Surveying support device and surveying support program for detecting object to be surveyed

Abstract

To provide a device that appropriately detects an object to be surveyed even when a top face of the foundation of a building is not uniform and has a complex shape.SOLUTION: The prevent invention is a device that performs a survey using point group data 7 and the like for, as objects to be surveyed 2, an anchor bolt 5 provided at an intersection part 4 of the foundation 3 of a building and a levee crown 6 provided at substantially the center of the intersection part 4. The surveying support device 1 comprises point group data acquisition means 11, vector angle acquisition means 12, contour extraction means 13, design data acquisition means 14, target extraction means 15, position detection means 16, and measurement means 17. The position detection means 16 detects a position from an arbitrary reference point 24 of the object to be surveyed 2 extracted from the point group data 7. The object extraction means 15 performs template matching by using a contour diagram 22 and design data 23, and extracts the object to be surveyed 2 obtained from the contour diagram 22.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a survey support device and a program for detecting survey targets such as anchor bolts buried in a building foundation.

Background Art

[0002] When constructing a building such as a house, whether the constructed building foundation is constructed as per the design drawing is an important matter in building construction and needs to be accurately inspected. In particular, anchor bolts for fixing columns in a building foundation play an important role in the structure of the building. During construction, it is an essential inspection item in construction work to inspect whether the anchor bolts are properly buried.

[0003] If the protruding portion of the anchor bolt from the surface of the foundation is made too long, the length of the portion buried in the foundation becomes short and the strength decreases. Conversely, if the protruding portion from the surface of the foundation is short, there is a disadvantage that when fixing a column to the anchor bolt, the engagement length of the nut with respect to the anchor bolt cannot be ensured.

[0004] Patent Document 1 discloses a technique related to a building foundation inspection system that analyzes three-dimensional point cloud data, which is the measurement result of a laser scanner, to identify the position of the upper surface of each rising portion in the three-dimensional space, and extracts a point cloud that can be regarded as a single mass from among the point clouds located above the upper surface in the height direction and within the range of the upper surface in the planar direction as a point cloud corresponding to each anchor bolt.

[0005] Further, Patent Document 2 discloses a technique of acquiring a plurality of images of a building foundation taken from different photographing angles to generate a three-dimensional shape model, calculating and obtaining the height from the foundation surface for the anchor bolts included in the three-dimensional shape model, and determining the presence or absence of abnormalities related to the anchor bolts.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2021-161615 [Patent Document 2] Japanese Patent Application Laid-Open No. 2021-156013 [Summary of the Invention] [Problems to be Solved by the Invention]

[0007] In the technique described in Patent Document 1, a group of points that can be regarded as a single mass is extracted from a group of points that are located above the upper surface of the foundation in the height direction and are within the range of the upper surface in the planar direction, and is used as the group of points corresponding to the respective anchor bolts. However, in the technique described in Patent Document 1, it was difficult to appropriately extract the positions of the anchor bolts that are the survey targets.

[0008] Specifically, when an object (obstacle) such as a stone or gravel exists on the upper surface of the foundation, the position of the upper surface cannot be appropriately specified due to this obstacle, and as a result, the positions of the anchor bolts cannot be extracted. Further, in the technique described in Patent Document 1, there was a case where the obstacle itself existing on the upper surface of the foundation was misrecognized as an anchor bolt.

[0009] Similarly, in the technique described in Patent Document 2, the foundation surface is extracted from a plurality of images of the building foundation, and the height of the anchor bolts from the foundation surface is obtained. Therefore, when there are obstacles on the foundation surface, it is difficult to obtain the accurate height of the anchor bolts.

[0010] The present invention has been made in view of the above problems, and an object thereof is to provide a survey support device that appropriately detects a survey target even when the upper surface of the foundation has an irregular shape and is not flat. [Means for Solving the Problems]

[0011] In order to achieve the above object, a surveying support apparatus according to the present invention includes: a vector angle acquisition unit that acquires a vector angle which is an angle of a normal vector of a point cloud representing a ground feature from point cloud data; a contour extraction unit that extracts a contour map from a point cloud within a predetermined range of the vector angle; a design data acquisition unit that acquires design data including position information of a survey target in a plan view; an object extraction unit that extracts the survey target using the contour map and the design data; and a position detection unit that detects a position from an arbitrary reference point of the survey target extracted from the point cloud data.

