Inner space cross section calculation system, and inner space cross section calculation method

Abstract

To provide an inner space cross section calculation system 1 capable of calculating a cross-sectional area or a volume of a tunnel T even with pint group data 38 in which point groups are partially lacked, and an inner space cross section calculation method.SOLUTION: An inner space cross section calculation system 1 comprises: divided range setting means for setting a plurality of divided ranges En by dividing a cross section of a tunnel T indicated by an extracted point group 38A extracted from the point group data 38, in a circumferential direction around a base point BP; range area calculation means for calculating range areas Sn of the divided ranges En in which points of the extracted point group 38A exist; total area calculation means for calculating a total area Sa by summing up the range areas Sn; ratio calculation means for defining an angle in the circumferential direction around the base point BP in the divided ranges En as a predetermined angle Δθ and calculating a ratio of a cumulative angle θ that is a cumulative value of the predetermined angles Δθ of the divided ranges En in which the range areas Sn are calculated; and estimated cross-sectional area calculation means for calculating an estimated cross-sectional area by dividing the total area Sa by the ratio of the cumulative angle θ.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an inner space cross-section calculation system and an inner space cross-section calculation method for calculating the cross-sectional area and the like of an inner space structure having a space inside, such as a tunnel.

Background Art

[0002] Conventionally, as inner space structures having a space inside, flow path pipes such as water supply and sewer pipes and tunnels are known. In such inner space structures, the cross-sectional area and the volume of the inner space may be calculated for various purposes.

[0003] For example, in tunnel construction such as mountain tunnels, in order to calculate the difference from the designed cross-section and the amount of cast-in-place concrete for the lining, the inner surface of the tunnel near the face and before waterproofing work is measured to calculate the cross-sectional area of the inner space cross-section.

[0004] By the way, in such tunnel construction, it is often the case that the three-dimensional shape of the inner surface of the tunnel is three-dimensionally measured with a three-dimensional laser scanner as in Patent Document 1. Therefore, it is conceivable to calculate the cross-sectional area of the inner space cross-section using the point cloud data based on the three-dimensional measurement.

[0005] At this time, it is desirable that the point cloud data is continuous without interruption of the point cloud. However, in reality, there are portions where the inner surface of the tunnel cannot be measured due to accessories in the inner space of the tunnel, etc., so the point cloud is often partially missing.

[0006] For this reason, when calculating the cross-sectional area of the inner space cross-section using the point cloud data, there is a problem that the cross-sectional area cannot be calculated or the cross-sectional area cannot be accurately calculated due to the missing point cloud.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] In view of the above problems, an object of the present invention is to provide an inner space cross-section calculation system and an inner space cross-section calculation method that can calculate the cross-sectional area and volume of an inner space structure even for point cloud data with partially missing point clouds.

Means for Solving the Problems

[0009] This invention is an inner space cross-section calculation system that calculates the cross-sectional area of an inner space structure at a cross-section position in the axial direction based on point cloud data showing the inner surface shape of an inner space structure having an internal space extending in the axial direction, comprising: point cloud extraction means for extracting, as an extraction point cloud, a point cloud corresponding to the cross-section position from the point cloud data; coordinate information conversion means for converting the coordinate information of the extracted extraction point cloud into coordinate information on a predetermined coordinate plane; division range setting means for dividing, in the circumferential direction with a predetermined number of divisions or a predetermined division angle, a target region for which the calculation of the cross-sectional area is desired among the cross-sections of the inner space structure shown by the extraction point cloud on the predetermined coordinate plane, with a base point that is an arbitrary position in the target region as the center, to set a plurality of division ranges; range area calculation means for calculating, as a range area, the area of the division range in which points of the extraction point cloud exist; total area calculation means for calculating a total area by summing up the range areas calculated by the range area calculation means; cumulative angle calculation means for calculating a cumulative angle by accumulating the predetermined angles of the division ranges for which the range areas have been calculated, with the angle in the circumferential direction centered on the base point in the division range as the predetermined angle; ratio calculation means for calculating a ratio of the cumulative angle to the angle from the start point to the end point of the target region in the circumferential direction centered on the base point; and estimated cross-sectional area calculation means for calculating an estimated cross-sectional area by dividing the total area by the ratio of the cumulative angle.

