Laser scanner, finished shape management device, finished shape management method, and program

Abstract

To provide a laser scanner capable of measuring the three-dimensional coordinates of the entire measurement range on a road surface with improved measurement accuracy through calibration.SOLUTION: A laser scanner (11) includes: a laser transmission and reception unit (114) which is provided at the rear part of a construction machine (C), transmits laser light to a road surface (A) and receives the laser light reflected from the road surface (A); a camera unit (113) which images the road surface (A) side; and a control unit (115) which measures a distance to the road surface (A) to / from which the laser light is transmitted and received by the laser transmission and reception unit (114). The control unit (115) performs calibration related to measurement of the distance to the road surface (A) using a calibration marker (M) placed on the road surface (A) at the rear part of the construction machine (C).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a laser scanner, a work-progress management device, a work-progress management method, and a program. [Background technology]

[0002] In road pavement repair work, for example, the road surface is cut to a specified depth to form a cutting layer, a base layer is laid on the cutting layer, and a top layer is laid on the base layer. In this case, it is necessary to manage the thickness of the base layer and the top layer, and the width and length of the pavement repair. For example, Patent Document 1 describes a system for managing the completed road shape after pavement repair work has been performed. This system includes a total station (hereinafter, abbreviated as TS) installed at a known point (e.g., a reference point), a prism used together with the TS, and a terminal device.

[0003] The TS acquires the three-dimensional coordinates of each point on the road surface relative to known points. The prism is a remote catcher and is wirelessly connected to the TS. The TS emits distance measurement light toward a prism installed by an operator at each point on the road surface, receives the light reflected by the prism, and acquires the three-dimensional coordinates of each point relative to the known points based on the number of times the light wave oscillates from emission to reception. The terminal device is a portable information terminal having a display screen, and when the three-dimensional coordinates of each point are acquired by the TS, the three-dimensional coordinates are supplied from the TS.

[0004] For example, when pavement repair work is carried out to lay a surface layer and a base layer, the terminal device manages the finished shape of the paved road using the design surface data of the surface layer surface and the design thickness of each layer. The design surface data of the surface layer surface includes three-dimensional point cloud data for any point on the road surface. The pavement repair work is carried out based on the design surface data of each layer created based on the design surface data of the surface layer surface and the design thickness of each layer. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2023-039357 A Summary of the Invention [Problem to be solved by the invention]

[0006] The conventional as-built management described in Patent Document 1 uses a prism to obtain the three-dimensional coordinates of multiple measurement points on the road surface. However, the conventional as-built management does not measure the height and thickness between the measurement points, so there is a problem that the measurement accuracy of the height and thickness in that area is not guaranteed.

[0007] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a laser scanner that can measure three-dimensional coordinates of the entire measurement range on the road surface with measurement accuracy improved through calibration. [Means for solving the problem]

[0008] The laser scanner disclosed herein is a laser scanner installed at the rear of a construction machine that performs paving work on road surfaces while moving along the road, and includes a transceiver unit that transmits laser light to the road surface and receives the laser light reflected from the road surface, a camera unit that photographs the road surface, and a control unit that measures the distance to the road surface from which the laser light is transmitted and received by the transceiver unit, and the control unit calibrates the measurement of the distance to the road surface using a calibration marker installed on the road surface at the rear of the construction machine. Effect of the Invention

[0009] According to the present disclosure, a calibration marker provided on the road surface at the rear of a construction machine is used to perform calibration related to the measurement of the distance to the road surface, thereby enabling the laser scanner according to the present disclosure to measure the three-dimensional coordinates of the entire measurement range on the road surface with the measurement accuracy improved by the calibration. [Brief description of the drawings]

