Position estimation method, position estimation program, position estimation device, and position estimation system

Abstract

To estimate a position of a columnar structure through simple processing.SOLUTION: A position estimation method for estimating a position of an installed columnar structure includes: an acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner whose coordinates of an instrument point are fixed to known coordinates; and an estimation step of estimating the position of the columnar structure relative to the known coordinates using the coordinates of a first point with the highest received light intensity in the point cloud indicated by the three-dimensional point cloud data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a technique for estimating the position of a columnar structure.

Background Art

[0002] In pier construction work in a port, it is necessary to grasp the center position and height of the top end of a steel pipe pile after driving the steel pipe pile. Conventionally, a jig having rigidity is placed on the top end of the steel pipe pile, and a target (such as a prism) installed thereon is measured using a total station or the like capable of highly accurate distance measurement, and the center coordinates (plane position and height) of the steel pipe pile are calculated. However, in this measurement method, the worker has to go to the top end of the steel pipe pile using the scaffolding of the driving machine and the guide members arranged around the pile only for the purpose of measurement, and there is a problem that the work is inefficient. In addition, there are cases where the position of the top end of the steel pipe pile is very high, and there are also cases involving dangerous work that requires a safety belt.

[0003] Therefore, a method has been proposed in which a three-dimensional point group of a steel pipe pile is acquired from a remote location using a scanner device such as a high-performance scanner device, and a three-dimensional model is generated to calculate the position and height of the steel pipe pile on a plane (for example, Patent Documents 1 to 3).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art as described above, in order to generate a three-dimensional model of a steel pipe pile, it is necessary to scan the entire target steel pipe pile, a special device for image acquisition is required, or the processing required for measuring the position of a columnar structure such as a steel pipe pile becomes complicated.

[0006] One aspect of the present invention aims to realize a technique capable of estimating the position of a columnar structure such as a steel pipe pile using a general device with simple processing.

Means for Solving the Problems

[0007] In order to solve the above problems, a position estimation method according to one aspect of the present invention is a position estimation method for estimating the position of an installed columnar structure, including an acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates, and an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest received light intensity among the point clouds indicated by the three-dimensional point cloud data.

[0008] Further, a position estimation method according to one aspect of the present invention is a position estimation method for estimating the position of an installed columnar structure, wherein on the outer peripheral surface of the columnar structure, a linear or strip-shaped first identification material provided so as to surround the outer peripheral surface at a first position where the distance from the top end is known, and the surface of the first identification material is formed of a material having a higher reflectivity than the outer peripheral surface is provided, and an acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates, and an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest received light intensity among the point clouds indicated by the three-dimensional point cloud data.

[0009] In addition, a position estimation program according to an aspect of the present invention is a position estimation program for estimating the position of an installed columnar structure, and the columnar structure is scanned using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates to obtain three-dimensional point cloud data. An acquisition step, and an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest light reception intensity among the point clouds indicated by the three-dimensional point cloud data, are executed by a computer.

[0010] In addition, a position estimation device according to an aspect of the present invention is a position estimation device for estimating the position of an installed columnar structure, and an acquisition unit that obtains three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates, and the coordinates of a first point having the highest light reception intensity among the point clouds indicated by the three-dimensional point cloud data are used to estimate the position of the columnar structure with respect to the known coordinates. And an estimation unit.

Advantages of the Invention

[0011] According to one aspect of the present invention, the position of an installed columnar structure can be estimated by simple arithmetic processing without scanning the entire columnar structure and generating a three-dimensional model of the columnar structure.

Brief Description of the Drawings

[0012]

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Mode for Carrying Out the Invention

[0013] 〔Embodiment 1〕 <Configuration of the Position Estimation System> Hereinafter, an embodiment of the present invention will be described in detail. FIG. 1 is a block diagram showing the configuration of a position estimation system 100 according to this embodiment. The position estimation system 100 is a system for estimating the position of an installed columnar structure. The columnar structure is a structure extended along an axis that is a straight line. The columnar structure may be a hollow structure in which a cavity is formed inside along the axial direction, such as a shape called tubular or cylindrical, or a solid structure without a cavity provided (that is, filled inside). In the description of this embodiment, a steel pipe pile is used as an example of the columnar structure. The columnar structure may be a concrete pile such as a PHC pile or a PRC pile. Further, the columnar structure is not limited to a steel pipe pile and a concrete pile, and may be a concrete pile with an outer shell steel pipe such as an SC pile whose outer peripheral surface is made of metal and whose inside is made of concrete. Further, the shape of the contour in the horizontal cross-section (cross-section perpendicular to the axial direction) of the columnar structure may be circular or rectangular. Further, the shape of the horizontal cross-section of the columnar structure may be annular corresponding to the hollow structure. Further, although one steel pipe pile 3 is shown in FIG. 1, the number of steel pipe piles 3 estimated by the position estimation system 100 may be plural. The position estimation system 100 includes a position estimation device 1 and a laser scanner 2.

[0014] (Laser Scanner) The laser scanner 2 is a stationary device that irradiates the surface of the measurement target with laser light and measures the distance to the measurement target. The coordinates of the instrument point of the laser scanner 2 are fixed on known coordinates, and three-dimensional point cloud data of the measurement target included in the angular field of view is generated. The position estimation device 1 and the laser scanner 2 are connected via an interface such as USB (Universal Serial Bus). However, the position estimation device 1 and the laser scanner 2 may be connected via a communication line. Note that the coordinate system defining the above-described known coordinates may be a Cartesian coordinate system or a polar coordinate system. In the present embodiment, a Cartesian coordinate system is used as the coordinate system defining the known coordinates, in which the xy plane is parallel to the horizontal plane and the z-axis direction is parallel to the vertical direction. Also, in the Cartesian coordinate system of the present embodiment, the instrument point of the laser scanner 2, which is the known coordinate, is used as the origin.

[0015] Note that when the steel pipe pile 3, which is the measurement target, does not protrude from the sea surface, the laser light from the laser scanner 2 is blocked by the sea surface. However, by using a green laser, it is possible to acquire point clouds several meters below the sea surface (depending on the transparency).