[0010] The present invention also relates to an inner cavity cross-section calculation method for calculating the cross-sectional area of an inner cavity structure at a cross-sectional position in the axial direction based on point cloud data indicating the inner surface shape of the inner cavity structure having an axially extending inner space, the method including: a point cloud extraction step of extracting, by point cloud extraction means, a point cloud corresponding to the cross-sectional position as an extraction point cloud from the point cloud data; a coordinate information conversion step of converting, by coordinate information conversion means, the coordinate information of the extracted extraction point cloud into coordinate information on a predetermined coordinate plane; a division range setting step of setting, by division range setting means, a plurality of division ranges by dividing, in the circumferential direction at a predetermined number of divisions or a predetermined division angle, a target region for which calculation of the cross-sectional area is desired, among the cross-sections of the inner cavity structure indicated by the extraction point cloud on the predetermined coordinate plane, with a reference point that is an arbitrary position in the target region as a center; a range area calculation step of calculating, by range area calculation means, the area of the division range in which points of the extraction point cloud exist as a range area; a total area calculation step of calculating, by total area calculation means, a total area by summing the range areas calculated in the range area calculation step; a cumulative angle calculation step of calculating, by cumulative angle calculation means, a cumulative angle by accumulating the predetermined angle of the division range for which the range area has been calculated, with the angle in the circumferential direction centered on the reference point in the division range being the predetermined angle; a ratio calculation step of calculating, by ratio calculation means, a ratio of the cumulative angle to the angle from the start point to the end point of the target region in the circumferential direction centered on the reference point; and an estimated cross-sectional area calculation step of calculating, by estimated cross-sectional area calculation means, an estimated cross-sectional area by dividing the total area by the ratio of the cumulative angle.

[0011] The inner cavity structure refers to a structure such as a tunnel like a mountain tunnel or a shield tunnel, or a flow path pipe like a water supply and sewer pipe, and has an inner surface shape with a substantially circular cross-section, a substantially semi-circular cross-section, a substantially horseshoe-shaped cross-section, a substantially bell-shaped cross-section, or a substantially rectangular cross-section.

[0012] The point cloud data refers to point cloud data generated based on a moving image capturing the inner surface shape of the inner cavity structure, or point cloud data based on measurement data obtained by measuring the inner surface shape of the inner cavity structure with a three-dimensional scanner or 3D-LiDAR.

[0013] The above-mentioned predetermined coordinate plane refers to, for example, a coordinate plane of a polar coordinate system along a cross-sectional plane orthogonal to the axial direction, or a coordinate plane of a rectangular coordinate system. The above-mentioned target area refers to all or part of the internal cross-sectional area of the internal hollow structure. The above-mentioned range area calculating means refers to means for calculating the range area with the divided range as a substantially fan-shaped range, or means for calculating the range area with the divided range as a substantially triangular range.

[0014] Note that the range area calculating means refers to means for calculating the range area of the divided range where the points of the extracted point group exist, and skipping the calculation of the range area of the divided range where the points of the extracted point group do not exist. The above-mentioned predetermined angle refers to the division angle of the divided range obtained by dividing the target area.

[0015] According to the present invention, by summing up the range areas of the divided ranges where the points of the extracted point group exist among the plurality of divided ranges obtained by dividing the target area for which the calculation of the cross-sectional area is desired, the cross-sectional area of the target area excluding the divided ranges where the points of the extracted point group do not exist can be calculated.