[0010] [Figure 1] 1A and 1B are top views showing an overview of the placement of markers. [Diagram 2] 1 is a schematic diagram showing a configuration example of a completed form management system equipped with a laser scanner according to a first embodiment. FIG. [Diagram 3] 1 is a block diagram showing an example of the configuration of a laser scanner according to a first embodiment. [Figure 4] 11 is a top view showing an example of a calibration marker; FIG. [Diagram 5] FIG. 13 is a top view showing a grayscale chart of calibration markers. [Figure 6] FIG. 13 is a schematic diagram showing an overview of calibration using a pixel detection area of ​​a calibration marker. [Figure 7] 1 is a block diagram showing a configuration example of a completed form management device according to a first embodiment. FIG. [Figure 8] FIG. 11 is a screen diagram showing an example of display of surface data. [Figure 9] 4 is a flowchart showing a method for managing completed work in accordance with the first embodiment. [Figure 10] 1 is a block diagram showing a hardware configuration for realizing the functions of the completed form management device according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Embodiment 1 First, conventional as-built management of road surface pavement will be described, and then the effectiveness of the as-built management according to the first embodiment compared to the conventional as-built management will be described. Fig. 1A is a top view showing an example of the installation of markers M1 to M4 in conventional completed form management. In Fig. 1A, the area on road surface A from position SP, indicated by a dashed line, to position EP, also indicated by a dashed line and about 80 m away in the longitudinal direction of the road, is the measurement area for the road surface condition. Position SP is the start point of measurement of the road surface condition, and position EP is the end point of measurement of the road surface condition. The paving of road surface A is performed by construction machine C proceeding in the direction of arrow B. Construction machine C is a vehicle that paves the road surface, such as a road roller.

[0012] In conventional as-built management, it is necessary to measure the condition of road surface A to check whether the condition of road surface A after paving work is as designed. The condition of road surface A includes the road width, road surface height, reference point height, and road thickness. Conventional as-built management improves the measurement accuracy of the condition of road surface A by referring to the position coordinates of each point on road surface A before paving and the position coordinates of each point on road surface A after paving.

[0013] For example, as shown in Fig. 1A, markers M1 to M4 are placed at the four corners of a measurement area on road surface A, and TS100 installed at a reference point along the road is used to measure the three-dimensional coordinates of each of the points where markers M1 to M4 are placed. Specifically, an operator sequentially places prisms on the markers M1 to M4. TS100 emits measurement light toward the prism, receives the reflected light of the measurement light reflected by the prism, and measures the three-dimensional coordinates of the center positions of markers M1 to M4 relative to the reference point based on the time difference between the emission of the measurement light and the reception of the reflected light.

[0014] The task of measuring the three-dimensional coordinates of each point on the road surface A is a cumbersome process in which an operator sequentially places prisms on the markers M1 to M4, and the TS100 measures the three-dimensional coordinates of the markers on which the prisms are placed. This task is premised on the assumption that there is nothing blocking the measurement light emitted from the TS100 toward the prism, or the reflected light returning from the prism to the TS100. For example, if another operator crosses between the TS100 and the prisms placed on the markers M1 to M4 and blocks the light, there is a possibility that measurement data will be lost. Furthermore, since the markers M1 to M4 cannot be moved during measurement, they become a nuisance to operators who are performing tasks other than this measurement.

[0015] Therefore, in the as-built management according to the first embodiment, as-built management of the road pavement is performed without measuring the three-dimensional coordinates of each point on the road surface A using a TS. Fig. 1B is a top view showing the placement of a calibration marker M in as-built management according to the first embodiment. In Fig. 1B, position SP indicated by a dashed line is the starting point for measurement of the road surface condition. In as-built management according to the first embodiment, a laser scanner is mounted on the rear of the construction machine C, and this laser scanner measures the condition of the road surface A. In addition, the calibration marker M is placed on the road surface A at the rear of the construction machine C.

[0016] The as-built management according to the first embodiment is mounted on the rear of the construction machine C. Therefore, as in the conventional as-built management, it is possible to perform as-built management of the road surface pavement without measuring the three-dimensional coordinates of multiple points on the road surface A.