[0016] (Steel pipe pile) The steel pipe pile 3 is a steel pile having known specification dimensions and having a cylindrical or cylindrical shape, and is installed at intervals of, for example, 2 to 3 m. The specification dimensions of the steel pipe pile 3 are also called production specification values, and are the dimensions of the steel pipe pile 3 determined when the manufacturer of the steel pipe pile 3 designs and / or manufactures the steel pipe pile 3. The specification dimensions often include the length, outer diameter, and pile thickness. Note that in the specification dimensions, at least two of the outer diameter, inner diameter, and pile thickness may be included. If two of the outer diameter, inner diameter, and pile thickness are disclosed, the user can calculate the remaining one. The specification dimensions are often disclosed by the manufacturer of the steel pipe pile 3, and the user can know them via the manufacturer's web page or the like. Although there are also angular piles using steel pipes, in the present embodiment, a cylindrical pile is used for explanation. Also, the steel pipe pile 3 may be installed not only as a vertical pile but also in a direction having an inclination angle with respect to the vertical direction, that is, as an inclined pile.

[0017] On the outer peripheral surface of the steel pipe pile 3, a linear or strip-shaped first identification material may be provided so as to surround the outer peripheral surface at a first position where the distance from the top end is constant and known, and the surface of the first identification material is formed of a material having a reflectivity higher than that of the outer peripheral surface. As an example, the first identification material is an adhesive sheet having an adhesive layer formed on the back surface. The adhesive sheet is a general term for stickers, tapes, and seals. For example, a reflective tape sold by JIVELER is used. However, the identification material is not limited to the adhesive sheet, and for example, a light-reflective paint applied to the outer peripheral surface may be used.

[0018] The first identification material is preferably provided at a position where the distance from the top end is constant and known. In other words, it is desirable that the distance between the first identification material and the top end is the same in the pile group to be measured. As an example, the first identification material is provided near the top end of the steel pipe pile 3. However, when it is difficult to provide the first identification material near the top end, the first identification material may be provided at a location separated from the top end by a predetermined distance. By providing the first identification material on the steel pipe pile 3, the light reception intensity of the laser scanner 2 can be made stronger than when the first identification material is not provided on the steel pipe pile 3, and the position of the steel pipe pile 3 can be easily estimated using this light reception intensity.

[0019] In addition, identification materials may be provided at multiple locations on the steel pipe pile 3. For example, the identification materials may be provided at two locations, namely, near the top end of the steel pipe pile 3 and at a position separated from the top end by a predetermined distance. That is, a linear or strip-shaped second identification material provided so as to surround the outer peripheral surface of the steel pipe pile 3 at a second position that is below the first identification material and has a constant and known interval from the first identification material may be provided. The second identification material has a reflectivity higher than that of the outer peripheral surface and is formed of a material having a reflectivity equal to or lower than that of the first identification material. As an example, the second identification material is an adhesive sheet having an adhesive layer formed on the back surface. The interval between the first identification material and the second identification material is, for example, not less than D / 4 and not more than 10D, where D is the outer diameter of the steel pipe pile 3. In the following description, when it is not necessary to distinguish between the first identification material and the second identification material, they are collectively referred to as "identification materials". The identification material is preferably provided around the entire circumference of a predetermined position on the outer peripheral surface of the steel pipe pile 3.

[0020] The angle between the laser scanner 2 and the top end of the steel pipe pile 3 needs to be within the measurable angle range of the laser scanner 2. When the angle to the upper end of the steel pipe pile 3 exceeds the measurable angle range during measurement by the laser scanner 2, the installation position of the laser scanner 2 is raised so that the top end of the steel pipe pile 3 falls within the measurable angle range of the laser scanner 2. However, even when the top end of the steel pipe pile 3 is not within the measurable angle range of the laser scanner 2 or when the top end position cannot be measured due to obstacles or the like, the position of the steel pipe pile 3 can be estimated by the position estimation method described later. Details of the position estimation method for the steel pipe pile 3 will be described later.

[0021] (Position Estimation Device) The position estimation device 1 estimates the position of the installed steel pipe pile 3. The position estimation device 1 has a first operation mode to a fourth operation mode as operation modes for position estimation. The first operation mode and the second operation mode are operation modes for estimating the position of the steel pipe pile 3 having an identification material. On the other hand, the third operation mode and the fourth operation mode are operation modes for estimating the position of the steel pipe pile 3 having no identification material. Further, the first operation mode and the third operation mode are operation modes for estimating the position of the steel pipe pile 3 which is a vertical pile, while the second operation mode and the fourth operation mode are operation modes for estimating the position of the steel pipe pile 3 which is an inclined pile. Details of the estimation process in each operation mode will be described later.

[0022] As shown in FIG. 1, the position estimation device 1 includes a control unit 10, a storage unit 20, a communication unit 30, an input unit 40, and an output unit 50. The control unit 10 includes an acquisition unit 11, an estimation unit 12, and a mode change unit 13.

[0023] The acquisition unit 11 provided in the control unit 10 acquires, via the input unit 40, three-dimensional point cloud data obtained by scanning the steel pipe pile 3 using the laser scanner 2 in which the coordinates of the instrument point are fixed to known coordinates. Here, when the identification material is provided on the steel pipe pile 3, the acquisition unit 11 acquires three-dimensional point cloud data obtained by scanning, with the laser scanner 2, the region including the identification material of the steel pipe pile 3.

[0024] The estimation unit 12 provided in the control unit 10 estimates the position of the steel pipe pile 3 with respect to the known coordinates using the coordinates of the first point having the highest received light intensity among the point clouds indicated by the three-dimensional point cloud data. Here, when the identification material is provided on the steel pipe pile 3, the point having the highest received light intensity is a point on the identification material. In other words, when the identification material is provided on the steel pipe pile 3, the estimation unit 12 uses the coordinates of the point having the highest received light intensity among the point clouds indicated by the three-dimensional point cloud data and located on the identification material to estimate the position of the steel pipe pile 3 with respect to the instrument point of the laser scanner.

[0025] The mode change unit 13 provided in the control unit 10 switches the operation mode of the position estimation device 1. As an example, the mode change unit 13 switches the first to fourth operation modes based on information input by the user of the position estimation device 1 using the input device included in the input unit 40. Note that the user can select any one of the first to fourth operation modes based on (1) whether the installed steel pipe pile 3 is a vertical pile or an inclined pile, and (2) whether an identification material is provided on the steel pipe pile 3.

[0026] The storage unit 20 stores various types of information referred to by the control unit 10. As an example of such information, 3D point cloud data D1 and estimation result data D2 are mentioned. The 3D point cloud data is data obtained by the laser scanner 2. The estimation result data D2 is data indicating the estimation result by the estimation unit 12. Also, the storage unit 20 may store a flag representing the operation mode described later.