[0012] The surveying support apparatus according to the present invention extracts a contour map of a ground feature using the angle of the normal vector of the point cloud of the point cloud data, and extracts a survey target using the contour map and the design data. Further, since the position of the survey target is defined as the position from an arbitrary reference point, there is no need to extract a base plane as in Patent Documents 1 and 2. Therefore, even when the upper surface of the base has a complex shape and is not constant, the position of the survey target can be accurately measured. Here, in the present invention, the position from the reference point is a concept including the height (elevation difference) from the reference point.

[0013] In the surveying support apparatus according to the present invention, the contour extraction unit may generate a color-separated image color-separated based on the vector angle, and extract the contour map based on the color-separated image. When the contour map is extracted using the color-separated image in this way, it becomes possible to compare the color-separated image with the contour map, and it becomes easy to confirm whether the contour map has been accurately extracted.

[0014] In the surveying support apparatus according to the present invention, the contour extraction unit may use the contour map as an orthoimage. According to this configuration, an accurate contour map can be obtained regardless of the angle of a laser scanner or the like when acquiring the point cloud data.

[0015] In the surveying support device of the present invention, for the surveying target, the surveying target whose position detected by the position detection means is within a predetermined range is recognized as a group, and a measuring means for measuring at least the minimum value and the maximum value of the positions of the surveying targets within the group may be provided.

[0016] When there are a plurality of surveying targets, for example, anchor bolts near the entrance of a building are close to the ground, and other anchor bolts are often far from the ground. Even in such a case, a plurality of anchor bolts near the entrance are recognized as a group, and the positions (heights) of the anchor bolts within the group can be measured. Therefore, the variation in the heights of the anchor bolts within the group can be accurately known.

[0017] Also, in order to achieve the above object, the surveying support program of the present invention is a program that operates a computer as the surveying support device having the above configuration.

Advantages of the Invention

[0018] According to the present invention, even when the upper surface of the foundation is not flat and has a complex shape, a surveying support device that can appropriately detect surveying targets can be provided.

Brief Description of the Drawings

[0019]

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Embodiment for Carrying Out the Invention

[0020] Next, a surveying support device 1 which is an example of an embodiment of the present invention will be described with reference to FIGS. 1 to 9. In the present embodiment, as a surveying target 2, an anchor bolt 5 provided at an intersection 4 of a foundation 3 of a building and a top end 6 provided substantially at the center of the intersection 4, a device and a program for performing surveying using point cloud data 7 and the like will be described.

[0021] In the present embodiment, the surveying support device 1 is constituted by a surveying support program 1a installed in a user terminal 8 which is a computer used by a user. As its functional configuration, as shown in FIG. 1, the surveying support device 1 includes a point cloud data acquisition means 11, a vector angle acquisition means 12, a contour extraction means 13, a design data acquisition means 14, a target extraction means 15, a position detection means 16, and a measurement means 17.

[0022] The point cloud data acquisition means 11 is a functional unit that captures three-dimensional point cloud data 7 (see FIG. 3) obtained by a laser scanner 18 (see FIG. 2) or the like into the surveying support device 1. The point cloud data 7 may be captured by the point cloud data acquisition means 11 from what is stored in the user terminal 8, or may be uploaded to the point cloud data acquisition means 11 via a network such as the Internet.

[0023] The vector angle acquisition means 12 is a functional unit that acquires a vector angle, which is the angle of the normal vector of the point group representing the ground feature, from the three-dimensional point cloud data 7. A known method is used to obtain the normal vector from the point cloud data 7. For example, a curved surface can be obtained from a plurality of point clouds, and the normal of each point can be calculated from the curved surface. Also, principal component analysis can be performed on the position coordinates of the point cloud, and the eigenvector corresponding to the smallest eigenvalue among the three obtained eigenvalues can be obtained as the normal vector. Specifically, refer to the method described in the publication of Patent No. 6730502 of the applicant of the present application.

