIG. 6). FIGS. 8(a) and 8(b) show the composite image P22 displayed on the construction management display 50. However, FIG. 8 shows an example of the composite image P22 when the camera 12 captures the image from the front of the construction machine H.

[0048] As shown in FIG. 8(a), in the composite image P22, a 3D model M of the pile body C1 displayed by a white solid line is composited with the photographed images of the drilled casing C2 and the reference points 21 and 22. The 3D model M of the pile body C1 displayed by a white solid line in the composite image P22 shows the outer edge of the pile body C1 when the pile body C1 is installed at the horizontal position, inclination angle and height as per the design drawing. Also, FIG. 8(b) is an enlarged view of the part surrounded by a double line in the composite image P22 shown in FIG. 8(a). As shown in FIG. 8(b), the construction management display 50 preferably has a function of enlarging and displaying a part of the composite image P22.

[0049] Next, the operator of the construction machine H breaks the rock of the ground G with a hammer at the tip inside the drilling casing C2 suspended by the construction machine H, and rotates and inserts the drilling casing C2 into the ground G to perform drilling. At this time, the operator of the construction machine H proceeds with drilling while checking the composite images P21 and P22 displayed on the construction management display 50. Specifically, an adjustment process is performed to adjust the horizontal position, inclination angle, and height of the drilling casing C2 so that the difference between the outer edge of the drilling casing C2 in the composite images P21 and P22 and the outer edge of the 3D model M of the pile body C1 displayed by a white solid line is within a predetermined allowable error (step S7 in FIG. 6).

[0050] This adjustment step will be described in more detail below.

[0051] 9(a) and 9(b) are schematic diagrams showing composite images P21 and P22 displayed on the construction management display 50. As described above, the composite image P21 including the image P11 captured by the camera 11 is used to control the horizontal position and inclination angle, as well as the height, of the drilled casing C2 in the Y direction perpendicular to the X direction, which is the direction of progress of the construction of the road structure S. The composite image P22 including the image P12 captured by the camera 12 is used to control the horizontal position and inclination angle, as well as the height, of the drilled casing C2 in the X direction, which is the direction of progress of the construction of the road structure S.

[0052] As shown in Figures 9(a) and 9(b), a composite image P21 used for construction management of the horizontal position and inclination angle of the drilled casing C2 in the Y direction and a composite image P22 used for construction management of the horizontal position and inclination angle of the drilled casing C2 in the X direction are displayed side by side on the construction management display 50.

[0053] For example, if the outer diameter of the pile body C1 is 500 mm and the outer diameter of the drilled casing C2 is 600 mm, the construction machine H is controlled so that the outer edge of the drilled casing C2 in the composite images P21 and P22 is outside the outer edge of the 3D model M of the pile body C1 displayed as a solid white line.

[0054] That is, as shown in Figures 9(a) and 9(b), if part of the outer edge of the drilled casing C2 in the composite images P21 and P22 is inside the outer edge of the 3D model M of the pile body C1 displayed by a white solid line, the horizontal position and inclination angle of the drilled casing C2 are adjusted. This makes it so that the entire outer edge of the drilled casing C2 in the composite images P21 and P22 is outside the outer edge of the 3D model M of the pile body C1 displayed by a white solid line.

[0055] Alternatively, in the above-mentioned image synthesis step (step S5 in FIG. 6), the synthetic image generating unit 42 may add a reference line indicating the range of allowable error of the horizontal position, inclination angle, and height of the drilled casing C2 based on the 3D model M of the pile body C1 in the synthetic images P21 and P22. For example, the allowable error range is set to ±100 mm on both sides of the outer edge of the 3D model M of the pile body C1, and a reference line indicating this allowable error range is displayed in the synthetic image P22. Then, the outer edge of the drilled casing C2 in the synthetic images P21 and P22 is set to be inside this reference line.

[0056] 9(a) and 9(b), a driving stop control mark C2a is attached to the outer peripheral surface of the upper end of the drilling casing C2. In addition, in the above-mentioned image synthesis process (step S5 in FIG. 6), the synthetic image generating unit 42 adds the driving stop height Ma of the driving stop control mark C2a of the drilling casing C2 to the synthetic images P21 and P22 based on the 3D model M of the pile body C1. Then, by performing rotary drilling using the drilling casing C2 until the driving stop control mark C2a of the drilling casing C2 is lower than the driving stop height Ma in the synthetic images P21 and P22, a sufficient drilling length can be obtained.