[0027] The communication unit 30 communicates with a device external to the position estimation device 1 via a communication line N. The specific configuration of the communication line does not limit this embodiment, but as an example, the communication line N is a wireless LAN (Local Area Network), a wired LAN, a WAN (Wide Area Network), a public line network, a mobile data communication network, or a combination thereof. The communication unit 30 transmits the data supplied from the control unit 10 to other devices or supplies the data received from other devices to the control unit 10.

[0028] The input unit 40 is a configuration for receiving inputs to the position estimation device 1. As an example, it includes input devices such as a keyboard, a mouse, a touch panel, a camera, and a microphone. Further, the input unit 40 receives data from other devices such as the laser scanner 2 via an interface such as USB. In particular, the input unit 40 receives the three-dimensional point cloud data acquired by the laser scanner 2 and supplies it to the control unit 10. However, the laser scanner 2 and the position estimation device 1 may be connected via the communication line N, and the communication unit 30 may receive the three-dimensional point cloud data from the laser scanner 2, and the acquisition unit 11 may acquire the received three-dimensional point cloud data.

[0029] The output unit 50 is a configuration for outputting from the position estimation device 1. As an example, it includes output devices such as a display, a printer, a touch panel, and a speaker. The output unit 50 may be configured to include an interface such as USB and output data to the output device via the interface. Further, data may be transmitted to a pre-registered smartphone or portable terminal. Note that a plurality of portable terminals such as a pre-registered smartphone, a tablet, or an iPad (registered trademark) can be registered.

[0030] <Principle of distance measurement by laser> Next, the principle of distance measurement by laser will be described with reference to FIGS. 2 and 3. FIG. 2 is a diagram for explaining the principle of distance measurement by laser when the surface of the object is flat. Further, FIG. 3 is a diagram for explaining the principle of distance measurement by laser when the object is cylindrical. As shown in FIG. 2, when the laser beam 301 hits the object 302, backscattered light 303 is generated, and the laser scanner 2 measures the distance to the object 302 by receiving this backscattered light 303. Here, when the laser beam 301 is obliquely incident on the object 302, the reflection intensity in the opposite direction across the normal line 304 becomes the strongest.

[0031] On the one hand, when the object is cylindrical, as shown in FIG. 3, the laser light 401 hits the object 402 to generate backward scattered light 403, and the laser scanner 2 measures the distance to the object 402 by receiving this backward scattered light 403. Here, when the object is a cylinder, as shown in FIG. 4, the position 404 directly facing the laser scanner 2 has the strongest reflection intensity, and the reflection intensity weakens as the angle deviates. Here, the position 404 directly facing the laser scanner 2 is the position on the surface of the object 402 that is closest to the laser scanner 2. The center 405 of the cylinder exists on the extension line connecting the laser scanner 2 and the position 404. Thus, when the surface of the measurement target is made of the same material, the light reception intensity at the location on the surface of the measurement target that is closest to the instrument point is the highest.

[0032] <Specific Example of 3D Point Cloud Data> FIG. 4 is a diagram showing an example of 3D point cloud data of the steel pipe pile 3 obtained by the laser scanner 2. In FIG. 4, each point included in the 3D point cloud data obtained by scanning the steel pipe pile 3 with an adhesive sheet, which is an identification material, wound around a part of the outer peripheral surface by the laser scanner 2 is displayed in a stepped color according to the light reception intensity. Among the 3D point cloud data shown in FIG. 4, the light reception intensity of the point group included in the region A1 in particular is high. Also, the first point with the highest light reception intensity among these point groups is the point P1 included in the region A1.

[0033] <Flow of the Position Estimation Method> A specific example of the position estimation method according to the present embodiment will be described with reference to the drawings. The position estimation method according to the present embodiment is a method for estimating the position of an installed columnar structure.

[0034] (Flow of the Position Estimation Method in the First Operation Mode) FIG. 5 is a flowchart showing an example of the flow of the position estimation method in the first operation mode, and FIG. 6 is a side view of the steel pipe pile 3 to be measured as viewed from a direction perpendicular to the vertical direction (i.e., the horizontal direction). Further, FIG. 7 is a plan view of the steel pipe pile 3 as viewed from a direction parallel to the vertical direction (i.e., the zenith direction), and is a plan view for explaining a method of estimating the central axis of the steel pipe pile 3 using three-dimensional point cloud data. Here, as described above, in the first operation mode, an identification material is provided at a predetermined position on the outer peripheral surface of the steel pipe pile 3, and it is an operation mode for estimating the position of the steel pipe pile 3 which is a straight pile. As an example, the position estimation device 1 discriminates the operation mode by referring to the value of the flag representing the operation mode stored in the storage unit 20.

[0035] (Step S1) In step S1 (the first pasting step), the first identification material is pasted on the first position on the outer peripheral surface before the start of driving of the steel pipe pile 3. In other words, the position estimation method illustrated in FIG. 5 includes a first pasting step that is performed before the acquisition step described later, and in the first pasting step, the first identification material is pasted on the first position on the outer peripheral surface. It is desirable that the first identification material has a surface made of a material having a higher reflectivity than the outer peripheral surface of the steel pipe pile 3.

[0036] (Step S2) In step S2 (the acquisition step), the acquisition unit 11 acquires three-dimensional point cloud data by scanning the steel pipe pile 3 using the laser scanner 2 in which the coordinates of the instrument points are fixed to known coordinates via the input unit 40. The three-dimensional point cloud data acquired by the acquisition unit 11 may or may not include data on the boundary between the top end and the side surface of the steel pipe pile 3. When the three-dimensional point cloud data includes data on the boundary between the top end and the side surface of the steel pipe pile 3, in other words, it can also be said that the acquisition unit 11 acquires three-dimensional point cloud data of the steel pipe pile 3 including the boundary between the top end and the side surface in step S2.

[0037] (Step S3) In step S3 (estimation step), the estimation unit 12 estimates the position of the steel pipe pile 3 with respect to the known coordinates using the coordinates of the first point P1 with the highest received light intensity among the point groups indicated by the three-dimensional point cloud data acquired in step S2. That is, the estimation unit 12 rearranges the point groups indicated by the three-dimensional point cloud data acquired in step S2 in ascending order of received light intensity, and estimates the position of the steel pipe pile 3 with respect to the instrument point of the laser scanner 2 using the coordinates of the first point P1 with the highest received light intensity. In the example of FIG. 6, since the steel pipe pile 3 has the identification material 32, among the points included in the identification material 32, the received light intensity of the point with the shortest distance from the instrument point PLS is the highest. In other words, the first point P1 is the point with the shortest distance from the instrument point PLS among the points included in the identification material 32 of the steel pipe pile 3. In the first operation mode where the installed steel pipe pile 3 is a vertical pile, it is not necessary to consider the inclination of the steel pipe pile 3. Therefore, as shown in FIG. 7, the position of the steel pipe pile 3 and the like can be estimated using a view of the steel pipe pile 3 from the zenith direction. This also applies to the third operation mode described later.