[0024] The contour extraction means 13 is a functional unit that extracts a contour diagram 22 (see FIG. 6) from the point group within a predetermined range of the vector angle in the point cloud data 7. In the present embodiment, for the point cloud data 7, a color-coded image 21 (see FIG. 5) color-coded based on the vector angle is generated, and the contour diagram 22 is extracted based on this color-coded image 21.

[0025] The design data acquisition means 14 is a functional unit that acquires design data 23 (see FIG. 7) including the position information of the survey target 2 in plan view. Examples of the survey target 2 include anchor bolts 5 and top edges 6 provided on the foundation 3 of a building. The design data 23 includes a template image of the anchor bolts 5 and the top edges 6 (see FIG. 7), or a table describing the positions (coordinates) and specifications (dimensions, lengths, thicknesses, etc.) of the anchor bolts 5 and the top edges 6.

[0026] The target extraction means 15 is a functional unit that extracts the survey target using the contour diagram 22 and the design data 23. Specifically, the target extraction means 15 performs template matching (see FIG. 8) using the contour diagram 22 extracted by the contour extraction means 13 and the design data 23 acquired by the design data acquisition means 14, and extracts the survey target 2 obtained from the contour diagram 22.

[0027] The position detection means 16 is a functional unit that detects the position from an arbitrary reference point 24 of the survey target 2 extracted from the point cloud data 7. In the present embodiment, the height from an arbitrary reference point 24 of the survey target 2 is detected. The reference point 24 can be provided, for example, on the installation surface where the laser scanner 18 is installed. The detection of the height of the survey target 2 can be obtained, for example, from the coordinates of the reference point 24 and the coordinates of the centroid in the plan view of the survey target 2 in the point cloud data 7.

[0028] The measurement means 17 is a functional unit that recognizes the survey target 2 whose height detected by the position detection means 16 is within a predetermined range as a group, and measures the minimum value and the maximum value of the height of the survey target 2 within the group. When the measurement target is the anchor bolt 5, the measurement means 17 measures the maximum value and the minimum value of the heights of a plurality of anchor bolts 5 recognized as a group.

[0029] Here, the user terminal 8 mainly consists of a computer. The computer includes a processor such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), storage means such as a hard disk and a memory, connection means to various networks, a keyboard, a mouse, and a display, etc. (not shown in the figure).

[0030] In addition, in the present embodiment, the survey support program 1a is exemplified as being installed in the user terminal 8. However, in addition to this, it may be installed in a server (not shown in the figure) and can be used on a client terminal. Also, it may be stored in a CD-ROM, a DVD-ROM, etc., or may be uploaded on a server and downloadable through a network.

[0031] Next, the operation of the survey support device 1 of the present embodiment will be described. In the present embodiment, the height of the anchor bolt 5 provided at the intersection 4 of the foundation 3 of the building and the top end 6 (see FIG. 2) provided approximately at the center of the intersection 4 is measured, and the maximum value and the minimum value of these heights are detected.

[0032] The foundation 3 of the building is formed in a grid pattern as shown in Fig. 2(A), and a building is constructed above this foundation 3. In the present embodiment, a protrusion 3a is provided on the upper surface of the section at the central part of the foundation 3. Further, as shown in Fig. 2(B), a top edge 6 is formed on the upper surface of the intersection 4 of the foundation 3. Therefore, in the conventional measurement method, there is a possibility that the upper surfaces of the protrusion 3a and the top edge 6 may be recognized as the upper surface of the foundation 3.

[0033] In the present embodiment, for such a foundation 3, data of the foundation 3 is acquired by the laser scanner 18 installed on the installation surface, and this is used as the point cloud data 7. In the present embodiment, a reference point 24 is provided on the installation surface of the laser scanner 18, and the heights of the anchor bolts 5 and the top edge 6 are detected based on the coordinates of this reference point 24.

