Finished shape management device, finished shape management method, and finished shape management program

Abstract

To measure and manage a finished shape more accurately.SOLUTION: A finished shape management device includes: a reflection light data acquisition unit which acquires as reflection light data, reflection time data, reflection direction data, and reflection luminance data of reflection light of laser light radiated to an excavation target area where excavation is scheduled and the vicinity of the excavation target area including a peripheral part of the excavation target area where at least three reflectors are arranged as position reference marks; a reflector arrangement information acquisition unit which acquires reflector arrangement information about the arrangement of the reflectors; a reflector size calculation unit which calculates reflector sizes of at least three reflectors by using the acquired reflection light data; a reflector identification unit which identifies at least three reflectors on the basis of the reflection light data, reflector arrangement information, and calculated reflector sizes; and a display control unit which causes the at least three identified reflectors to be displayed in an identifiable manner.SELECTED DRAWING: Figure 2A

Description

[Technical field]

[0001] The present invention relates to a completed work progress management device, a completed work progress management method, and a completed work progress management program. [Background technology]

[0002] In the above technical field, Patent Document 1 discloses a technology for measuring the completed shape of an excavation site in tunnel excavation work, in which a contour map is generated from point cloud data and design data acquired by irradiating a laser beam onto the excavation site, and the generated contour map is divided into a grid to set multiple regions. The coordinates of four intersections of each set region are then calculated by interpolation from the coordinate data of each point acquired from the point cloud data, thereby measuring the completed shape of the excavation site (paragraphs

[0014] to

[0030] of the same document, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-151963 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, the coordinates of the four intersections used to measure the finished shape were calculated by interpolation from point cloud data, and it was not possible to accurately measure the finished shape and manage it. [Means for solving the problem]

[0005] In order to achieve the above object, the present invention relates to a completed product management device, a reflected light data acquisition unit that acquires, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light irradiated to an excavation target area to be excavated, in which at least three reflectors as position reference markers are arranged, and the vicinity of the excavation target area including a peripheral portion of the excavation target area; a reflector arrangement information acquisition unit that acquires reflector arrangement information relating to an arrangement of the reflector; a reflector size calculation unit that calculates reflector sizes of at least three of the reflectors using the acquired reflected light data; a reflector identifying unit that identifies at least three of the reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size; a display control unit that assigns numbers to the at least three identified reflectors in order of proximity to the irradiation point of the laser light according to a predetermined rule, and displays the reflectors in an identifiable manner; Equipped with:

[0006] In order to achieve the above object, the present invention provides a method for managing completed work, a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light irradiated to an excavation target area to be excavated, in which at least three reflectors as position reference markers are arranged, and the vicinity of the excavation target area including a periphery of the excavation target area; a reflector arrangement information acquisition step of acquiring reflector arrangement information relating to an arrangement of the reflector; a reflector size calculation step of calculating reflector sizes of at least three of the reflectors using the acquired reflected light data; a reflector identifying step of identifying at least three of the reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size; a display control step of assigning numbers to the at least three identified reflectors in order of proximity to an irradiation point of the laser light according to a predetermined rule, and displaying the reflectors in an identifiable manner; Includes.

[0007] Furthermore, in order to achieve the above object, the present invention provides a completed form management program, a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light irradiated to an excavation target area to be excavated, in which at least three reflectors as position reference markers are arranged, and the vicinity of the excavation target area including a periphery of the excavation target area; a reflector arrangement information acquisition step of acquiring reflector arrangement information relating to an arrangement of the reflector; a reflector size calculation step of calculating reflector sizes of at least three of the reflectors using the acquired reflected light data; a reflector identifying step of identifying at least three of the reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size; a display control step of assigning numbers to the at least three identified reflectors in order of proximity to an irradiation point of the laser light according to a predetermined rule, and displaying the reflectors in an identifiable manner; to be executed by the computer. Effect of the Invention