[0017] Also, for example, as shown in FIG. 1B, when construction machine C is in a position where it can perform road surface paving from position SP (measurement start point), a calibration marker M is placed on the road surface A behind it. This allows the laser scanner to complete calibration using the calibration marker M before the construction machine C starts road surface paving. Therefore, the laser scanner can accurately measure the condition of the road surface A in conjunction with the road surface paving by the construction machine C.

[0018] Fig. 2 is a schematic diagram showing an example of the configuration of an as-built management system 1 equipped with a laser scanner 11 according to the first embodiment. In Fig. 2, the as-built management system 1 is a system for managing the as-built of a paved road surface A, and includes a laser scanner 11, a TS 13, an access point 14, and an as-built management device 15. In addition, a calibration marker M is installed on the road surface A at the rear of a construction machine C that is in a position where the road surface A can be paved from a position SP.

[0019] The laser scanner 11 is a construction machine-mounted laser scanner, and is provided at the rear of the construction machine C, that is, at the end opposite the direction in which the construction machine C travels, as shown in FIG. Laser scanner 11 also has a function of transmitting and receiving laser light used to measure the state of road surface A, and a function of photographing the side of road surface A. For example, a prism 111 is provided on the upper part of laser scanner 11. Also, an optical system 112 for transmitting and receiving laser light, and a camera unit 113 for photographing the side of road surface A are provided on the lower part of laser scanner 11.

[0020] When the construction machine C advances in the direction of the arrow B, the laser scanner 11 controls the optical system 112 to laser scan the road surface A in accordance with the movement of the construction machine C. The condition of the road surface A is measured by this laser scanning.

[0021] Furthermore, the laser scanner 11 performs calibration related to measurement of the distance to the road surface A, using a calibration marker M provided on the road surface at the rear of the construction machine C. For example, the laser scanner 11 performs a first calibration related to the intensity of the laser light based on the intensity of the laser light transmitted to and received from the calibration marker M, and performs a second calibration related to the distance to the road surface A, using an image of the calibration marker M captured by the camera unit 113. When the laser scanner 11 has been calibrated using the calibration marker M to improve the measurement accuracy, the completed form management system 1 can measure the three-dimensional coordinates of the entire measurement range on the road surface A.

[0022] The TS 13 is an automatic tracking type TS, and measures movement information of the laser scanner 11 that moves together with the construction machine C. For example, the TS 13 installed at a reference point emits measurement light (transmits laser light) toward the prism 111 at regular time intervals (for example, at 100 millisecond intervals) and receives (receives laser light) the measurement light reflected by the prism 111. The TS 13 then sequentially measures the three-dimensional coordinates of the laser scanner 11 relative to the reference point based on the time difference between the emission of the measurement light and the reception of the reflected light. The movement information of the laser scanner 11 includes position information of the laser scanner 11 at the above-mentioned time intervals, and is transmitted from the TS 13 to the laser scanner 11 via the access point 14.

[0023] The access point 14 is a device that relays wireless communication between the laser scanner 11, the TS 13, and the completed form management device 15, and is, for example, a Wifi (registered trademark) access point. The Wifi access point 14 relays wireless communication between the laser scanner 11, the TS 13, and the completed form management device 15 via a LAN (Local Area Network). In addition to the LAN, the access point 14 may also relay wireless communication via a wireless communication network such as a WAN (Wide Area Network) via a wireless base station, a third generation (3G) communication method, a fourth generation (4G) communication method such as LTE, a fifth generation (5G) or later communication method, Bluetooth (registered trademark), or a specific low power wireless method.

[0024] The completed form management device 15 is a mobile terminal operated by the worker D, which acquires measurement distance information indicating the state of the road surface A measured by the laser scanner 11 and movement information of the laser scanner 11 measured by the TS 13, and generates surface data visually expressing the state of the road surface A using the measurement distance information and movement information. The completed form management device 15 is capable of communicating with the laser scanner 11 and the TS 13 via the access point 14, and is, for example, a tablet terminal, a smartphone, or a notebook type personal computer (PC).