[0034] Fig. 3 is an image in which the image captured by the laser scanner 18 is used as the point cloud data 7. In Fig. 3, the grid-like foundation 3, the intersection 4 where the foundation 3 intersects, and the anchor bolts 5 and the top edge 6 provided at the intersection 4 are the point cloud data 7. In Fig. 3, the data of the inner part of the foundation 3 is smoothed.

[0035] When measuring the heights of the anchor bolts 5 and the top edge 6 of the foundation 3 using this point cloud data 7, the user starts the survey support program 1a on the user terminal 8, and after performing user authentication and the like, the point cloud data 7 is acquired by the point cloud data acquisition means 11. In the present embodiment, the point cloud data 7 is acquired by designating the data stored in the storage means of the user terminal 8.

[0036] When the point cloud data 7 is acquired, the vector angle acquisition means 12 acquires the angle of the normal vector of the point cloud in the point cloud data 7. Fig. 4 is a diagram showing an example of the vector angle in the point cloud. As shown in Fig. 4, when there is a horizontal plane 2a and a vertical plane 2b in the survey target 2 that is the basis of the point cloud data 7, the normal vector V of the point cloud of the horizontal plane 2a 1 is generally in the vertical direction. Also, in the vertical plane 2b, the normal vector V of the point cloud 2is generally in the horizontal direction. On the other hand, at the corner 2c, there are a plurality of angles radially for the normal vector V of the point cloud. 3

[0037] In this embodiment, after the vector angle acquisition means 12 acquires the angle of the normal vector of the point cloud in the point cloud data 7, the contour extraction means 13 generates a color-separated image 21 color-separated based on the vector angle of each point cloud in the point cloud data 7.

[0038] FIG. 5 is an enlarged color-separated image 21 of the X portion in FIG. 3. In FIG. 5, the closer the normal vector of the point cloud is to the horizontal direction in FIG. 4, that is, the more vertical the surface is, the darker the color is. As a result, the foundation 3, the anchor bolt 5, and the edge of the top end 6 can be clearly visually recognized.

[0039] Note that in FIG. 5 of the present application, the vertical plane of the measurement object 2 is shown in black, but in reality, it is colored (for example, green). Therefore, by looking at the color-separated image 21, the foundation 3, the anchor bolt 5, and the top end 6 are color-separated and their shapes are easy to confirm.

[0040] The contour extraction means 13 extracts a contour diagram 22 of the foundation 3 etc. based on this color-separated image 21. FIG. 6 is the contour diagram 22 extracted based on the color-separated image 21. In this embodiment, the contour extraction means 13 sets the contour diagram 22 of the foundation 3 etc. as an ortho image. The ortho image is an image obtained by converting (orthorectifying) an image obtained by a photo with an angle etc. into a correct dimension without inclination as if viewed from directly above.

[0041] In this embodiment, by setting the contour diagram 22 as an ortho image by the contour extraction means 13, it can be made to correspond to the plan view of the design data 23. Also, by setting the contour diagram 22 as an ortho image, the accuracy of template matching described later can be improved. Also, while setting the contour diagram 22 as an ortho image, the measurement results can be displayed on the ortho image and illustrated to the user so that the user can confirm how it is converted. ​

[0042] Here, the design data acquisition means 14 acquires design data 23 indicating the position of the survey target 2 in a plan view. The timing of acquisition of this design data 23 is arbitrary, and it may be acquired when the point cloud data acquisition means 11 acquires the point cloud data 7, or it may have been acquired in advance.

[0043] FIG. 7 is the design data 23 in a plan view of the anchor bolts 5 and the top edge 6 provided on the foundation 3 in the present embodiment. This design data 23 is a template image created by CAD, and has data on the position and dimensions (coordinates) of the anchor bolts 5 and the position and dimensions of the top edge 6.

[0044] Next, the target extraction means 15 extracts the survey target 2 using the contour diagram 22 and the design data 23. In the present embodiment, as shown in FIG. 8(A), template matching is performed using the contour diagram 22 and the design data 23. In the present embodiment, the scale of the contour diagram 22 is changed in accordance with the positions of the anchor bolts 5 and the top edge 6 made clear by the design data 23, and the contour diagram 22 is superimposed on the design data 23.