[0016] Furthermore, by dividing the total area obtained by summing up the range areas by the ratio of the cumulative angle, which is the cumulative value of the predetermined angles for which the range areas are calculated, the internal cross-section calculation system can estimate the cross-sectional area of the target area including the divided ranges where the points of the extracted point group do not exist. Thereby, the internal cross-section calculation system and the internal cross-section calculation method can calculate the cross-sectional area of the internal hollow structure even for point group data with partially missing point groups.

[0017] As an aspect of the present invention, the above-mentioned predetermined coordinate plane may be a coordinate plane of a polar coordinate system. According to this configuration, for example, the range area can be calculated based on the radius and the predetermined angle, with the straight-line distance from the reference point to the points of the extracted point group as the radius.

[0018] As a result, when the internal cross-sectional area calculation system converts the coordinate information of the extracted point group into the coordinate information of the orthogonal coordinate plane, it becomes easier to calculate the range area compared to the case without conversion. Therefore, the estimated cross-sectional area can be calculated efficiently.

[0019] In another aspect of the present invention, there may be provided representative point setting means for setting a representative point based on the points of the extracted point group included in the divided range, and the range area calculating means calculates the range area based on the straight-line distance connecting the reference point and the representative point as the radius and the predetermined angle.

[0020] According to this configuration, since the range area is calculated using the representative point based on the points of the extracted point group included in the divided range, it is possible to suppress a decrease in the calculation accuracy of the range area due to the positional variation of the points of the extracted point group.

[0021] In another aspect of the present invention, the representative point setting means may be configured to set at least two representative points having different straight-line distances from the reference point. According to this configuration, it is possible to calculate the range area taking into account the variation of the points of the extracted point group in the radial direction centered on the reference point.

[0022] For example, in the case of a configuration in which a representative point with the minimum straight-line distance from the reference point and a representative point with the maximum straight-line distance from the reference point are set, the internal cross-sectional area calculation system can calculate the maximum value and the minimum value of the range area. As a result, since the internal cross-sectional area calculation system can calculate the variation of the estimated cross-sectional area, the calculation accuracy of the cross-sectional area of the internal structure can be improved.

[0023] In another aspect of the present invention, there may be provided reference point setting means for setting the reference point substantially at the center of a virtual straight line connecting the intersections at a position where the distance between the intersections of a straight line substantially parallel to the coordinate axis of the predetermined coordinate plane and the contour of the target region is maximized. The reference point setting means refers to means for receiving an operation by a user to set a reference point, means for automatically setting a reference point based on the extracted point group, and the like.

[0024] According to this configuration, for example, when the inner space structure is a tunnel, a reference point can be set at approximately the center of the spring line. Alternatively, when the inner space structure is a tubular body with a substantially circular cross-section, a reference point can be set at the center of the tubular body. Thereby, the inner space cross-section calculation system can calculate the range area more efficiently than when setting a reference point at an arbitrary position.

[0025] Also, as an aspect of the present invention, the point group extraction means may be configured to extract the point group corresponding to the predetermined range in the axial direction from the cross-section position as the extracted point group from the point group data.

[0026] According to this configuration, since the number of point groups to be extracted increases compared to the case of extracting the point group at the cross-section position, the range area taking into account the variation of the point group can be calculated for each divided range. Thereby, the inner space cross-section calculation system can calculate an estimated cross-sectional area that suppresses a decrease in calculation accuracy due to the variation of the point group.

[0027] Also, as an aspect of the present invention, it may include storage means for storing a designed cross-sectional area calculated based on the designed cross-section of the inner space structure, and pass / fail determination means for determining the pass / fail of the estimated cross-sectional area calculated by the estimated cross-sectional area calculation means based on the designed cross-sectional area. According to this configuration, it is possible to eliminate the need for the user who uses the inner space cross-section calculation system to determine the pass / fail of the estimated cross-sectional area, and improve the convenience for the user.