[0025] The completed form management device 15 may be a component included in a server capable of communicating with the terminal device. For example, the terminal device can perform completed form management provided in the form of SaaS (Software as a Service). When performing completed form management in the form of SaaS, an information processing application for completed form management does not need to be installed in the terminal device. The information processing application for completed form management is executed on the server, and the terminal device is provided with the surface data and the like on a general-purpose web browser. The information processing application is stored in a storage unit included in the server. Further, an information processing application for performing the completed work may be installed in the terminal device. In the terminal device in which the information processing application for performing the completed work is installed, the information processing application is executed, thereby enabling the completed work to be managed.

[0026] Fig. 3 is a block diagram showing a configuration example of the laser scanner 11 according to the first embodiment. In Fig. 3, the laser scanner 11 includes a prism 111, an optical system 112, a camera unit 113, a laser transmitting / receiving unit 114, a control unit 115, a communication unit 116, and a wireless LAN antenna 117. The prism 111 is a reflecting unit used for tracking the laser scanner 11 by the TS 13. For example, the prism 111 is a full-circumference prism, and is an optical element that can reflect incident laser light in the direction of incidence.

[0027] The optical system 112 transmits the laser light LS emitted by the laser transmitting / receiving unit 114 toward the road surface A, and reflects the laser light LS reflected by the road surface A toward the laser transmitting / receiving unit 114. Further, the optical system 112 has a driving mechanism (not shown in FIG. 3) for scanning the laser light LS. For example, the driving mechanism controlled by the control unit 115 drives the optical system 112, whereby the laser light LS is scanned in the road width direction.

[0028] Camera unit 113 is a camera that captures the road surface A side indicated by arrow PH, and has a telephoto lens for magnifying and capturing the road surface A side. In addition, camera unit 113 is calibrated in advance for the lens angle of view, distortion, and distance information from the subject. In the following description, it is assumed that the distance information per pixel of the camera unit 113 is 0.1 mm / px.

[0029] The laser transmitting / receiving unit 114 is a transmitting / receiving unit that transmits laser light LS to the road surface A and receives the laser light LS reflected from the road surface A. The laser transmitting / receiving unit 114 is also capable of changing the output intensity of the laser light LS under the control of the control unit 115. Furthermore, the laser transmitting / receiving unit 114 transmits and receives the laser light LS at a predetermined constant time interval.

[0030] The control unit 115 measures the distance to the road surface A from which the laser light is transmitted and received by the laser transmitting and receiving unit 114. For example, the control unit 115 measures the distance (height) to the road surface A based on the time from when the laser transmitting and receiving unit 114 transmits the laser light to when it receives the laser light LS reflected by the road surface A. The control unit 115 measures the undulations in the width direction of the road surface A by scanning the laser light LS in the road width direction, and measurement data representing the undulations are measured sequentially at the above-mentioned time intervals for transmitting and receiving the laser light LS. The control unit 115 identifies the movement position of the laser scanner 11 in the direction of arrow B using the movement information of the laser scanner 11, and can obtain the undulations of the entire road surface A by integrating the measurement data representing the undulations in the width direction of the road surface A for each movement position of the laser scanner 11.

[0031] The control unit 115 performs a first calibration on the intensity of the laser light based on the intensity of the laser light transmitted to and received from the calibration marker M by the laser transmitting / receiving unit 114, and performs a second calibration on the distance to the road surface A using a captured image of the calibration marker M. The first calibration is, for example, a process of correcting the output intensity of the laser light LS using a calibration value calculated based on the difference between the output intensity of the laser light LS emitted toward the calibration marker M and the received intensity of the laser light LS (reflected light) according to the reflectance at the calibration marker M. The second calibration is a process of correcting the distance information to the road surface A using a calibration value according to the distance information to the calibration marker M identified from the captured image of the calibration marker M.