[0057] In this manner, as shown by the dashed lines in Figures 9(a) and 9(b), the horizontal position, inclination angle and height of the drilling casing C2 are adjusted to within a predetermined tolerance.

[0058] Next, the pile body C1 is hung from the construction machine H. Then, the operator of the construction machine H inserts and erects the pile body C1 into the hole drilled by the drilling casing C2. At this time, the construction management when driving the pile body C1 at a predetermined horizontal position, inclination angle and height relative to the ground G is performed in the same manner as the construction management when rotating and inserting the drilling casing C2 at a predetermined horizontal position, inclination angle and height relative to the ground G.

[0059] Figure 10 shows an image P12 taken from the front of the construction machine H by the camera 12 mounted on the drone 30, along with reference points 21 and 22, showing the situation where the pile body C1 is inserted into the hole drilled by the drilling casing C2 and is being erected.

[0060] At this time, as shown in Fig. 10, in the above-mentioned image synthesis step (step S5 in Fig. 6), it is preferable that the synthetic image generating unit 42 adds a reference line Mb indicating the range of allowable errors for the horizontal position, inclination angle, and height of the pile body C1 based on the 3D model M of the pile body C1 in the synthetic images P21 and P22. For example, the allowable error range is set to ±100 mm on both sides of the outer edge of the 3D model M of the pile body C1, and the reference line Mb indicating this range of allowable error is displayed in the synthetic image P22.

[0061] Furthermore, as shown in Fig. 10, in the above-mentioned image synthesis process (step S5 in Fig. 6), it is preferable that the outer edge of the pile body C1 in the photographed image P12 to be synthesized into the synthetic image P22 by the synthetic image generating unit 42 is highlighted with a contour line R by automatic image processing. In this way, it becomes easier for the operator of the construction machine H to visually recognize the deviation between the position of the pile body C1 in the synthetic images P21 and P22 and the position of the 3D model M.

[0062] Furthermore, in the above-mentioned image synthesis process (step S5 in FIG. 6), it is preferable that the synthetic image generating unit 42 digitizes the contour line R of the outer edge of the pile body C1, calculates the difference with the outer edge of the 3D model M of the pile body C1, and displays it in the synthetic images P21 and P22. In this way, the operator of the construction machine H can quantitatively grasp the deviation between the position of the pile body C1 and the position of the 3D model M in the synthetic images P21 and P22.

[0063] Then, the outer edge of the pile body C1 in the composite images P21 and P22 is set inside the above-mentioned reference line Mb. In this way, the pile body C1 is installed at a predetermined position while performing an adjustment process to adjust the horizontal position, inclination angle, and height of the pile body C1 so that the difference between the position of the pile body C1 in the composite images P21 and P22 and the position of the 3D model M is within a predetermined allowable error (step S8 in FIG. 6).

[0064] Next, the gap between the inner surface of the hole drilled by the drilling casing C2 and the pile body C1 is filled with a filler (not shown) to fix the pile body C1 in the hole (step S9 in FIG. 6). This completes the construction of the pile body C1.

[0065] In the above-mentioned first embodiment, an example of using two cameras 11 and 12 has been described, but in the first embodiment, the same actions and effects as those described above can be achieved even if the number of cameras is one or three or more.

[0066] In the above-described first embodiment, an example has been described in which the processes are performed in the order of the photographing process (step S3 in FIG. 6), the 3D data creation process (step S4 in FIG. 6), the image synthesis process (step S5 in FIG. 6), and the adjustment process (steps S7 and S8 in FIG. 6). Instead, even if the order of each process in the first embodiment is partially changed within a range that does not affect the subsequent processes, the same actions and effects as those described above can be achieved. Second Embodiment FIG. 11 shows a schematic diagram of a columnar construction management method and a columnar construction management system 2 according to the second embodiment of the present invention.

[0067] As shown in FIG. 11, in the columnar construction management method and columnar construction management system 2 of the second embodiment, unlike the first embodiment, the camera 12 is not mounted on the drone 30 but is provided on the ground G. Specifically, the camera 12 is installed on the ground G below the tip of a work platform for constructing a road structure S, at a position directly below the camera 11 fixed near the tip of the work platform. That is, the two cameras 11 and 12 are installed so that they are at the same horizontal position but different heights. In other respects, the columnar construction management method and columnar construction management system 2 of the second embodiment are configured similarly to the first embodiment.