[0028] Also, as an aspect of the present invention, it may include volume calculation means for calculating an estimated volume of the internal space based on the estimated cross-sectional area calculated by the estimated cross-sectional area calculation means. According to this configuration, an estimated volume that suppresses a decrease in calculation accuracy can be calculated. Therefore, for example, when the inner space structure is an excavated tunnel, by obtaining the difference between the estimated volume calculated by the volume calculation means and the designed volume, the inner space cross-section calculation system can easily calculate the amount of cast-in-place concrete.

[0029] The present invention also relates to an inner space cross-section calculation system that calculates the volume of a predetermined space along the axial direction in the inner space structure based on point group data indicating the inner surface shape of the inner space structure having an axially extending inner space, the system comprising: point group extraction means for extracting, as an extraction point group, a point group corresponding to the predetermined space from the point group data; coordinate information conversion means for converting the coordinate information of the extracted extraction point group into the coordinate information of a predetermined coordinate plane that holds the coordinate information in the axial direction; division range setting means for setting a plurality of division ranges by dividing, in the circumferential direction with a predetermined number of divisions or a predetermined division angle, a target region for which the volume is to be calculated, among the cross-sections of the inner space structure indicated by the extraction point group on the predetermined coordinate plane, with a reference point that is an arbitrary position in the target region as the center; range volume calculation means for calculating, as a range volume based on the coordinate information in the axial direction, the volume of the division range in which the points of the extraction point group exist; total volume calculation means for calculating a total volume by summing up the range volumes calculated by the range volume calculation means; cumulative angle calculation means for calculating a cumulative angle by accumulating the predetermined angles of the division ranges for which the range volumes have been calculated, with the angle in the circumferential direction centered on the reference point in the division range being the predetermined angle; ratio calculation means for calculating a ratio of the cumulative angle to the angle from the start point to the end point of the target region in the circumferential direction centered on the reference point; and estimated volume calculation means for calculating an estimated volume by dividing the total volume by the ratio of the cumulative angle.

[0030] The present invention also relates to an inner space cross-section calculation method for calculating the volume of a predetermined space along the axial direction in the inner space structure based on point cloud data indicating the inner surface shape of the inner space structure having an axially extending inner space, comprising: a point cloud extraction step of extracting, by point cloud extraction means, a point cloud corresponding to the predetermined space as an extraction point cloud from the point cloud data; a coordinate information conversion step of converting, by coordinate information conversion means, the coordinate information of the extracted extraction point cloud into the coordinate information of a predetermined coordinate plane that holds the coordinate information in the axial direction; a division range setting step of setting, by division range setting means, a plurality of division ranges by dividing, in the circumferential direction with a predetermined number of divisions or a predetermined division angle, a target region for which the volume is to be calculated, among the cross-sections of the inner space structure indicated by the extraction point cloud on the predetermined coordinate plane, with a base point that is an arbitrary position in the target region as the center; a range volume calculation step of calculating, by range volume calculation means, the volume of the division range in which the points of the extraction point cloud exist as a range volume based on the coordinate information in the axial direction; a total volume calculation step of calculating, by total volume calculation means, the total volume by summing up the range volumes calculated in the range volume calculation step; a cumulative angle calculation step of calculating, by cumulative angle calculation means, a cumulative angle by accumulating the predetermined angles of the division ranges for which the range volumes have been calculated, with the angle in the circumferential direction centered on the base point in the division range being the predetermined angle; a ratio calculation step of calculating, by ratio calculation means, a ratio of the cumulative angle to the angle from the start point to the end point of the target region in the circumferential direction centered on the base point; and an estimated volume calculation step of calculating, by estimated volume calculation means, an estimated volume by dividing the total volume by the ratio of the cumulative angle.

[0031] The above range volume calculation means refers to means for calculating the range volume with the division range as a substantially fan-shaped solid based on the coordinate information in the axial direction, or means for calculating the range volume with the division range as a substantially triangular solid based on the coordinate information in the axial direction. Note that the range volume calculation means refers to means for calculating the range volume of the division range in which the points of the extraction point cloud exist and skipping the calculation of the range volume of the division range in which the points of the extraction point cloud do not exist.