[0032] The communication unit 116 transmits measured distance information indicating the distance to the road surface A as completed road shape management information of the road where the road surface A is paved, via the wireless LAN antenna 117, and receives movement information of the laser scanner 11 measured by the TS 13. The movement information of the laser scanner 11 is output from the communication unit 116 to the control unit 115, and is stored in a memory (not shown in FIG. 3) by the control unit 115. The wireless LAN antenna 117 is an antenna used for wireless communication with the access point 14.

[0033] The communication unit 116 also functions as a GNSS (Global Navigation System) receiver, and outputs GNSS time information received from a GNSS satellite to the control unit 115. The control unit 115 stores in the memory the movement information of the laser scanner 11 and the measurement information in which the GNSS time information is linked to the measured distance information to the road surface A. The control unit 115 transmits the measurement information stored in the memory to the completed form management device 15 via the communication unit 116 and the wireless LAN antenna 117. When the completed form management device 15 acquires the measurement information via the access point 14, it can generate surface data using the acquired measurement information.

[0034] Fig. 4 is a top view showing an example of a calibration marker M. The calibration marker M has a strip-like outer shape that is long in the horizontal direction, and in Fig. 4, it is 300 mm long and 50 mm wide. The width of the calibration marker M is also divided into two, and a grayscale chart GS is formed in one of the divided areas, and a pixel detection area PA is provided in the other area. The grayscale chart GS is formed so that both ends are white and it becomes darker toward the center, as shown in Fig. 4. In the pixel detection area PA, a plurality of lines made up of pixel columns are drawn.

[0035] When measuring the distance to the road surface A, the laser scanner 11 scans the laser light LS in the width direction of the road surface A. Meanwhile, the calibration marker M is placed so that its longitudinal direction is in the width direction of the road surface A. As a result, the grayscale chart GS is aligned with the scanning direction of the laser light LS. Furthermore, the calibration marker M is placed at a position where the pixel detection area PA faces the camera unit 113. As a result, the pixel detection area PA is included in the shooting range of the camera unit 113.

[0036] Fig. 5 is a top view showing the grayscale chart GS in the calibration marker M. As shown in Fig. 5, the grayscale chart GS is formed so that both ends close to the road surface are white and become darker toward the center, so that the reflectance of the laser light LS is highest at both ends and lowest at the center.

[0037] The control unit 115 controls the optical system 112 and the laser transmitting / receiving unit 114 to scan the grayscale chart GS in the longitudinal direction while changing the output intensity of the laser light LS. This provides a correspondence relationship between the output intensity of the laser light LS and the intensity of the laser light LS reflected by the grayscale chart GS. The control unit 115 generates a calibration value related to the output intensity of the laser light LS based on this correspondence relationship. Then, the control unit 115 performs a first calibration to correct the intensity of the laser light LS output from the laser transmitting / receiving unit 114 using this calibration value. The laser scanner 11 measures the distance to the road surface A using the laser light LS that has been subjected to the first calibration as measurement light.

[0038] Fig. 6 is a schematic diagram showing an overview of the second calibration using the pixel detection area PA. The diagram on the left side of Fig. 6 shows the positional relationship between the camera unit 113 and the pixel detection area PA, and the distance from the camera unit 113 to the pixel detection area PA is assumed to be a reference value H1. The control unit 115 calculates the distance H2 from the camera unit 113 to the pixel detection area PA using the movement information measured by the TS 13 and the distance information in pixel units.

[0039] The diagram on the right side of FIG. 6 shows the photographed region of pixel detection area PA photographed by camera unit 113. Control unit 115 detects a deviation from reference value H1 based on the number of lines in the photographed image of pixel detection area PA in pixel units. Here, control unit 115 performs a second calibration based on the number of lines in the photographed image of pixel detection area PA and the number of lines in the photographed image of pixel detection area PA photographed when the reference value is H1. Furthermore, camera unit 113 has distance information per pixel of 0.1 mm / px. This is the calibration value in the second calibration.