[0045] FIG. 8(B) is an enlarged view of the X portion of (A). As is clear from FIG. 8(B), it can be seen that the contours of the anchor bolts 5 and the top edge 6 in the contour diagram 22 and the diagrams of the anchor bolts 5 and the top edge 6 in the design data 23 are accurately matched.

[0046] By such template matching, even if there are unclear portions due to obstacles or the like in the image acquired by the laser scanner 18, the positions of the anchor bolts 5 and the top edge 6 in the contour diagram 22 become clear. Thereby, the extraction of the survey target 2 by the target extraction means 15 is accurately performed.

[0047] Next, the position detection means 16 detects the position of the survey target 2. In the present embodiment, a method for detecting the height of the anchor bolt 5, which is one of the survey targets 2, will be described as an example. The point cloud data of the anchor bolt 5 extracted by the target extraction means 15 is as shown in FIG. 9(A). In FIG. 9(A), the intersection 4 of the foundation 3, the anchor bolt 5 protruding from the surface of the intersection 4, and the nut 5a attached near the tip of the anchor bolt 5 are displayed.

[0048] In the present embodiment, as shown in FIG. 9(B), the position detection means 16 extracts data from the highest point of the point cloud of the anchor bolt 5 down to a predetermined length (for example, 30 mm), and uses the plan view of the extracted image shown in FIG. 9(C). The height of the point closest to the center of gravity C in the plan view is defined as the height of the anchor bolt 5. By this center of gravity extraction process, even if there are burrs or foreign objects around the anchor bolt 5, the height of the anchor bolt 5 can be accurately detected.

[0049] In the present embodiment, the survey target 2 is made clear in advance by design data 23 or the like. In the present embodiment, the position detection means 16 detects the position (height) for all of the survey targets 2 to be measured.

[0050] Here, the height of the anchor bolt 5 is the height of the position of the center of gravity C of the anchor bolt 5 with respect to the height (coordinates) of the reference point 24. However, since the height of the surface of the intersection 4 with respect to the coordinates of the reference point 24 is also obtained, the protruding amount of the anchor bolt 5 from the surface of the intersection 4 can also be detected.

[0051] Next, the measurement by the measurement means 17 will be described. The height of the anchor bolt 5 with respect to the reference point detected by the position detection means 16 varies depending on the position where the anchor bolt 5 is embedded. Therefore, in the present embodiment, the anchor bolts 5 whose heights detected by the position detection means 16 are within a predetermined range are recognized as a group.

[0052] For example, when the height of the intersection 4 at the position X in FIG. 8(A) is different from the height of the intersection 4 at the position Y, the measuring means 17 recognizes the anchor bolts 5 installed at the position X as group A and the anchor bolts installed at the position Y as group B and performs grouping.

[0053] In this case, the threshold value for the height for different groups may be set to a predetermined value and may be appropriately changed by the user. Also, the user may directly perform grouping on the design data. Alternatively, when performing automatic processing, clustering processing such as DBSCAN (Density-based spatial clustering of applications with noise) may be used.

[0054] Next, the measuring means 17 measures the heights of the plurality of anchor bolts 5 in group A. In the present embodiment, the maximum value and the minimum value are obtained from the heights of the respective anchor bolts 5. Further, in the contour diagram 22 of FIG. 8(A), the measuring means 17 causes the anchor bolts 5 having the maximum and minimum heights for each group to be displayed in a display format different from that of the other anchor bolts 5.

[0055] By this display, the user can confirm the anchor bolt 5 having the highest height and the anchor bolt 5 having the lowest height for each group in the contour diagram 22 of FIG. 8(A). Here, the different display formats can be any display formats such as displaying in different colors, surrounding the anchor bolt 5 with a figure such as a circle or a square, or further performing color separation of the figure. Also, the display may be not only displayed on the user terminal 8 but also printed and displayed on a paper surface.