[0032] According to the present invention, among a plurality of divided ranges obtained by dividing a target region for which volume calculation is desired, the volume of the divided range in which the points of the extracted point cloud exist is summed up, thereby calculating the volume of the target region excluding the divided ranges in which the points of the extracted point cloud do not exist.

[0033] Furthermore, by dividing the total volume obtained by summing up the range volumes by the ratio of the cumulative angle which is the cumulative value of a predetermined angle for which the range volume is calculated, the internal cross-section calculation system can estimate the volume of the target region including the divided ranges in which the points of the extracted point cloud do not exist. Thereby, the internal cross-section calculation system and the internal cross-section calculation method can calculate the volume of the internal structure even for point cloud data in which the point cloud is partially missing.

Advantages of the Invention

[0034] According to the present invention, it is possible to provide an internal cross-section calculation system and an internal cross-section calculation method that can calculate the cross-sectional area and volume of an internal structure even for point cloud data in which the point cloud is partially missing.

Brief Description of the Drawings

[0035]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0036] One embodiment of the present invention will be described below with reference to the accompanying drawings.

Example

[0037] In Example 1, an internal hollow cross-section calculation system 1 for calculating the cross-sectional area and volume of a tunnel T based on point cloud data 38 showing a tunnel T having a substantially horseshoe-shaped cross-section will be described with reference to FIGS. 1 to 4.

[0038] Note that FIG. 1 shows a schematic explanatory diagram for explaining the outline of the internal hollow cross-section calculation system 1, FIG. 2 shows a configuration diagram of the internal hollow cross-section calculation system 1, FIG. 3 shows a block diagram of the internal hollow cross-section calculation system 1, and FIG. 4 shows a schematic explanatory diagram for explaining the outline of the point cloud data 38.

[0039] In the figure, the arrow X in the figure is the tunnel axis direction (hereinafter referred to as the tunnel axis direction X), the arrow Xi in the figure indicates the excavation direction of the tunnel T (hereinafter referred to as the excavation direction Xi), and the arrow Xo indicates the portal direction in the direction opposite to the excavation direction Xi (hereinafter referred to as the portal direction Xo).

[0040] First, as shown in FIGS. 1 and 2, the internal hollow cross-section calculation system 1 includes a portable terminal 10 with a camera used by an operator M as a user at the excavation site of the tunnel T, a management terminal 20 at a remote location away from the excavation site, and a server 30 connected to the portable terminal 10 and the management terminal 20 via a communication line 2.

[0041] Such an internal cross-section calculation system 1 is configured such that, inside the tunnel T after excavation, the operator M uses the mobile terminal 10 to photograph the inside of the tunnel T, and based on the point cloud data 38 generated from the video data 13a of the tunnel T, the server 30 calculates the cross-sectional area of the internal cross-section of the tunnel T and the volume of the internal space.

[0042] Specifically, as shown in FIG. 3, the mobile terminal 10 includes an operation display unit 11 that displays various information and accepts various operations of the operator M, a camera 12 that images a subject, a terminal storage unit 13 that stores various information, a line connection unit 14 that connects to the communication line 2, and a terminal control unit 15 that controls these operations.

[0043] Specifically, as shown in FIG. 2, the operation display unit 11 is composed of, for example, a touch panel display, and has a function of accepting various operations of the user and a function of displaying various information acquired from the server 30. The camera 12 has a function of imaging a subject as a video based on a control signal from the terminal control unit 15 and a function of outputting an imaging signal obtained by imaging the subject to the terminal control unit 15.

[0044] The terminal storage unit 13 is composed of a hard disk or a non-volatile memory, etc., and has a function of writing and storing various information and a function of reading out various information. The terminal storage unit 13 stores a calculation application (not shown) related to the calculation of the cross-sectional area and volume of the tunnel T, video data 13a obtained by photographing the inside of the tunnel T, etc.