[0008] According to the present invention, the completed form can be measured more accurately and the completed form can be managed. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram for explaining an overview of a completed form management device according to a first embodiment of the present invention. FIG. [Figure 2A] 1 is a block diagram for explaining a configuration of a completed form management device according to a first embodiment of the present invention. [Figure 2B]2 is a diagram for explaining an example of the configuration of a reflector identified by the completed shape management device according to the first embodiment of the present invention. FIG. [Diagram 3] 2 is a diagram for explaining an example of a reflector table possessed by the finished product management device according to the first embodiment of the present invention. FIG. [Figure 4] 1 is a diagram for explaining a hardware configuration of a completed form management device according to a first embodiment of the present invention. FIG. [Diagram 5] 4 is a flowchart for explaining a processing procedure of the completed form management device according to the first embodiment of the present invention. [Figure 6] FIG. 4 is a block diagram for explaining the configuration of a completed form management device according to a second embodiment of the present invention. [Figure 7] 13 is a diagram for explaining an example of a specific condition table possessed by the finished product management device according to the second embodiment of the present invention. FIG. [Figure 8] FIG. 11 is a diagram for explaining the hardware configuration of a finished product management device according to a second embodiment of the present invention. [Figure 9] 10 is a flowchart for explaining a processing procedure of a completed form management device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments of the present invention will be described in detail with reference to the drawings. However, the configurations, numerical values, process flows, functional elements, etc. described in the following embodiments are merely examples, and are free to be modified or changed, and are not intended to limit the technical scope of the present invention to the following description.

[0011] [First embodiment] An as-built management device 100 according to a first embodiment of the present invention will be described with reference to Figs. 1 to 5. Fig. 1 is a diagram for explaining an overview of as-built management by the as-built management device 100 according to this embodiment. In this embodiment, as shown in Fig. 1, an example will be described in which one lane (travel lane 121 or passing lane 122) on a two-lane road 120 is closed to traffic and excavation is carried out in the other lane (travel lane 121 or passing lane 122).

[0012] First, in the construction of mountain tunnels and the like, an invert is installed by, for example, closing one lane of traffic, excavating the area to be excavated 140 with heavy excavation equipment such as a backhoe 101, and once the excavation is completed, constructing an invert at the completed excavation site.

[0013] Here, in the installation of the invert, the construction is carried out while checking the finished shape of the excavated area 140 to be excavated. The finished shape of the excavation area 140 is checked by setting a height standard on the tunnel side wall and measuring the height of the excavation area 140 with a ruler. The measured value is then compared with the design value to determine whether or not there is a hit, and if there is a hit, re-excavation is carried out to approach the design value. According to this construction method, the finished shape of the excavation area 140 where the invert is to be installed is checked.

[0014] Then, in order to check the completed shape of the excavation target area 140, the excavation target area 140 is scanned with a laser light emitted from a laser sensor mounted on an excavation heavy machine such as a backhoe 101. Here, the laser sensor is, for example, a LiDAR (Light Detection and Ranging) sensor, which is a measuring device using light. The laser sensor emits pulsed laser light and measures the distance between the target and the laser sensor based on the time difference until the light hits the target and bounces back.

[0015] Then, in the completed form management device 100, point cloud data, which is the measurement value at each point, is obtained using a laser beam emitted from a laser sensor mounted on the backhoe 101. By comparing the height data of each point obtained from the obtained point cloud data with the design data, it becomes possible to check whether there is a hit or not.

[0016] Here, the point cloud data is measured as reflected light of laser light emitted from a laser sensor mounted on the backhoe 101, and therefore is position data of each measurement point with the laser sensor as the origin. In other words, if the backhoe 101 moves (if the position of the laser sensor moves), a shift will occur in the origin of measurement.

[0017] On the other hand, the design data is data that is created regardless of the position of the laser sensor mounted on the backhoe 101, and is data that is created based on the absolute coordinates of the excavation target area 140. In this way, since the origin of the coordinate system is different between the point cloud data and the design data, it has been difficult to grasp the exact excavation position and to adequately manage the determination of the excavation state, such as the height of the excavation surface. Therefore, in the as-built management device 100, before starting excavation of the excavation target area 140, it is necessary to match the coordinate system (laser light coordinate system) formed by the laser sensor with the coordinate system (absolute coordinate system (design coordinate system)) formed by the design data. Specifically, a coordinate conversion is performed between the laser light coordinate system and the absolute coordinate system to obtain the position of the laser sensor in the absolute coordinate system, and consistency is achieved between the two, enabling more accurate as-built management.