[0040] If the distance H2 is 0.1 mm higher than the reference value H1 (=1 m), the angle of view of the camera unit 113 is adjusted so that an image PA2 is captured in which the number of lines in the pixel column is increased by one from the number of lines included in the image PA1 at the reference value H1. The control unit 115 performs a second calibration to correct the distance obtained by the distance measurement using the laser light LS so as to satisfy the relationship between the number of lines in the captured image of the pixel detection area PA and the distance to the pixel detection area PA. The distance obtained by the distance measurement using the laser light LS is the one that has been subjected to the first calibration. By performing the first calibration and the second calibration, the laser scanner 11 can accurately measure the distance to the road surface A.

[0041] The calibration marker M may be any marker provided on the road surface A at the rear of the construction machine C so that the laser scanner 11, which is a laser scanner mounted on the construction machine, can perform calibration for measuring the distance to the road surface A. In other words, the calibration marker M is not limited to one having a grayscale chart GS and a pixel detection area PA. For example, the calibration marker M may have a uniform pattern. Also, the black and white pattern of the grayscale chart GS may be white in the center and black at both ends, or multiple lines may be arranged in the longitudinal direction in the pixel detection area PA.

[0042] FIG. 7 is a block diagram showing an example of the configuration of the completed form management device 15 according to the first embodiment. 7, the completed form management device 15 includes a communication unit 151, a calculation unit 152, and a display unit 153. The communication unit 151 communicates with the laser scanner 11 or the TS 13 via the access point 14. For example, the communication unit 151 is a communication device capable of wireless LAN communication by a LAN system, and is capable of communicating with other devices such as the laser scanner 11 or the TS 13. The communication unit 151 may also include a short-range wireless communication means such as Bluetooth (registered trademark).

[0043] The calculation unit 152 controls the overall operation of the completed form management device 15. The calculation unit 152 includes an information acquisition unit 1521 and a surface data generation unit 1522. The calculation unit 152 executes an information processing application for providing completed form management processing, whereby various functions of the information acquisition unit 1521 and the surface data generation unit 1522 are realized.

[0044] Display unit 153 is a display device that displays information obtained by the arithmetic processing of arithmetic unit 152. For example, display unit 153 is a display device provided in a tablet terminal, a smartphone, or a notebook PC.

[0045] The information acquisition unit 1521 acquires measurement distance information measured by the laser scanner 11 performing the first calibration and the second calibration, and movement information measured by the TS 13. For example, the information acquisition unit 1521 acquires the measurement information from the laser scanner 11 by the communication unit 151 via the access point 14. The measurement information is information in which the movement information of the laser scanner 11 and the measured distance information to the road surface A are linked with GNSS time information.

[0046] The surface data generating unit 1522 generates surface data by using the measured distance information and the movement information. The surface data is data that visually represents the state of the road surface A. For example, the surface data generation unit 1522 uses movement information of the laser scanner 11 and measured distance information to the road surface A to generate surface data consisting of three-dimensional point cloud data representing the road surface A with high resolution as finished shape management data for the paved road surface. The surface data generated by the surface data generating unit 1522 is displayed on the display unit 153 .

[0047] Fig. 8 is a screen diagram showing an example of how the surface data A1 is displayed. The display unit 153 displays the surface data A1 on a display screen 153A. As shown in Fig. 8, the surface data A1 is three-dimensional point cloud data representing the road surface A, and for example, the white parts are parts that protrude from the other areas. By referring to the surface data A1, the worker can check the finished shape of the paved road surface.