[0045] More specifically, as shown in FIG. 1, the video data 13a images, in addition to the inner surface and the face F of the tunnel T, a plurality of markers 3 arranged at predetermined intervals in the tunnel axis direction X along the inner surface of the tunnel T, and internal accessories (not shown), etc. Note that the marker 3 is, for example, an AR (Augmented Reality) marker to which coordinate information indicating three-dimensional coordinates of an absolute coordinate system is assigned.

[0046] The line connection part 14 is composed of, for example, a wireless communication module, etc., and has a function of connecting to the communication line 2 and a function of transmitting and receiving various information via the communication line 2. The terminal control part 15 is composed of hardware such as a CPU and a memory, and software such as a control program.

[0047] This terminal control part 15 has a processing function related to the exchange of various information with the server 30, a processing function related to the exchange of various signals with the operation display part 11, the camera 12, the terminal storage part 13, and the line connection part 14, and a function of controlling the operations of each part connected via a predetermined bus.

[0048] Moreover, the management terminal 20 is a terminal used by users working in a management office installed outside the tunnel T, for example, or by workers at the excavation site of another tunnel T as users. As shown in FIG. 3, this management terminal 20 includes an operation reception part 21 that receives various operations of the user, a display part 22 that displays various information, a storage part 23 that stores various information, a line connection part 24 that connects to the communication line 2, and a control part 25 that controls these operations.

[0049] Specifically, as shown in FIG. 2, the operation reception part 21 is composed of, for example, a keyboard 21a, a mouse 21b, etc., and has a function of receiving an input operation by the user and a function of outputting information indicating the received input content to the control part 25. The display part 22 is composed of, for example, a liquid crystal display, etc., and has a function of displaying various information according to a control signal from the control part 25.

[0050] The storage part 23 is composed of a hard disk or a non-volatile memory, etc., and has a function of writing and storing various information and a function of reading out various information. The same calculation application (not shown) as that of the mobile terminal 10 is stored in this storage part 23.

[0051] The line connection part 24 is composed of, for example, a wired LAN board, and has a function of connecting to the communication line 2 and a function of transmitting and receiving various information via the communication line 2. The control part 25 is composed of hardware such as a CPU and a memory, and software such as a control program.

[0052] This control part 25 has a processing function related to the exchange of various information with the server 30, a processing function related to the exchange of various signals with the operation reception part 21, the display part 22, the storage part 23, and the line connection part 24, and a function of controlling the operations of each part connected via a predetermined bus.

[0053] Also, as shown in FIG. 3, the server 30 includes a line connection part 31 that connects to the communication line 2, a server storage part 32 that stores various information, and a server control part 33 that controls these operations.

[0054] Specifically, the line connection part 31 is composed of, for example, a wired LAN board, and has a function of connecting to the communication line 2 and a function of transmitting and receiving various information via the communication line 2. The server storage part 32 is composed of a hard disk or a non-volatile memory, etc., and has a function of writing and storing various information and a function of reading out various information.

[0055] As shown in FIG. 3, stored in this server storage part 32 are a point cloud generation program 34 that converts video data 13a into point cloud data 38 to be described later, a calculation program 35 that calculates the cross-sectional area and volume of the tunnel T, and project data 36 set and registered for each excavation site, etc.

[0056] Furthermore, registered in the server storage part 32 as project data 36 are design value data 37 in which various information based on the design drawing of the tunnel T is registered, and point cloud data 38 showing the inside of the tunnel T, etc.

[0057] More specifically, the design value data 37 registers the design drawing of the tunnel T, the designed cross-sectional area of the internal cavity cross-section at a predetermined position in the tunnel axis direction X, the designed volume of the internal space in a predetermined length range in the tunnel axis direction X, and the like. Note that the designed cross-sectional area and the designed volume of the design value data 37 are calculated in the same processing flow as the calculation process (step S105 in FIG. 5) described later.