[0018] When performing such work, for example, the monitor 110 in the driver's seat of the backhoe 101 can display the obtained point cloud data, but the operator needs to identify the reflector on the monitor 110 while looking at the monitor 110. However, identifying the reflector from the point cloud data on the monitor 110 is often difficult and time-consuming. In the completed form management device 100 of this embodiment, the reflector is displayed identifiably on the monitor 110, thereby supporting the operator's work and reducing the operator's workload.

[0019] Specifically, the operator of the backhoe 101 operates an arrow icon displayed on the monitor 110 to move a frame for identifying the reflector 131 displayed on the monitor 110. When the operator moves the frame to the position of the reflector on the monitor 110 and presses the decision button, the object at that position is determined to be the reflector 131. However, if the operator of the backhoe 101 attempts to perform such an operation, the point cloud data displayed on the monitor 110 will include the reflector 131 and the ground, and it will take time to distinguish between them and identify the reflector 131.

[0020] Here, in this embodiment, at least three reflectors that reflect laser light are installed in the excavation target area 140 and in the vicinity of the excavation target area including the periphery of the excavation target area 140. In this embodiment, four reflectors 131 are installed. Three of the four reflectors 131 are installed at different positions, and the remaining one is installed at a position directly above one of the three reflectors 131. That is, the remaining one reflector 131 has the same (x, y) coordinates (data on a plane) as one of the other three reflectors 131, but has a different z coordinate (height data) value. In this way, when the coordinates of the four position reference markers are determined, the position in the design coordinate system of the position measured by the laser sensor can be obtained using a conversion formula from the laser light coordinate system to the design coordinate system (absolute coordinate system). The four reflectors 131 are installed because they are necessary for coordinate conversion between the laser light coordinate system and the absolute coordinate system. Furthermore, in the case of LiDAR, if there are three reference points, it is possible to identify the reflector 131. The self-position of the laser sensor can be determined separately by a GPS (Global Positioning System) or other alternative means.

[0021] In this embodiment, as shown in the lower right diagram of Fig. 1, three reflectors 131 are arranged around the periphery of the excavation target area 140, and another reflector 131 is arranged directly above the foremost reflector, resulting in a total of four reflectors 131. In the lower right diagram, the left diagram shows an example of the arrangement of the reflectors 131 when excavating in the driving lane 121, and the right diagram shows an example of the arrangement of the reflectors 131 when excavating in the passing lane 122. Note that the arrangement of the reflectors 131 is not limited to the arrangement shown here.

[0022] The completed form management device 100 acquires data on reflected light from a laser sensor mounted on the backhoe 101, and displays the acquired data on the monitor 110. An icon resembling a reflector 131 is displayed on the upper right of the monitor 110, and the icon display 111 indicates the position of the reflector 131. Each icon is displayed with a number, which is displayed as "1D", "2U", "3", and "4".

[0023] The numbers are assigned in ascending order clockwise from the side closest to the backhoe 101 for the construction of the travel lane 121, and in ascending order counterclockwise for the construction of the passing lane 122. The "D" and "U" assigned to the numbers indicate the up-down position of the reflector 131, with "D=Down" and "U=Up". In other words, the reflectors 131 No. 1 and No. 2 are in the same position on the plane, but No. 1 is on the lower side and No. 2 is on the upper side, indicating that only the up-down position is different. In addition, each icon is colored, and the icons are colored in different colors from No. 1 in the order of red, yellow, blue, and green. Each reflector 131 is designed to be easily identifiable on the monitor. The "Direction: Right" button and the "Direction: Left" button of the icon display 111, that is, the pattern of passing the car in the left or right lane in the excavation target area 140, can be selected. This allows you to decide whether the numbers should be numbered clockwise or counterclockwise.

[0024] In this way, by using the as-built management device 100, the position of the reflector 131 placed in the area to be excavated can be easily identified, and the workload of the operator of the backhoe 101 can be significantly reduced.

[0025] Next, the configuration of the finished product management device 100 according to the present embodiment will be described with reference to Fig. 2A. The finished product management device 100 includes a reflected light data acquisition unit 201, a reflector arrangement information acquisition unit 202, a reflector size calculation unit 203, a reflector identification unit 204, and a display control unit 205.

[0026] The reflected light data acquisition unit 201 acquires, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of the reflected light of the laser light irradiated to the excavation target area 140 to be excavated in which at least three reflectors 131 as position reference markers are arranged, and the vicinity of the excavation target area including the peripheral part of the excavation target area 140. In this embodiment, four reflectors 131 are arranged in the excavation target area 140. This is because the fourth reflector 131 is necessary for converting the point cloud data from the laser beam coordinate system to the absolute coordinate system.