[0048] FIG. 9 is a flowchart showing the completed form management method according to the first embodiment. The information acquisition unit 1521 acquires the measured distance information measured by the laser scanner 11 and the movement information measured by the TS 13 (step ST1). The surface data generating unit 1522 generates surface data that visually represents the state of the road surface A using the measured distance information and the movement information (step ST2). By executing this as-built management method, the as-built management device 15 can measure the three-dimensional coordinates of the entire measurement range on the road surface A with the measurement accuracy increased by calibration.

[0049] 10 is a block diagram showing a hardware configuration that realizes the functions of the completed form management device 15. For example, the completed form management device 15 has, as a hardware configuration, a communication interface 200, an input / output interface 201, a processor 202, and a memory 203. Each function of the information acquisition unit 1521 and the surface data generation unit 1522 included in the completed form management device 15 is realized by executing an information processing application in this hardware configuration.

[0050] The communication interface 200 outputs data received from the laser scanner 11 or the TS 13 via the access point 14 to the processor 202, and transmits data generated by the processor 202 to the laser scanner 11 or the TS 13 via the access point 14. The processor 202 reads and writes data from and to the memory 203 via the input / output interface 201.

[0051] Programs constituting an information processing application for realizing each function of the information acquisition unit 1521 and the surface data generation unit 1522 are stored in the memory 203. The processor 202 executes the programs read from the memory 203 via the input / output interface 201. In this way, the processor 202 realizes each function of the information acquisition unit 1521 and the surface data generation unit 1522. The memory 203 is, for example, a RAM (Random Access Memory).

[0052] As described above, the laser scanner 11 according to the first embodiment is provided at the rear of the construction machine C and includes a laser transmitting / receiving unit 114 that transmits laser light LS to the road surface A and receives the laser light LS reflected from the road surface A, a camera unit 113 that photographs the road surface A side, and a control unit 115 that measures the distance to the road surface A from which the laser light LS is transmitted and received. The control unit 115 performs calibration related to the measurement of the distance to the road surface A by using a calibration marker M provided on the road surface A at the rear of the construction machine C. This enables the laser scanner 11 to measure the three-dimensional coordinates of the entire measurement range on the road surface A with the measurement accuracy increased by the calibration.

[0053] In laser scanner 11 according to the first embodiment, control unit 115 performs a first calibration related to the intensity of laser light based on the intensity of laser light transmitted to and received from calibration marker M, as a calibration related to measurement of the distance to road surface A, and performs a second calibration related to the distance to road surface A using a captured image of calibration marker M. This enables laser scanner 11 to measure the three-dimensional coordinates of the entire measurement range on road surface A with the measurement accuracy improved by the calibration.

[0054] In the laser scanner 11 according to the first embodiment, the calibration marker M has a grayscale chart GS aligned along the scanning direction of the laser light, and a pixel detection area PA including a plurality of lines each consisting of a pixel row. The control unit 115 performs a first calibration using the intensity of the laser light transmitted to and received from the grayscale chart GS, and performs a second calibration based on the number of lines in a captured image of the pixel detection area PA and the number of lines in an image of the pixel detection area PA captured when the road surface A is at a reference distance. By performing the first calibration and the second calibration, the laser scanner 11 can accurately measure the distance to the road surface A.

[0055] The laser scanner 11 according to the first embodiment includes a prism 111 used for tracking the laser scanner 11 by the TS 13, and a communication unit 116 that transmits measured distance information indicating the distance to the road surface A as road surface pavement completion management information and receives movement information of the laser scanner 11 measured by the TS 13 through tracking using the prism 111. This allows the laser scanner 11 to accurately measure the distance to the road surface A.

[0056] The as-built management device 15 according to the first embodiment includes an information acquisition unit 1521 that acquires measurement distance information measured by the laser scanner 11 and movement information measured by the TS 13, and a surface data generation unit 1522 that uses the measurement distance information and the movement information to generate surface data that visually represents the state of the road surface A. This allows the as-built management device 15 to measure the three-dimensional coordinates of the entire measurement range on the road surface A with the measurement accuracy increased by calibration.