[0058] On the other hand, as shown in FIG. 4, the point cloud data 38 is data indicating the inner surface shape of the tunnel T and the shape of the face F, and is composed of a point cloud to which three-dimensional coordinate information indicating the position coordinates on a three-dimensional coordinate system with the tunnel axis direction X as the X-axis direction, the width direction of the tunnel T as the Y-axis direction, and the height direction of the tunnel T as the Z-axis direction is assigned.

[0059] This point cloud data 38 is generated by the server control unit 33 converting the video data 13a acquired from the mobile terminal 10 into a point cloud and further deleting unnecessary point clouds indicating accessories inside the tunnel T.

[0060] Note that the deletion of unnecessary point clouds is performed by the management terminal 20 acquiring the point cloud data generated by the server 30 and receiving the operation of the user. Therefore, the point cloud data 38 in the present embodiment is data acquired by the server 30 from the management terminal 20 via the communication line 2.

[0061] The server control unit 33 is composed of hardware such as a CPU and a memory, and software such as a control program. This server control unit 33 has a processing function related to the exchange of various information with the mobile terminal 10 and the management terminal 20, a processing function related to the exchange of various signals with the line connection unit 31 and the server storage unit 32, and a function of controlling the operations of each unit connected via a predetermined bus.

[0062] Next, regarding the processing operation in the internal cavity cross-section calculation system 1 having the above-described configuration, with the entire area of the internal cavity cross-section of the tunnel T as the target area E for which the calculation of the cross-sectional area is desired, it will be described with reference to FIGS. 5 to 9. Note that FIG. 5 shows a sequence diagram of the processing operations in the internal cavity cross-section calculation system 1, and FIG. 6 shows a flowchart of the calculation process.

[0063] Furthermore, FIG. 7 shows a schematic explanatory diagram for explaining the outline of the extracted point group 38A in the polar coordinate plane, and FIG. 8 shows the range area S n An explanatory diagram for explaining the calculation of is shown using part A in FIG. 7, and FIG. 9 shows a calculation result screen explanatory diagram for explaining the outline of the calculation result screen 200.

[0064] First, when the user operates the management terminal 20 to execute the calculation application, the control unit 25 of the management terminal 20, as shown in FIG. 5, displays a guidance screen (not shown) on the display unit 22 that prompts an operation for calculating the cross-sectional area of the tunnel T at an arbitrary cross-sectional position and the volume based on the cross-sectional area (step S101).

[0065] At this time, according to the guidance on the guidance screen, the user inputs the project name and other information, and then presses a request button to request the transmission of the point group data 38 corresponding to the project name. When the request button on the guidance screen is pressed, the control unit 25, as shown in FIG. 5, transmits request information for requesting the transmission of the point group data 38 to the server 30.

[0066] On the other hand, the server control unit 33 of the server 30 that has acquired the request information, as shown in FIG. 5, reads the point group data 38 corresponding to the project name from the server storage unit 32 and transmits it to the management terminal 20 (step S102).

[0067] When the point group data 38 is acquired from the server 30, the control unit 25 of the management terminal 20, as shown in FIG. 5, displays the point group data 38 and also displays a position designation screen (not shown) on the display unit 22 that allows the user to designate the cross-sectional position in the tunnel axis direction X of the point group data 38 where the calculation of the cross-sectional area of the internal cavity is desired (step S103).

[0068] At this time, according to the guidance on the position designation screen, the user designates the cross-sectional position in the tunnel axis direction X in the point group data 38. When the user designates a cross-section position, as shown in FIG. 5, the control unit 25 of the management terminal 20 transmits cross-section position information indicating the designated cross-section position to the server 30.