[0027] From the acquired reflection time data, it is possible to calculate the distance between the laser sensor and the reflector 131. From the reflection direction data, it is possible to know the direction in which the reflector 131 is located, and by combining this with the reflection time data, it is possible to identify the position of the reflector 131. From the reflection brightness data, it is possible to distinguish between the reflector and other things (the ground or foundation to be excavated).

[0028] The reflector 131 may be placed on the boundary line of the excavation target area 140, or may be placed outside or inside the boundary line. In addition, when the excavation target area 140 is rectangular, the reflector 131 may be placed near three of the four corners. That is, in this embodiment, the vicinity includes the outside of the boundary line, the inside of the boundary line, and on the boundary line, and the outside and the inside are positions within a predetermined distance from the boundary line. The predetermined distance is a distance determined according to the area of ​​the excavation target area 140, and may be, for example, within a range of 1 m from the boundary line.

[0029] The reflector arrangement information acquisition unit 202 acquires reflector arrangement information regarding the arrangement of the reflector 131. For example, in order to ensure the safety of traveling vehicles and the safety of workers who install the reflector 131, when excavation is performed in the travel lane 121, one reflector 131 is arranged on the center line side, and the remaining reflectors are arranged on the wall side opposite the center line (left side), as shown in Fig. 1. Similarly, when excavation is performed in the passing lane 122, one reflector 131 is arranged on the center line side, and the remaining reflectors are arranged on the wall side opposite the center line (right side).

[0030] The reflectors 131 are arranged in this manner in order to reduce the number of times that the reflectors 131 are installed on the side (danger side) where general vehicles are traveling. If the arrangement of the reflectors 131 is determined based on the type of construction conditions of the road or the like to be excavated, obtaining such information in advance makes it easier for the completed form management device 100 to identify the reflectors. Note that the arrangement pattern of the reflectors 131 is not limited to the example shown here, and various arrangement patterns can be set.

[0031] The reflector size calculation unit 203 calculates the reflector sizes of at least three reflectors using the acquired reflected light data. The reflector 131 is a sign made of a material that easily reflects laser light, is rectangular, has a certain area, and is an object that reflects the irradiated laser light with a certain reflection brightness. Since the reflector 131 is considered to exist at the position of a collection of point cloud data with the same brightness among the point cloud data obtained by irradiating the laser light, the size of the collection of point cloud data with the same brightness is calculated as the reflector size. Note that the reflector 131 is not limited to a rectangle, and may be a circle, a polygon, or the like.

[0032] For example, when the reflector 131 is rectangular, the reflector size calculation unit 203 calculates the length (pattern) of at least one side of the reflector as the reflector size using the reflected luminance data from the reflected light data. If the reflector is rectangular, the reflector size can be calculated by calculating at least one of the length and width of a collection of point cloud data with the same luminance. Then, by comparing the calculated reflector size with information on the size of the reflector 131 actually installed in the excavation target area 140, it becomes possible to determine whether the collection of point cloud data with the same luminance is a collection of reflected light from the reflector 131.

[0033] The reflector identifying unit 204 identifies at least three reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size. In this embodiment, the reflector identifying unit 204 identifies four reflectors. The arrangement position of the reflector 131 is known in advance from the reflector arrangement information, and if there is a collection of point cloud data of reflected luminance matching the length of one side near the position, the position can be identified as the arrangement position of the reflector 131.

[0034] Here, referring to FIG. 2B, an example of the configuration of the reflector 131 will be described. The reflector 131 is a rectangular plate-shaped object, and a rectangular high-luminance portion made of a material with high reflectance of laser light is provided in the center. Here, the reflectance of the laser light in the high-luminance portion of the reflector 131 is 80 to 100%, and the luminance of the reflected light is a luminance value corresponding thereto. That is, the luminance value is a value indicating what percentage of the infrared light emitted from the LiDAR is reflected and returned. The size of the reflector 131 used in this embodiment is about 150 mm to about 500 mm in both length and width. Therefore, a part of a collection of point cloud data that can express this size can be specified as the reflector 131. Note that the point cloud data 210 is data obtained by scanning the excavation target area 140 at a pitch of about 60 mm. In addition, a frame (black frame) with low reflectance of laser light (low luminance) may be provided around the high-luminance portion of the reflector 131. By providing a frame in this manner, the difference in luminance becomes clear, making it easier to identify the reflector 131.