[0057] The as-built management method according to the first embodiment includes step ST1 in which the information acquisition unit 1521 acquires measurement distance information measured by the laser scanner 11 and movement information measured by the TS 13, and step ST2 in which the surface data generation unit 1522 uses the measurement distance information and the movement information to generate surface data visually expressing the state of the road surface A. By executing this as-built management method, the as-built management device 15 can measure the three-dimensional coordinates of the entire measurement range on the road surface A with the measurement accuracy increased by calibration.

[0058] By having a computer execute the program according to the first embodiment, the computer functions as an information acquisition unit 1521 that acquires measurement distance information measured by the laser scanner 11 and movement information measured by the TS 13, and a surface data generation unit 1522 that uses the measurement distance information and the movement information to generate surface data that visually represents the state of the road surface A. This makes it possible to provide a finished form management device 15 that can measure the three-dimensional coordinates of the entire measurement range on the road surface A with the measurement accuracy increased by calibration.

[0059] Any of the components of the embodiments may be modified or omitted. [Explanation of symbols]

[0060] 1 As-built management system, 11 laser scanner, 13 total station (TS), 14 access point, 15 as-built management device, 111 prism, 112 optical system, 113 camera unit, 114 laser transmission / reception unit, 115 control unit, 116 communication unit, 117 wireless LAN antenna, 151 communication unit, 152 calculation unit, 153 display unit, 153A display screen, 200 communication interface, 201 input / output interface, 202 processor, 203 memory, 1521 information acquisition unit, 1522 surface data generation unit.

Claims

1. A laser scanner installed at the rear of a construction machine that performs paving work on a road surface while moving along the road, a transceiver unit that transmits a laser beam to a road surface and receives the laser beam reflected from the road surface; A camera unit that photographs the road surface; A control unit that measures a distance to a road surface from which the laser light is transmitted and received by the transmitting and receiving unit, The control unit is Calibration is performed on the measurement of the distance to the road surface using a calibration marker provided on the road surface at the rear of the construction machine.

1. A laser scanner comprising:

2. The control unit performs the following calibration related to the measurement of the distance to the road surface: A first calibration of the intensity of the laser light based on the intensity of the laser light transmitted to and received from the calibration marker; and A second calibration is performed on information about a distance to a road surface using a captured image of the calibration marker.

2. The laser scanner according to claim 1 .

3. The calibration marker is a gray scale chart along a scanning direction of the laser light by the transmitting / receiving unit; a pixel detection area including a plurality of lines of pixel columns; The control unit is performing the first calibration using the intensity of the laser light transmitted to and received from the gray scale chart; The second calibration is performed based on the number of lines in the captured image of the pixel detection area and the number of lines in the captured image of the pixel detection area captured when the road surface is at a reference distance.

3. The laser scanner according to claim 2.

4. A reflector used for tracking the laser scanner by the total station; A communication unit that transmits measured distance information indicating the distance to the road surface as road surface pavement completion management information and receives movement information of the laser scanner measured by tracking using the reflecting unit by the total station.

4. The laser scanner according to claim 1, wherein the first and second laser beams are arranged in a first direction.

5. an information acquisition unit that acquires the measurement distance information measured by the laser scanner according to claim 4 and the movement information measured by the total station; a surface data generating unit that generates surface data visually representing a state of a road surface by using the measured distance information and the movement information; A completed shape management device characterized by the above.

6. A completed form management method executed by a completed form management device, An information acquiring unit acquires the measured distance information measured by the laser scanner according to claim 4 and the movement information measured by the total station; a surface data generating unit generating surface data visually representing a state of a road surface by using the measured distance information and the movement information; A method for managing completed form.

7. Computer, an information acquisition unit that acquires the measurement distance information measured by the laser scanner according to claim 4 and the movement information measured by the total station; a surface data generating unit that generates surface data visually representing a state of a road surface using the measured distance information and the movement information; A program to function as a

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