[0038] (Steps S4·S5) In steps S4 and S5 of FIG. 5, the estimation unit 12 further estimates at least one of the position of the central axis AC of the steel pipe pile 3 and the coordinates of the center PC of the top end based on the position of the steel pipe pile 3 (i.e., the first point P1) estimated in step S3 (estimation step) and the specification dimensions of the steel pipe pile 3. For example, when the central axis AC has an inclination, the position of the central axis AC can be expressed as a function of the straight line representing the central axis AC in a rectangular coordinate system with the instrument point PLS as the origin. However, when the steel pipe pile 3 is a vertical pile as in the first operation mode, the central axis AC is installed vertically and has no inclination. Therefore, among the coordinate values representing the position of the central axis AC, the x-coordinate value and the y-coordinate value can be used as the x-coordinate value and the y-coordinate value of the center PC (see FIGS. 6 and 7), which is the intersection point of the central axis AC and the top end 31. That is, in the first operation mode, steps S4 and S5 can be implemented in one step. Here, steps S4 and S5 will be described as one step. On the other hand, when the steel pipe pile 3 is an inclined pile as in the second operation mode described later, among the coordinate values indicating the position of the central axis AC, the x-coordinate value and the y-coordinate value change according to the z-coordinate value. Therefore, when the steel pipe pile 3 is an inclined pile, steps S4 and S5 are separate steps. This case will be described later with reference to FIGS. 8 and 9.

[0039] When the steel pipe pile 3 is a vertical pile, in steps S4 and S5 of FIG. 5, the estimation unit 12 estimates the position of the central axis AC of the steel pipe pile 3 and the center PC of the top end 31. Specifically, as shown in FIG. 7, the coordinates of the center PC are calculated using the distance a and the radius R. Here, the distance a is the distance between the instrument point PLS of the laser scanner 2 and the first point P1 with the highest received light intensity estimated by the laser scanner 2. The radius R is half of the specification dimension of the outer diameter D of the steel pipe pile 3.

[0040] In many cases, a plurality of steel pipe piles 3 are installed at the site where the present invention is implemented. Although three steel pipe piles 3 are illustrated in FIG. 7, when there are a plurality of steel pipe piles 3 like this, the three-dimensional point cloud data acquired in step S2 includes first points P1 corresponding to each of the plurality of steel pipe piles 3. In such a case, in the three-dimensional point cloud data, a region where no point cloud data exists is included between the point cloud data corresponding to each steel pipe pile 3. By identifying this region where no point cloud data exists, the estimation unit 12 can specify the point cloud data corresponding to each steel pipe pile 3, so that steps S3 to S5 can be repeatedly executed in the point cloud data corresponding to each steel pipe pile 3. As a result, the estimation unit 12 can estimate the position and the like of each steel pipe pile 3.

[0041] (Step S6) In step S6, the estimation unit 12 outputs the estimation result. The estimation unit 12 may output the estimation result to an output device included in the output unit 50, or may transmit the estimation result to another device such as a smartphone or a portable terminal connected to the communication unit 30. Further, the estimation unit 12 may output by writing the estimation result in a predetermined storage area of the storage unit 20.

[0042] (Flow of the position estimation method in the second operation mode) Next, the position measurement method in the second operation mode will be described with reference to FIGS. 8 and 9. FIG. 8 is a flowchart showing an example of the flow of the position estimation method performed by the position estimation device 1 in the second operation mode. FIG. 9 is a side view of the steel pipe pile 3 estimated in the second operation mode as viewed from the horizontal direction. As described above, the second operation mode is an operation mode in which the position of the steel pipe pile 3 having the identification members 32 and 33 and being an inclined pile is estimated. The position estimation method shown in FIG. 8 includes the processes of steps S1 to S3 of FIG. 5, steps S21 to 26, and step S6 of FIG. 5. In the description of the second operation mode, the description of the same steps already described in the first operation mode (see FIG. 5) will be omitted.

[0043] (Step S21) In step S21 (second attachment step), a second identification material 33 is attached to the outer peripheral surface of the steel pipe pile 3 at the second position before the installation of the steel pipe pile 3. In other words, the position estimation method illustrated in FIG. 8 includes a second attachment step that is performed before the step of acquiring three-dimensional point cloud data described later, and in the second attachment step, the second identification material 33 is attached to the second position on the outer peripheral surface. The attachment position of the second identification material is below the first identification material and the distance from the first identification material is known. For example, the distance between the first identification material and the second identification material is desirably not less than D / 4 and not more than 10D, where D is the outer diameter of the steel pipe pile 3. Note that the second identification material 33 has a higher reflectivity than the outer peripheral surface of the steel pipe pile 3, and the surface is formed of a material having a reflectivity equal to or lower than that of the first identification material 32.

[0044] (Step S22) In step S22, as shown in FIG. 9, the estimation unit 12 estimates the inclination angle θ of the steel pipe pile 3 using the first point P1, the second point P2, and the coordinates of the instrument point PLS which are known coordinates. In FIG. 9, the height of the first point P1 is designated as height H1. Also, in FIG. 9, the height of the second point P2, which is different from the height H1, is designated as height H2. The second point P2 is the point with the highest received light intensity among the point clouds on the outer peripheral surface of the steel pipe pile 3 in the three-dimensional point cloud data at the height H2. Here, as an example, the second point P2 is a point included in a region where the second identification material 33 is attached at a predetermined distance below the first identification material 32 on the outer peripheral surface of the steel pipe pile 3. The straight line passing through the first point P1 and the second point P2 is a straight line parallel to the central axis AC of the steel pipe pile 3. Therefore, the estimation unit 12 can estimate the inclination angle θ of the steel pipe pile 3 by calculating the inclination of the straight line passing through the first point P1 and the second point P2. In the following, the vector from the instrument point PLS, which is the origin, to the first point P1 is designated as vector V1, and the point from the instrument point PLS to the second point P2 is designated as vector V2. The function representing the straight line passing through the first point P1 and the second point P2 can be calculated, for example, by substituting each of the first point P1 and the second point P2 into a system of simultaneous equations. Also, the inclination θ of the straight line passing through the first point P1 and the second point P2 is equal to the inclination of the vector V1 - V2.