[0035] The display control unit 205 assigns numbers to the at least three specified reflectors 131 in order of proximity to the irradiation point of the laser light according to a predetermined rule, and displays the reflectors in an identifiable manner. The display control unit 205 assigns numbers according to a predetermined rule, for example, as shown in FIG. 1, according to a rule that the reflectors are assigned in ascending order of distance in a clockwise (or counterclockwise) direction from the closest reflector based on the position of the laser sensor mounted on the backhoe 101. In addition, in the case of reflectors 131 that are positioned above and below each other, a smaller number is assigned to the reflector 131 with a smaller z coordinate (located at a lower position). In this way, the assignment of numbers to the specified reflectors 131 is performed according to a predetermined rule, but the predetermined rule is not limited to the above-mentioned rule, and for example, the numbers may be assigned in order from the reflector 131 located farthest from the laser sensor.

[0036] Also, for example, a case is considered in which, for example, in the travel lane 121, there is one reflector 131 on the right side and three reflectors on the left side, with the laser sensor mounted on the backhoe 101 at the center. In this case, the display control unit 205 assigns numbers to the reflectors 131 according to the rule that numbers are assigned in ascending order from the reflector 131 closest to the left side, and finally the reflector 131 closest to the right side. Furthermore, for example, in the passing lane 122, there is considered a case in which, for example, in the passing lane 122, there are three reflectors 131 on the right side and one reflector on the left side, with the laser sensor at the center. In this case as well, the display control unit 205 assigns numbers to the reflectors 131 according to the rule that numbers are assigned in ascending order from the reflector 131 closest to the right side, and finally the reflector 131 closest to the left side. In this way, the predetermined rule for assigning numbers is not limited to the example shown here, and numbers can be assigned to the reflectors 131 according to various rules.

[0037] Furthermore, the display control unit 205 assigns different colors to the identified reflectors 131 to display them in an identifiable manner. The colors assigned to the identified reflectors 131 are, for example, red, yellow, blue, and green in ascending order of numbers. The rules for assigning colors are not limited to the example shown here. Since the identified reflectors 131 can be displayed in an identifiable manner in this way, the operator can input the position of the reflector 131 on the monitor 110 without making a mistake. Since the position of the reflector 131 is reliably determined, accurate values ​​can be obtained in the subsequent coordinate conversion and comparison between the design data and the actual measurement values.

[0038] Next, an example of a reflector table 301 held by the completed form management device 100 will be described with reference to Fig. 3. The reflector table 301 stores reflector size 312 and reflector arrangement information 313 in association with brightness 311. The brightness 311 is data related to the brightness of the reflected light from the reflector. The reflector size 312 is data related to the size of the reflector installed in the excavation target area 140. The reflector arrangement information 313 is information related to the location where the reflector 131 is installed. The completed form management device 100 uses this table 301 to identify the reflector 131.

[0039] The hardware configuration of the completed shape management device 100 will be described with reference to FIG. 4. The CPU (Central Processing Unit) 410 is a processor for arithmetic control, and executes a program to realize each functional configuration of the completed shape management device 100 in FIG. 2. The CPU 410 has multiple processors, and may execute different programs, modules, tasks, threads, etc. in parallel. The ROM (Read Only Memory) 420 stores fixed data such as initial data and programs, and other programs. The network interface 430 communicates with other devices via a network. The CPU 410 is not limited to one, and may be multiple CPUs or may include a GPU (Graphics Processing Unit) for image processing. The network interface 430 preferably has a CPU independent of the CPU 410, and writes or reads transmitted / received data in an area of ​​the RAM (Random Access Memory) 440. It is also preferable to provide a DMAC (Direct Memory Access Controller) that transfers data between the RAM 440 and the storage 450 (not shown). The CPU 410 recognizes that data has been received or transferred to the RAM 440, and processes the data. Furthermore, the CPU 410 prepares the processing results in the RAM 440, and leaves the subsequent transmission or transfer to the network interface 430 or DMAC.