[0068] In the columnar body construction management method and columnar body construction management system 2 of the second embodiment, a composite image P21 can be generated by compositing a 3D model M of the pile body C1 in the 3D data 41d with the photographed image P11 based on the positions of the reference points 21, 22 in the photographed image P11 by the camera 11, and the coordinates of the photographed position by the camera 11 and the coordinates of the reference points 21, 22 in the 3D data 41d, in the same manner as in the first embodiment. Also, a composite image P22 can be generated by compositing a 3D model M of the pile body C1 in the 3D data 41d with the photographed image P12 based on the positions of the reference points 21, 22 in the photographed image P12 by the camera 12, and the coordinates of the photographed position by the camera 12 and the coordinates of the reference points 21, 22 in the 3D data 41d. Third embodiment FIG. 12 shows a schematic diagram of a construction management method for a columnar body and a construction management situation for a columnar body by a construction management system 3 for a columnar body according to the third embodiment of the present invention.

[0069] As shown in Fig. 12, in the columnar body construction management method and columnar body construction management system 3 of the third embodiment, the reference points 21 and 22 in the first embodiment are omitted. Also, in the third embodiment, the camera 11 fixed near the tip of the work platform in the first embodiment is omitted, and only the camera 12 mounted on the drone 30 is used. In other respects, the same configuration as the first embodiment shown in Fig. 2 is applied.

[0070] In the third embodiment, the camera 12 mounted on the drone 30 is provided with a GNSS receiver 12a for acquiring the coordinates of the shooting position, as well as an orientation sensor (not shown) for acquiring the shooting direction. The camera 12 is configured to be able to acquire the viewing angle of the captured image P12. The viewing angle of the camera 12 can be acquired based on, for example, the focal length of the lens of the camera 12.

[0071] In the third embodiment, the 3D data creation step (step S4 in FIG. 6) in the first embodiment is changed as follows. That is, as shown in FIG. 12, the composite image generating unit 42 generates a composite image P22 by combining a 3D model M of the pile body C1 with an image P12 captured by the camera 12 based on the coordinates of the shooting position and shooting direction of the camera 12 and the viewing angle of the camera 12. In other respects, the same processing flow as in the first embodiment shown in FIG. 6 is applied.

[0072] Specifically, similarly to the first embodiment, the coordinates of the photographing position by the camera 12 acquired by the GNSS receiver 12a are added to the 3D data 41d. Then, the 3D model M of the pile body C1 in the 3D data 41d is two-dimensionalized by viewing the 3D model M of the pile body C1 in the 3D data 41d from the coordinates of the camera 12 in the 3D space as a viewpoint, and the projection image is synthesized with the photographed image P12 by the camera 12 after adjusting the magnification and rotation angle to generate a synthesized image P22.

[0073] The adjustment of the magnification and the rotation angle at this time can be performed using the viewing angle obtained based on the focal length of the lens of the camera 12 and the shooting direction obtained from the direction sensor provided in the camera 12. In this way, the 3D model M of the pile body C1 in the 3D data 41d can be synthesized with the captured image P11.

[0074] In other respects, the columnar body construction management method and columnar body construction management system 3 of the third embodiment are configured in the same manner as in the first embodiment.

[0075] In the third embodiment, instead of using only one camera 12 as shown in FIG. 12, another camera that can obtain the coordinates of the shooting position and the shooting direction like the camera 12 is used, so that construction management can be performed from two directions, i.e., the X direction and the Y direction.

[0076] In the third embodiment of the columnar body construction management method and columnar body construction management system 3, the same effects as those of the first and second embodiments can be obtained without setting a reference point on the inclined surface of the ground G.

[0077] In each of the above-mentioned embodiments, an example of construction management of a pile body C1 supporting a road structure S, or a drilling casing C2 for drilling a hole in advance for inserting the pile body C1 into the ground G has been described. However, the application of the columnar body construction management method and columnar body construction management system of the present invention is not limited to this, and can also be applied to construction management when installing a column of a building, for example. In other words, when installing a column on a foundation built on the ground, the horizontal position, inclination angle, and height of the column body can be controlled by replacing the pile body or drilling casing in each of the above-mentioned embodiments with a column body. [Explanation of symbols]

[0078] 1~3 Construction management system for columnar structures 11, 12 Camera 21, 22 Gauge points 11a, 12a, 21a, 22a GNSS receivers 30 Drones (Flying Objects) 40 Computer 41 Data storage unit 41d 3D data 42 Composite image generation unit 50 Construction management display C1 Pile body (column material) C2 Drilled casing C2 (columnar material) C2a Stop Control Mark M 3D Model Ma striking height Mb Reference Line R Contour P11, P12 Images P21, P22 composite image G. Ground H Construction machinery S road structure