[0045] (Step S23) In step S23 (correction step), the estimation unit 12 corrects the position of the steel pipe pile 3 estimated in step S22 by using the inclination angle θ estimated in step S22.

[0046] For example, when the inclination angle θ can be regarded as 0°, among the point groups included in the three-dimensional point cloud data, the x-coordinate value and the y-coordinate value of the point facing the laser scanner 2 are the same even when the height (i.e., z-coordinate) of the point changes. On the other hand, when the inclination angle θ is not 0°, among the point groups included in the three-dimensional point cloud data, the x-coordinate value and the y-coordinate value of the point facing the laser scanner 2 change according to the z-coordinate value. For example, when the inclination angle θ is not 0°, the x-coordinate value and the y-coordinate value of the point facing the laser scanner 2 among the point groups constituting the outer edge of the top end 31 are different from the x-coordinate value and the y-coordinate value of the first point P1. Even in such a case, by using the inclination angle θ, the position of the steel pipe pile 3 estimated in step S22 can be corrected. In step S23, in addition to the inclination angle, the distance D1 between the first point P1 and the top end 31 may be used together to correct the position of the steel pipe pile 3. By adding a vector parallel to the vector V1-V2 and having a length equal to the distance D1 to the vector V1, the position of the first point P1 can be corrected to the position of the point facing the laser scanner 2 among the point groups constituting the outer edge of the top end 31.

[0047] (Steps S24·S25) In steps S24 and S25, based on the position of the steel pipe pile 3 estimated in step S3 and the above-mentioned specification dimensions, the estimation unit 12 further estimates at least one of the central axis AC of the steel pipe pile 3 and the center PC of the top end. First, in step S24, the estimation unit 12 projects the vector V1 from the instrument point PLS to the first point P1 onto the horizontal plane PH, and the direction of the projected vector is the same as that of the vector V1. Also, using a vector V3 whose length is equal to R / cosθ with the radius on the outer peripheral surface of the steel pipe pile 3 being the radius R, the coordinates of the third point P3 through which the central axis AC passes are estimated. Then, the estimation unit 12 can estimate the position of the central axis AC by calculating the equation of the straight line passing through the third point P3 and having an inclination θ. Further, as shown in FIG. 9, the estimation unit 12 can estimate the center PC of the top end 31 using the vector V1, the vector V3, and the vector V4. The vector V4 is parallel to the straight line passing through the first point P1 and the second point P2 and has a direction from the second point P2 to the first point P1, and its length is equal to D1 - D3. In other words, the vector V4 is a vector parallel to the vector V1 - V2. Note that the intervals D1 and D3 are as shown in FIG. 9. The interval D3 can be calculated as the product of sinθ and the length of the vector V3 (|V3|sinθ).

[0048] Note that in steps S24 and S25, instead of the position of the steel pipe pile 3 estimated in step S3, the position of the steel pipe pile 3 estimated in step S3 and corrected in step 23 may be used to further estimate at least one of the central axis AC of the steel pipe pile 3 and the center PC of the top end. That is, steps S24 and S25 may further estimate at least one of the central axis AC of the steel pipe pile 3 and the center PC of the top end based on the position of the steel pipe pile 3 estimated in step S3 and corrected in step 23 and the above-mentioned specification dimensions.

[0049] (Flow of the position estimation method in the third operation mode) FIG. 10 is a flowchart showing an example of the flow of the position estimation process performed by the position estimation device 1 in the third operation mode. FIG. 11 is a side view of the steel pipe pile estimated in the third operation mode as viewed from the horizontal direction. As described above, the third operation mode is an operation mode for estimating the position of the steel pipe pile 3 that has no identification material and is a straight pile. The position estimation method shown in FIG. 10 includes the processes of step S2, steps S31 to S33, and step S6 of FIG. 5. In the description of the third operation mode, the description of the same steps already described in the first operation mode (see FIG. 5) is omitted.

[0050] (Step S31) In step S31, the estimation unit 12 estimates the position of the steel pipe pile 3 with respect to the known coordinates using the coordinates P1 of the first point (see FIG. 11) with the highest received light intensity among the point clouds shown in the three-dimensional point cloud data acquired in step S2. Here, as is clear from the principle of distance measurement by the laser shown in FIG. 3, the first point P1 is a point located on a straight line passing through the instrument point PLS and orthogonal to the central axis of the steel pipe pile 3.

[0051] (Step S32) In step S32 of FIG. 10, the estimation unit 12 estimates the central axis AC of the steel pipe pile 3. More specifically, as an example, the estimation unit 12 estimates the position of the central axis AC of the steel pipe pile 3 using the distance a calculated from the coordinates of the first point P1 and the radius R known as the specification dimension (see FIG. 11). As described with reference to FIG. 7, when the steel pipe pile 3 is a straight pile, when viewed from the zenith direction, the central axis AC and the center point PC of the top end 31 coincide. Therefore, in the third operation mode, similar to the case of the first operation mode, the x coordinate value and the y coordinate value of the center point PC can be estimated in step S32.

[0052] (Step S33) In step S33 of FIG. 10, the estimation unit 12 estimates the position of the center PC at the top end 31 of the steel pipe pile 3. First, the estimation unit 12 estimates the position of a fourth point P4 (see FIG. 11), which is the point with the highest received light intensity among the point group constituting the boundary between the top end 31 and the outer peripheral surface of the steel pipe pile 3. Note that the point group constituting the boundary between the top end 31 and the outer peripheral surface can also be said to be the point group constituting the outer edge of the top end 31. Next, the estimation unit 12 estimates the coordinates of the center point PC (see FIG. 11) of the top end 31 of the steel pipe pile 3 using the position of the estimated fourth point P4 and the outer diameter D. Note that the estimation unit 12 may estimate the coordinates of the center point PC using the position of the central axis AC estimated in step S32 (that is, the x and y coordinate values of the center point PC) and the z coordinate value of the fourth point P4.

[0053] (Flow of the position estimation method in the fourth operation mode) FIG. 12 is a flowchart showing an example of the flow of the position estimation method performed by the position estimation device 1 in the fourth operation mode. FIG. 13 is a side view of the steel pipe pile 3 estimated in the fourth operation mode as viewed from the horizontal direction. As described above, the fourth operation mode is an operation mode for estimating the position of the steel pipe pile 3, which is an inclined pile and does not have an identification material. The position estimation method shown in FIG. 12 includes the processes of step S2, steps S41 to S45, and step S6 of FIG. 5. Note that in the description of the fourth operation mode, the description of the same steps already described in the first operation mode (see FIG. 5) is omitted.