[0040] The RAM 440 is a random access memory used by the CPU 410 as a temporary storage work area. The RAM 440 includes a memory for storing data necessary for implementing the present embodiment. The area is secured. The reflection time data 441 is data relating to the time it takes for the irradiated laser light to reflect off the target object and return. The reflection direction data 442 is data relating to the direction of arrival of the reflected light of the irradiated laser light. The reflection brightness data 443 is data relating to the brightness of the reflected light of the irradiated laser light. The point cloud data 444 is data relating to the reflected light of the laser light irradiated and scanned on the excavation target area. Each point cloud data has information regarding height. The placement information data 445 is data relating to the placement of the reflector 131, and includes information regarding whether the construction is on the driving lane 121 side or the passing lane 122 side.

[0041] The transmitted / received data 446 is data that is transmitted and received via the network interface 430. The RAM 440 also has an application execution area 447 for executing various application modules.

[0042] The storage 450 stores a database, various parameters, or the following data or programs required to realize this embodiment. The storage 450 stores the reflector table 301. The reflector table 301 is a table that manages the relationship between the brightness 311 and the reflector size 312 shown in FIG. 3.

[0043] The storage 450 further stores a reflected light data acquisition module 451 , a reflector arrangement information acquisition module 452 , a reflector size calculation module 453 , a reflector identification module 454 , a number assignment module 455 , and a display control module 456 .

[0044] The reflected light data acquisition module 451 is a module that acquires reflected light data of the reflected light of the laser light irradiated to the excavation target area and its neighboring area. The reflector arrangement information acquisition module 452 is a module that acquires information on the arrangement of the reflector 131. The reflector size calculation module 453 is a module that calculates the size of the reflector 131 using the reflected light data. The reflector identification module 454 is a module that identifies the reflector 131 based on the reflected light data, the reflector arrangement information, and the reflector size. The display control module 455 is a module that assigns numbers to at least three of the identified reflectors according to a predetermined rule in order of proximity to the irradiation point of the laser light, and displays the reflectors in an identifiable manner. These modules 451 to 455 are read by the CPU 410 into the application execution area 447 of the RAM 440 and executed. The control program 456 is a program for controlling the entire finished shape management device 100.

[0045] The input / output interface 460 interfaces input / output data with input / output devices. A display unit 461 and an operation unit 462 are connected to the input / output interface 460. A storage medium 464 may be further connected to the input / output interface 460. A speaker 463 serving as an audio output unit, a microphone (not shown) serving as an audio input unit, or a GPS position determination unit may be further connected. Note that the RAM 440 and the storage 450 shown in FIG. 4 do not show programs and data related to the general-purpose functions of the completed form management device 100 or other feasible functions.

[0046] Next, referring to the flowchart shown in FIG. 5, the processing procedure of the completed form management device 100 will be described. This flowchart is executed by the CPU 410 in FIG. This realizes each functional configuration of the completed form management device 100 in FIG.

[0047] In step S501, the reflected light data acquisition unit 201 acquires reflected light data. In step S503, the reflector arrangement information acquisition unit 202 acquires reflector arrangement information related to the arrangement of the reflector 131. In step S505, the reflector size calculation unit 203 calculates, for example, the length of one side of the reflector 131 as the reflector size of the reflector 131 using the reflected light data. In step S507, the reflector identification unit 204 identifies the reflector 131 based on the reflected light data, the reflector arrangement information, and the reflector size. In step S509, the display control unit 205 displays the identified reflector 131 in an identifiable manner.

[0048] According to this embodiment, since the reflector is specified according to the conditions for specifying the reflector, the reflector can be specified with higher accuracy, so that the possibility of incorrectly specifying the reflector is reduced and the work involved in specifying the reflector can be simplified. In addition, since the position of the reflector can be input accurately, the four coordinates (absolute coordinate system) of the reflector set in advance are compared one by one with the coordinates (laser light coordinate system) of the reflector in the measured point cloud data, so that accurate coordinate conversion can be performed. Since the coordinate conversion can be performed accurately, accurate data can be obtained when comparing design data and actual measurements.

[0049] [Second embodiment] Next, a completed shape management device 600 according to a second embodiment of the present invention will be described with reference to Figs. 6 to 9. Fig. 6 is a block diagram for explaining the configuration of the completed shape management device 600 according to this embodiment. The completed shape management device 600 according to this embodiment is different from the first embodiment in that it has a reflector identification condition acquisition unit and a reflector candidate identification unit. Since the other configurations and operations are similar to those of the first embodiment, the same configurations and operations are denoted by the same reference numerals and detailed explanations thereof will be omitted.