Claims

1. A construction management method for a columnar body used for installing the columnar body at a predetermined horizontal position, inclination angle, and height with respect to the ground, comprising: an imaging process of acquiring an image of the columnar body by a camera capable of acquiring coordinates of an imaging position such that the image includes two or more reference points whose coordinates can be acquired; a 3D data creation process for creating 3D data including the coordinates of the photographing position, the coordinates of the reference point, and a 3D model of the columnar body disposed at the predetermined horizontal position, inclination angle, and height; an image synthesis process for synthesizing the 3D model with the photographed image based on the position of the reference point in the photographed image and the coordinates of the photographing position and the coordinates of the reference point in the 3D data to generate a synthetic image; and an adjustment process for adjusting the horizontal position, inclination angle and height of the columnar body so that the difference between the position of the columnar body in the synthetic image and the position of the 3D model is within a predetermined allowable error.

2. The construction management method for a columnar body according to claim 1 , wherein the camera and the reference point are equipped with GNSS receivers, and the coordinates of the photographing position and the coordinates of the reference point are acquired by the GNSS receiver.

3. A construction management method for a columnar body used for installing the columnar body at a predetermined horizontal position, inclination angle, and height with respect to the ground, comprising: An imaging step of acquiring an image of the columnar body using a camera capable of acquiring coordinates of an imaging position and an imaging direction; a 3D data creation step of creating 3D data including the coordinates of the photographing position and a 3D model of the columnar body disposed at the predetermined horizontal position, inclination angle, and height; an image synthesis step of synthesizing the 3D model with the captured image based on the coordinates of the shooting position, the shooting direction, and the viewing angle of the camera to generate a synthetic image; and an adjustment process for adjusting the horizontal position, inclination angle and height of the columnar body so that the difference between the position of the columnar body in the synthetic image and the position of the 3D model is within a predetermined allowable error.

4. The construction management method for a columnar body according to claim 1 or 3, wherein the camera is equipped with a GNSS receiver, and the coordinates of the photographing position are acquired by the GNSS receiver.

5. The construction management method for a columnar body according to claim 2 , wherein the camera is mounted on an aircraft.

6. The construction management method for a columnar body according to claim 4 , wherein the camera is mounted on an aircraft.

7. The construction management method for a columnar body according to any one of claims 1 to 3, wherein the columnar body is a pile body or a drilled casing.

8. The construction management method for a columnar body according to any one of claims 1 to 3, wherein the columnar body is a column of a building.

9. A column construction management system used to install a column at a predetermined horizontal position, inclination angle, and height relative to the ground, comprising: a camera that is arranged at a position where the columnar body can be photographed and that can acquire coordinates of the photographing position; Two or more reference points whose coordinates can be acquired are provided at positions included in an image captured by the camera; A data storage unit in which 3D data including the coordinates of the reference point and a 3D model of the columnar body disposed at the predetermined horizontal position, inclination angle, and height is stored; a composite image generating unit that generates a composite image by combining the 3D model with the photographed image based on the position of the reference point in the photographed image and the coordinates of the photographing position and the coordinates of the reference point in the 3D data; a display for displaying the composite image; and A construction management system for columnar bodies having the above structure.

10. A column construction management system used to install a column at a predetermined horizontal position, inclination angle, and height relative to the ground, comprising: a camera that is arranged at a position where the columnar body can be photographed and that can acquire coordinates of the photographing position and the photographing direction; a data storage unit in which 3D data including a 3D model of the columnar body disposed at the predetermined horizontal position, inclination angle, and height is stored; a composite image generating unit that generates a composite image by combining the 3D model with an image captured by the camera based on the coordinates of the shooting position, the shooting direction, and the viewing angle of the camera; a display for displaying the composite image; and A construction management system for columnar bodies having the above structure.

11. The construction management system for a columnar body as described in claim 9 or 10, wherein the synthetic image generation unit synthesizes into the synthetic image the allowable error range of the horizontal position, inclination angle and height of the columnar body in the captured image based on the horizontal position, inclination angle and height of the 3D model in the synthetic image.

12. The construction management system for a columnar body according to claim 9 or 10, wherein the composite image generating unit highlights an outer edge of the columnar body in the captured image to be composited into the composite image.

Images