[0054] (Step S41) In step S41, the estimation unit 12 rearranges the point group indicated by the three-dimensional point cloud data acquired in step S2 in ascending order based on the received light intensity, and estimates the position of the steel pipe pile 3 with respect to the instrument point of the laser scanner 2 using the coordinates of the first point P1 (see FIG. 13) with the highest received light intensity. In the example of FIG. 13, the estimation unit 12 calculates the distance between the instrument point PLS of the laser scanner 2 with known three-dimensional coordinate values and the first point P1 with the highest received light intensity. Here, as is clear from the principle of distance measurement by the laser shown in FIG. 3, the first point P1 is a point located on a straight line passing through the instrument point PLS and orthogonal to the central axis of the steel pipe pile 3.

[0055] (Step S42) In step S42, as shown in FIG. 13, the estimation unit 12 estimates the inclination angle θ of the steel pipe pile 3 using the first point P1, the second point P2, and the coordinates of the instrument point PLS which are known coordinates. In FIG. 13, the height of the first point P1 is designated as height H1. Also, in FIG. 13, the height of the second point P2, which is different from the height H1, is designated as height H2. In this operation mode, the height H2 is determined such that the height H2 is higher than the height H1. However, the height H2 may be at a position lower than the height H1. The straight line passing through the first point P1 and the second point P2 is a straight line parallel to the central axis AC of the steel pipe pile 3. Therefore, the estimation unit 12 can estimate the inclination angle θ of the steel pipe pile 3 by calculating the inclination of the straight line passing through the first point P1 and the second point P2. Hereinafter, the vector from the instrument point PLS, which is the origin, to the first point P1 is designated as vector V1, and the point from the instrument point PLS to the second point P2 is designated as vector V2. The function representing the straight line passing through the first point P1 and the second point P2 can be calculated, for example, by substituting each of the first point P1 and the second point P2 into a system of simultaneous equations. Also, the inclination θ of the straight line passing through the first point P1 and the second point P2 is equal to the inclination of the vector V1 - V2.

[0056] Here, among the points at a predetermined height (here, height H2) different from the first point P1, the point with the highest light reception intensity is determined as the second point P2. However, in a modified example of the fourth operation mode, among the points at a second elevation angle φ2 which is different from the first elevation angle φ1, the point with the highest light reception intensity may be determined as the second point P2. The first elevation angle φ1 is the angle formed by the horizontal plane PH and the vector V1, and the second elevation angle φ2 is the angle formed by the horizontal plane PH and the vector V2 (see FIG. 13).

[0057] Note that, as shown in FIG. 13, in the fourth operation mode, the first elevation angle φ1 is equal to the inclination angle θ of the steel pipe pile 3. Therefore, in the fourth operation mode, after estimating the position of the first point P1 in step S41, the inclination angle θ can also be estimated by calculating the elevation angle of the vector V1. In this case, step S42 can be omitted.

[0058] For example, when the coordinate system defining the known coordinates is a rectangular coordinate system, it is preferable to use, as the second point P2, the point with the highest received light intensity among the points where the z coordinate (i.e., height) is constant. When the coordinate system defining the known coordinates is a polar coordinate system, it is preferable to use, as the second point P2, the point with the highest received light intensity among the points where the elevation angle is constant when the laser scanner 2 scans the steel pipe pile 3.

[0059] (Step S43) In step S43, the estimation unit 12 corrects the position of the steel pipe pile 3 estimated in step S41 by using the inclination angle θ estimated in step S42. Step S43 is the same step as step S23 shown in FIG. 8. By using the inclination angle θ, the position of the steel pipe pile 3 can be corrected in the same manner as in the case of step S23.

[0060] (Step S44) In step S44, the estimation unit 12 estimates the coordinates of the third point P3 through which the central axis AC of the steel pipe pile 3 passes, using the first vector V1 from the instrument point PLS to the first point P1 and the third vector V3 having the same direction as the first vector V1 and a length equal to the radius R of the steel pipe pile 3. Then, a straight line having an inclination θ and passing through the third point P3 is estimated as the position of the central axis AC. Step S44 is the same step as step S24 shown in FIG. 8.

[0061] (Step S45) In step S45, the estimation unit 12 estimates the position of the center PC at the top end 31 of the steel pipe pile 3. First, the estimation unit 12 estimates the position of a fourth point P4 (see FIG. 13), which is the point with the highest received light intensity among the point group constituting the boundary between the top end 31 and the outer peripheral surface of the steel pipe pile 3. Note that the point group constituting the boundary between the top end 31 and the outer peripheral surface can also be said to be the point group constituting the outer edge of the top end 31. Next, the estimation unit 12 estimates the coordinates of the center point PC (see FIG. 13) of the top end 31 of the steel pipe pile 3 using the vector V5 from the instrument point PLS to the fourth point P4 and the vector V3 derived in step S44.

[0062] <Effects of the present embodiment> As described above, according to the present embodiment, the position estimation device 1 estimates the position of the steel pipe pile 3 using the coordinates of the first point P1 with the highest received light intensity among the point group indicated by the three-dimensional point cloud data obtained by scanning with the laser scanner 2. According to the configuration according to the present embodiment, the position of the steel pipe pile 3 can be estimated by simple processing without generating three-dimensional model data.

[0063] Further, according to the present embodiment, the position of the steel pipe pile 3 can be estimated only by using onshore surveying equipment without requiring an operator to work at the top end 31 of the steel pipe pile 3. Further, by uploading the estimation result to a cloud server or the like, it is also possible to automatically generate the as-built drawing that needs to be finally sorted out. Further, by replacing the total station used when installing the steel pipe pile 3 with the laser scanner 2, the work from the installation management to the as-built management of the steel pipe pile 3 can be managed integrally.

[0064] Further, according to the present embodiment, the positions of both vertical piles and inclined piles can be estimated. Further, according to the present embodiment, by estimating the position of the pile being installed at the time of interruption during the installation of the steel pipe pile 3, it is also possible to manage the inclination of the steel pipe pile 3 during installation.

[0065] In addition, by providing an identification material on the surface of the steel pipe pile 3, the light reception intensity of the steel pipe pile 3 can be increased, the unevenness on the surface of the steel pipe pile 3 can be smoothed, and the accuracy of the position estimation of the steel pipe pile 3 can be improved.