[0056] Also, when the user wants to know the height value of each anchor bolt 5, the user moves the mouse pointer (not shown) to the position of the anchor bolt 5 whose height is to be known in the contour diagram 22. By such an operation, the height of the anchor bolt 5 may be displayed. Alternatively, a lead line may be drawn from each anchor bolt 5 to display the height.

[0057] Further, similar to the anchor bolts 5, the measuring means 17 also groups the top edges 6 for which the height detected by the position detecting means 16 is within a predetermined range, obtains the minimum and maximum values of the height within the group, and performs a display so that it is easy for the user to discriminate.

[0058] As described above, according to the surveying support device 1 of the present embodiment, even when the upper surface of the foundation 3 is not flat and has a complicated shape, it is possible to accurately detect the position (height) of the surveying targets 2 such as the anchor bolts 5 and the top edges 6. Further, based on the detection result, the maximum and minimum values of the heights of the anchor bolts 5 and the top edges 6 can be known.

[0059] In the above embodiment, the reference point 24 is provided on the installation surface where the laser scanner 18 is installed, but it is not limited to this and can be provided at an arbitrary location. For example, the reference point 24 may be provided on the surface of the foundation 3 where a flat state is ensured, or the reference point 24 may be provided on the surface of any intersection 4. Further, in addition to the point cloud data 7 imaged by the laser scanner 18, image data imaged by a drone or the like may be used as the point cloud data.

[0060] Further, in the above embodiment, for the point cloud data 7, a color-separated image 21 color-separated based on the vector angle is generated, and the contour diagram 22 is extracted based on this color-separated image 21. However, it is not limited to this, and the contour diagram 22 may be extracted using the vector angle.

[0061] For example, points in the point cloud data 7 whose vector angle of the point cloud is within the range of 30 to 40 degrees from the horizontal plane are recognized as edges, and the contour diagram 22 is extracted. According to this process, the edge can be extracted and the contour diagram 22 can be extracted without performing a color separation process on the vector angle of the point cloud in the point cloud data 7.

[0062] In the above-described embodiment, as the design data 23, as shown in FIG. 7, a template image of the anchor bolt 5 and the top edge 6 is used. However, the present invention is not limited to this, and it may be a table describing the positions (coordinates) of the anchor bolt 5 and the top edge 6, or a table describing the specifications (standards, lengths, thicknesses, etc.) of the anchor bolt 5 and the top edge 6. In this case, the image or table of the top edge 6 may be omitted. Further, a template image may be generated from a table of coordinates, specifications, etc. to perform template matching.

Explanation of Signs

[0063] 1…Survey support device 1a…Survey support program 2…Survey target 7…Point cloud data 12…Vector angle acquisition means 13…Contour extraction means 14…Design data acquisition means 15…Target extraction means 16…Position detection means 17…Measurement means 21…Color-separated image 22…Contour diagram 23…Design data 24…Reference point V 1 ~V 3 …Normal vector

Claims

1. vector angle acquisition means for acquiring a vector angle, which is an angle of a normal vector of a point group representing a ground feature, from point group data; contour extraction means for extracting a contour diagram from a point group within a predetermined range of the vector angle; design data acquisition means for acquiring design data including position information of a survey target in a plan view; target extraction means for extracting the survey target using the contour diagram and the design data; A survey support device, comprising position detection means for detecting a position from an arbitrary reference point of the survey target extracted from the point group data.

2. The survey support device according to claim 1, wherein the contour extraction means generates a color-coded image color-coded based on the vector angle, and extracts the contour diagram based on the color-coded image.

3. The survey support device according to claim 1, wherein the contour extraction means uses the contour diagram as an orthoimage.

4. For the survey target, measurement means is provided for recognizing, as a group, the survey targets whose positions detected by the position detection means are within a predetermined range, and measuring at least the minimum value and the maximum value of the positions of the survey targets within the group. The survey support device according to claim 1.

5. A survey support program for operating a computer as the survey support device according to any one of claims 1 to 4.

Images