[0050] The completed form management device 600 has a reflector identification condition acquisition unit 601. The reflector identification condition acquisition unit 601 acquires at least a threshold value of the length of one side of the reflector 131 and a threshold value of brightness data as reflector identification conditions for identifying at least three reflectors 131. By determining the threshold value of the length of one side of the reflector 131 and the threshold value of the brightness, it becomes possible to identify the reflector 131 with higher accuracy.

[0051] For example, when the size of the reflector 131 installed in the excavation target area 140 is known in advance, setting information about the size of the reflector 131, such as the length of one side of the reflector 131, the length and width of the reflector 131, and the length of the diagonal line of the reflector 131, makes it easier to identify the reflector 131. Therefore, the reflector identification condition acquisition unit 601 does not identify as the reflector 131 a reflector whose length of one side is too long or too short.

[0052] The reflector identifying unit 204 identifies at least three reflectors 131 based on the reflector identifying conditions, the reflected luminance data, and the length of one side. That is, the reflector identifying unit 204 can identify point cloud data that meets the reflector identifying conditions as the reflector 131 by using the reflector identifying conditions.

[0053] The reflector candidate identifying unit 602 identifies reflector candidates that satisfy the reflector identifying condition in addition to at least three reflectors. That is, the number of reflectors 131 identified is four in this embodiment, but the reflector identifying unit 204 may identify five or more reflectors 131 as long as they satisfy the reflector identifying condition. Then, the reflector candidate identifying unit 602 identifies the fifth and subsequent reflectors 131 as reflector candidates. The fifth and subsequent reflectors may be displayed in pink, for example, so that they can be distinguished from the other four reflectors 131. In addition, if only three reflectors 131 can be identified despite the fact that four reflectors 131 are installed, a warning that the number of reflectors 131 is insufficient may be displayed.

[0054] When five or more reflectors 131 are identified, the display control unit 205 displays the fifth and subsequent reflectors 131 in a color different from that of the four reflectors 131. For example, the fifth and subsequent reflectors 131 may be displayed in pink on the monitor 110. If the reflector 131 candidates can be displayed in this manner, the positions of the reflectors 131 determined in advance in the design data can be matched with the reflector candidates one by one, thereby significantly reducing the risk of erroneous matching.

[0055] Next, an example of the specific condition table 701 of the completed shape management device 600 will be described with reference to Fig. 7. The specific condition table 701 stores a reflector size threshold 712 in association with a brightness threshold 711. The brightness threshold 711 is a threshold of the brightness of the reflected light from the reflector 131, and is a value that determines the lower limit of the brightness. The reflector size threshold 712 is a value that determines the lower limit of the size of a collection of point cloud data to be identified as a reflector. The completed shape management device 600 then identifies the reflector 131 using the specific condition table 701.

[0056] The hardware configuration of the finished product management device 600 will be described with reference to Fig. 8. The RAM 840 is a random access memory used by the CPU 410 as a temporary storage work area. A storage area for storing data required to realize the present embodiment is secured in the RAM 840. The specific condition data 841 is data related to a threshold value required to identify the reflector 131 from the point cloud data obtained by irradiating a laser beam.

[0057] The storage 850 stores a database, various parameters, or the following data or programs required to realize this embodiment. The storage 850 stores a specific condition table 701. The specific condition table 701 is a table that manages the relationship between the brightness threshold value 711 and the reflector size threshold value 712 shown in FIG.

[0058] The storage 850 further stores a reflector identification condition acquisition module 851 and a reflector candidate identification module 852. The reflector identification condition acquisition module 851 is a module that acquires a threshold value for the length of one side of a reflector and a threshold value for brightness data as conditions for identifying the reflector 131. The reflector candidate identification module 852 is a module that identifies a reflector candidate that satisfies the reflector identification condition in addition to the four identified reflectors. These modules 851 to 852 are read by the CPU 410 into the application execution area 447 of the RAM 840 and executed.

[0059] Next, a processing procedure of the completed form management device 600 will be described with reference to the flowchart shown in Fig. 9. This flowchart is executed by the CPU 410 in Fig. 8 using the RAM 840, and realizes each functional configuration of the completed form management device 600 in Fig. 6.