[0066] <Another example of the estimation process> The estimation unit 12 may extract a part from the three-dimensional point cloud data obtained by the laser scanner 2 and estimate the position of the steel pipe pile 3 using the coordinates of the point with the highest light reception intensity among the points included in the extracted point cloud data. For example, when an object other than the steel pipe pile 3 (e.g., a ship with its lights on, etc.) is included in the estimation area of the laser scanner 2, there is a possibility that incorrect measurement may be performed due to this object. Therefore, when the approximate position of the steel pipe pile 3 to be estimated is known in advance, the estimation unit 12 extracts the point cloud in the area corresponding to the steel pipe pile 3 and estimates the position of the steel pipe pile 3 using the coordinates of the first point, which is the point with the highest light reception intensity, among the extracted point cloud, thereby enabling higher accuracy in the position estimation of the steel pipe pile 3.

[0067] <Estimation of multiple steel pipe piles> FIG. 14 is a diagram showing an example of the three-dimensional point cloud data of the steel pipe pile 3 obtained by the laser scanner 2 when estimating the positions of multiple steel pipe piles 3. In the example of FIG. 14, each point included in the three-dimensional point cloud data obtained by the laser scanner 2 is displayed in a stepped color according to the light reception intensity. In FIG. 14, the image Img11 is a bird's-eye view of the point cloud displayed in a stepped color according to the light reception intensity, and the image Img12 is a plan view of the point cloud displayed in a stepped color according to the light reception intensity.

[0068] In the example of FIG. 14, when the approximate positions of a plurality of steel pipe piles 3 are known in advance, as an example, the estimation unit 12 extracts a point cloud of a region corresponding to each of the plurality of steel pipe piles 3, and for each of the plurality of regions, uses the coordinates of the first point with the highest received light intensity among the extracted point clouds to estimate the position of each steel pipe pile 3. Further, as described with reference to FIG. 7, when there are a plurality of steel pipe piles 3, regions where no point cloud data exists are included between the point cloud data corresponding to each steel pipe pile 3. The estimation unit 12 may identify the point cloud corresponding to each steel pipe pile 3 by identifying the region where no such point cloud data exists.

[0069] 〔Example of Realization by Software〕 The functions of the position estimation device 1 (hereinafter referred to as the "device") can be realized by a program for causing a computer to function as the device, and can be realized by a position estimation program for causing a computer to function as each control block of the device (especially each part included in the control unit 10).

[0070] In this case, the above device includes a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory) as hardware for executing the above program. By executing the program by this control device and storage device, each function described in the above embodiments is realized.

[0071] The above program may be recorded on one or more computer-readable recording media, not temporarily. This recording medium may or may not be provided in the above device. In the latter case, the above program may be downloaded to the above device via any wired or wireless transmission medium.

[0072] Also, part or all of the functions of each of the above control blocks can also be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each of the above control blocks is formed is also included in the scope of the present invention. In addition to this, for example, it is also possible to realize the functions of each of the above control blocks by a quantum computer.

[0073] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0074] 〔Summary〕 The position estimation method according to Aspect 1 of the present invention is a position estimation method for estimating the position of an installed columnar structure. An acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates, and an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest received light intensity among the point clouds indicated by the three-dimensional point cloud data.

[0075] According to the above aspect, the position of the installed columnar structure can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0076] Further, the position estimation method according to Aspect 2 of the present invention is a position estimation method for estimating the position of an installed columnar structure. On the outer peripheral surface of the columnar structure, a linear or strip-shaped first identification material provided so as to surround the outer peripheral surface at a first position where the distance from the top end is known, and the surface of the first identification material is formed of a material having a higher reflectivity than the outer peripheral surface. An acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates, and an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest received light intensity among the point clouds indicated by the three-dimensional point cloud data.

[0077] According to the above aspect, the position of the columnar structure provided with the first identification material can be estimated by simple processing without generating a three-dimensional model of the columnar structure.

[0078] In the above-described position estimation method, the first identification material is an adhesive sheet having an adhesive layer formed on the back surface, and a first attachment step performed before the acquisition step, the first attachment step including attaching the first identification material to the first position on the outer peripheral surface.

[0079] According to the above aspect, the position of the columnar structure to which the adhesive sheet is attached can be estimated by simple processing without generating a three-dimensional model of the columnar structure.

[0080] Further, in the position estimation method according to Aspect 3 of the present invention, in the position estimation method described in Aspect 2, on the outer peripheral surface of the columnar structure, a linear or strip-shaped second identification material provided so as to surround the outer peripheral surface at a second position below the first identification material and having a known distance from the first identification material, the second identification material having a reflectance higher than that of the outer peripheral surface and a surface formed of a material having a reflectance equal to or lower than that of the first identification material is provided.

[0081] According to the above aspect, the position of the columnar structure provided with the first identification material and the second identification material can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0082] In the above-described position estimation method, the second identification material is an adhesive sheet having an adhesive layer formed on the back surface, and a second attachment step performed before the acquisition step, the second attachment step including attaching the second identification material to the second position on the outer peripheral surface.

[0083] According to the above aspect, the position of the columnar structure provided with two adhesive sheets at intervals on the outer peripheral surface can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0084] Moreover, in the position estimation method according to Aspect 4 of the present invention, in the position estimation method described in any one of Aspects 1 to 3, in the estimation step, among the point groups on the outer peripheral surface of the columnar structure in the three-dimensional point group data, the coordinates of a second point having the highest light reception intensity at a height different from that of the first point, the coordinates of the first point, and the known coordinates are used to further estimate the inclination angle of the columnar structure, and a correction step of correcting the position of the columnar structure estimated in the estimation step using the inclination angle estimated in the estimation step is further included.

[0085] According to the above aspect, the position of a columnar structure having an inclination can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0086] Moreover, in the position estimation method according to Aspect 5 of the present invention, in the position estimation method described in Aspect 3, the distance between the first identification material and the second identification material is within D / 4 or more and 10D or less, where D is the outer diameter of the columnar structure.

[0087] According to the above configuration, the position of the columnar structure can be estimated more accurately.

[0088] Moreover, in the position estimation method according to Aspect 6 of the present invention, in the position estimation method described in any one of Aspects 1 to 5, in the above position estimation method, the columnar structure has known specification dimensions and has a cylindrical or cylindrical shape, and the estimation step further estimates at least one of the central axis of the columnar structure and the center of the top end based on the position of the columnar structure estimated in the estimation step and the specification dimensions.

[0089] According to the above aspect, at least one of the central axis of the columnar structure and the center of the top end can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0090] Further, in the position estimation method according to Aspect 7 of the present invention, in the position estimation method described in Aspect 4, the columnar structure has known specification dimensions and has a cylindrical or circular cylindrical shape, and the estimation step is based on the position of the columnar structure estimated in the estimation step and corrected in the correction step and the specification dimensions, and further estimates at least one of the central axis of the columnar structure and the center of the top end.

[0091] According to the above aspect, at least one of the central axis of the columnar structure having an inclination and the center of the top end can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0092] Further, in the position estimation method according to Aspect 8 of the present invention, in the position estimation method described in any one of Aspects 1 to 7, in the above position estimation method, at least the outer peripheral surface of the columnar structure is made of metal.

[0093] According to the above aspect, the position of the columnar structure whose outer peripheral surface is made of metal can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0094] Further, in the position estimation method according to Aspect 9 of the present invention, in the position estimation method described in any one of Aspects 1 to 8, in the above position estimation method, the columnar structure is a concrete pile.

[0095] According to the above configuration, the position of the columnar structure whose outer peripheral surface is made of concrete can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0096] Further, the position estimation program according to Aspect 10 of the present invention is a position estimation program for estimating the position of an installed columnar structure, and acquires three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates; and an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest light reception intensity among the point clouds indicated by the three-dimensional point cloud data, and causes a computer to execute them.

[0097] According to the above configuration, the position of the installed columnar structure can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0098] Further, the position estimation device according to Aspect 11 of the present invention is a position estimation device for estimating the position of an installed columnar structure, and includes an acquisition unit that acquires three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates; and an estimation unit that estimates the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest light reception intensity among the point clouds indicated by the three-dimensional point cloud data.

[0099] According to the above configuration, the position of the installed columnar structure can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure.

[0100] Further, the position estimation system according to Aspect 12 of the present invention includes a laser scanner that generates three-dimensional point cloud data of a measurement object included in a viewing angle, and the above position estimation device.

[0101] According to the above configuration, the position of the installed columnar structure can be estimated by simple arithmetic processing without generating a three-dimensional model of the columnar structure. Although a cylindrical steel pipe pile has been described as the columnar structure in the present embodiment, the present invention is not limited thereto. If only the installation position of the columnar structure is to be estimated, the cross-sectional shape of the columnar structure in the horizontal plane does not have to be circular or cylindrical (doughnut) shape, and may be rectangular.

[0102] In addition, the columnar structure may be not only a member with large dimensions such as a steel pipe pile, but also a tubular member with a small diameter such as a pipe.

[0103] In addition, in the present description, as the installation method of the steel pipe pile used as the columnar structure, not only driving, but also an embedding method or a method of making holes at a location by an auger drill or the like may be used as the installation method of the columnar structure. The end may be fixed with an adhesive, screw type, bolt and nut. As long as the columnar structure to be targeted can be installed in a predetermined state, any method may be used as the installation method.

[0104] In addition, the present invention can also be used for estimating the position of a columnar material installed in the horizontal direction as well as a columnar structure installed in the vertical direction.

Explanation of Signs

[0105] 1 Position estimating device 2 Laser scanner 3 Steel pipe pile 10 Control unit 11 Acquisition unit 12 Estimation unit 13 Mode change unit 20 Storage unit 30 Communication unit 31 Top end 32 Identification material 40 Input unit 50 Output unit 100 Position estimation system

Claims

1. A position estimation method for estimating the position of an installed columnar structure, an acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of an instrument point are fixed to known coordinates; an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest light reception intensity among the point clouds indicated by the three-dimensional point cloud data; A position estimation method including the above.

2. A position estimation method for estimating the position of an installed columnar structure, on the outer peripheral surface of the columnar structure, a linear or strip-shaped first identification material provided so as to surround the outer peripheral surface at a first position where the distance from the top end is known, and the surface is formed of a material having a reflectance higher than that of the outer peripheral surface. A first identification material is provided; an acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of an instrument point are fixed to known coordinates; an estimation step of estimating the position of the columnar structure with respect to the known coordinates using the coordinates of a first point having the highest light reception intensity among the point clouds indicated by the three-dimensional point cloud data; A position estimation method including the above.

3. on the outer peripheral surface of the columnar structure, a linear or strip-shaped second identification material provided so as to surround the outer peripheral surface at a second position below the first identification material and having a known distance from the first identification material, and having a reflectance higher than that of the outer peripheral surface and equal to or lower than that of the first identification material. A second identification material whose surface is formed of a material is provided, The position estimation method according to claim 2.

4. The estimation step further estimates the inclination angle of the columnar structure using the coordinates of a second point having the highest light reception intensity at a height different from that of the first point among the point clouds on the outer peripheral surface of the columnar structure in the three-dimensional point cloud data, the coordinates of the first point, and the known coordinates. Further comprising a correction step of correcting the position of the columnar structure estimated in the estimation step by using the inclination angle estimated in the estimation step. The position estimation method according to any one of claims 1 to 3.

5. The distance between the first identification material and the second identification material is within D / 4 or more and 10D or less, where D is the outer diameter of the columnar structure. The position estimation method according to claim 3.

6. The columnar structure has a known specification dimension and has a cylindrical or cylindrical shape. The estimation step further estimates at least one of the central axis of the columnar structure and the center of the top end based on the position of the columnar structure estimated in the estimation step and the specification dimension. The position estimation method according to claim 1 or 2.

7. The columnar structure has a known specification dimension and has a cylindrical or cylindrical shape. The estimation step further estimates at least one of the central axis of the columnar structure and the center of the top end based on the position of the columnar structure estimated in the estimation step and corrected in the correction step and the specification dimension. The position estimation method according to claim 4.

8. At least the outer peripheral surface of the columnar structure is made of metal. The position estimation method according to claim 1 or 2.

9. The columnar structure is a concrete pile. The position estimation method according to claim 1 or 2.

10. A position estimation program for estimating the position of an installed columnar structure, An acquisition step of acquiring three-dimensional point cloud data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates; An estimation step of estimating the position of the columnar structure with respect to the known coordinates by using the coordinates of the first point having the highest light reception intensity among the point groups indicated by the three-dimensional point group data; A position estimation program for causing a computer to execute the same. **Claim 11** A position estimation device for estimating the position of an installed columnar structure, comprising: An acquisition unit that acquires three-dimensional point group data by scanning the columnar structure using a laser scanner in which the coordinates of the instrument point are fixed to known coordinates; An estimation unit that estimates the position of the columnar structure with respect to the known coordinates by using the coordinates of the first point having the highest light reception intensity among the point groups indicated by the three-dimensional point group data; A position estimation device comprising the above. **Claim 12** A laser scanner that generates three-dimensional point group data of a measurement object included in a viewing angle; The position estimation system comprising the position estimation device according to Claim 11. A position estimation system.

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