[0060] In step S901, the reflector identification condition acquisition unit 601 acquires a threshold value for the length of one side of the reflector and a threshold value for the brightness data as the reflector identification conditions. In step S903, the reflector identification unit 204 identifies the reflector 131 based on the reflector identification conditions, the reflected brightness data, and the length of one side.

[0061] According to the present embodiment, the conditions for identifying a reflector are acquired, and the reflector is identified from the point cloud data that satisfies the acquired conditions, so that the reflector can be identified with higher accuracy. In addition, the candidate reflectors displayed on the monitor can be compared and checked with the layout pattern of the reflector designed in the design data, so that the risk of erroneous matching can be reduced.

[0062] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-described embodiments and can be modified as appropriate. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In addition, systems or devices that combine separate features included in each embodiment in any way are also included in the scope of the present invention.

[0063] The present invention may be applied to a system consisting of multiple devices, or to a single device. Furthermore, the present invention may be applied to a case where an information processing program for implementing the functions of the embodiment is supplied to a system or device and executed by a built-in processor. Therefore, the technical scope of the present invention includes a program installed on a computer to implement the functions of the present invention with a computer, a medium storing the program, a WWW (World Wide Web) server that downloads the program, and a processor that executes the program. In particular, at least a non-transitory computer readable medium storing a program that causes a computer to execute the processing steps included in the above-mentioned embodiment is included in the technical scope of the present invention.

Claims

1. a reflected light data acquisition unit that acquires, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light irradiated to an excavation target area to be excavated, in which at least three reflectors as position reference markers are arranged, and a vicinity of the excavation target area including a peripheral portion of the excavation target area; a reflector arrangement information acquisition unit that acquires reflector arrangement information relating to an arrangement of the reflector; a reflector size calculation unit that calculates reflector sizes of at least three of the reflectors using the acquired reflected light data; a reflector identifying unit that identifies at least three of the reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size; a display control unit that assigns numbers to the at least three specified reflectors in order of proximity to an irradiation point of the laser light according to a predetermined rule, and displays the reflectors in an identifiable manner; A completed form management device equipped with the above.

2. the reflector size calculation unit calculates, when the reflector is rectangular, a length of at least one side of the reflector as the reflector size by using the reflected luminance data of the reflected light data; The apparatus for managing completed shapes according to claim 1 , wherein the reflector identification unit identifies at least three of the reflectors based on the calculated length of the one side.

3. a reflector identification condition acquisition unit that acquires at least a threshold value of the length of one side of the reflector and a threshold value of the reflected luminance data as reflector identification conditions for identifying at least three of the reflectors; The finished product management device according to claim 2 , wherein the reflector identification unit identifies at least three of the reflectors based on the reflector identification conditions, the reflected luminance data, and the length of one side.

4. The completed shape management device according to claim 3 , further comprising a reflector candidate identification unit that identifies reflector candidates that satisfy the reflector identification condition in addition to the at least three reflectors.

5. a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light irradiated to an excavation target area to be excavated, in which at least three reflectors as position reference markers are arranged, and a vicinity of the excavation target area including a periphery of the excavation target area; a reflector arrangement information acquisition step of acquiring reflector arrangement information relating to an arrangement of the reflector; a reflector size calculation step of calculating reflector sizes of at least three of the reflectors using the acquired reflected light data; a reflector identifying step of identifying at least three of the reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size; a display control step of assigning numbers to the at least three identified reflectors in order of proximity to an irradiation point of the laser light according to a predetermined rule, and displaying the reflectors in an identifiable manner; A method for managing completed work, including:

6. a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light irradiated to an excavation target area to be excavated, in which at least three reflectors as position reference markers are arranged, and a vicinity of the excavation target area including a periphery of the excavation target area; a reflector arrangement information acquisition step of acquiring reflector arrangement information relating to an arrangement of the reflector; a reflector size calculation step of calculating reflector sizes of at least three of the reflectors using the acquired reflected light data; a reflector identifying step of identifying at least three of the reflectors based on the reflected light data, the reflector arrangement information, and the calculated reflector size; a display control step of assigning numbers to the at least three identified reflectors in order of proximity to an irradiation point of the laser light according to a predetermined rule, and displaying the reflectors in an identifiable manner; A completed work management program that causes a computer to execute the above.

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