[0069] When acquiring the cross-section position information from the management terminal 20, as shown in FIG. 5, the server control unit 33 of the server 30 starts a cutting process for cutting out a part of the point cloud data 38 based on the cross-section position information (step S104).

[0070] Specifically, as shown in FIG. 4, the server control unit 33 cuts out a point cloud within a predetermined range (for example, a range corresponding to 10 cm in the actual dimensions of the tunnel T) along the tunnel axis direction X from the cross-section position indicated by the cross-section position information from the point cloud data 38 and temporarily stores it as the extracted point cloud 38A.

[0071] At this time, the cut-out extracted point cloud 38A becomes data in which the point cloud indicating the inner surface of the tunnel T is not missing, or data in which a part of the point cloud indicating the inner surface of the tunnel T is missing due to deletion of unnecessary point clouds (see FIG. 4).

[0072] Thereafter, as shown in FIG. 5, the server control unit 33 starts a calculation process for calculating the cross-sectional area and volume of the tunnel T based on the cut-out extracted point cloud 38A (step S105). In detail, as shown in FIG. 6, the server control unit 33 converts the position coordinates of each point in the cut-out extracted point cloud 38A into position coordinates in a polar coordinate plane, which is a two-dimensional coordinate plane of a polar coordinate system orthogonal to the tunnel axis direction X (step S121).

[0073] At this time, taking the width direction of the tunnel T in the extracted point group 38A as the Y-axis direction and the height direction of the tunnel T as the Z-axis direction in the Y-Z coordinate plane, the server control unit 33 converts the coordinate information in the Y-axis direction indicating the width direction of the tunnel T among the three-dimensional coordinate information assigned to each point of the extracted point group 38A into the coordinate information in the Y-axis direction in the polar coordinate plane, and converts the coordinate information in the Z-axis direction indicating the height direction of the tunnel T into the coordinate information in the Z-axis direction in the polar coordinate plane, and deletes the coordinate information in the X-axis direction indicating the tunnel axis direction X and replaces it with the two-dimensional coordinate information in the polar coordinate system.

[0074] Furthermore, as shown in FIG. 7, the server control unit 33 sets the tunnel center TC and the spring line SL based on the two-dimensional coordinate information of each point, and corrects the two-dimensional coordinate information at each point of the extracted point group 38A so that the intersection of the tunnel center TC and the spring line SL is located at the origin of the polar coordinate plane.

[0075] Thereby, the server control unit 33 arranges the cut-out extracted point group 38A on the polar coordinate plane centered on the origin. At this time, the extracted point group 38A indicated by the black circles in FIG. 8 forms the contour of the inner cavity cross-section having a width in the radial direction centered on the origin.

[0076] When converting the position coordinates of the extracted point group 38A, as shown in FIG. 6, the server control unit 33 generates three inner cavity contour lines 51 (inner contour line 51a, outer contour line 51b, and central contour line 51c) indicating the contour of the inner cavity cross-section based on the variation of the extracted point group 38A in the radial direction centered on the origin (step S122).

[0077] Specifically, as shown in FIG. 8, the server control unit 33 forms an inner contour line 51a indicating the contour of the innermost inner cavity cross-section based on each point of the extracted point group 38A located on the inner side in the radial direction centered on the origin.

[0078] Furthermore, the server control unit 33 forms an outer contour line 51b indicating the contour of the outermost inner cavity cross-section based on the points of the extracted point group 38A located on the outer side in the radial direction centered on the origin.

[0079] In addition, based on the inner contour line 51a and the outer contour line 51b, the server control unit 33 generates a central contour line 51c passing through approximately the center between the inner contour line 51a and the outer contour line 51b in the radial direction centered on the origin.

[0080] Here, since the entire inner cross-sectional area of the tunnel T is the target area E for which the cross-sectional area is to be calculated, the server control unit 33 sets the base point BP in the target area E with the area surrounded by the inner contour line 51 as the target area E.

[0081] Specifically, when the inner contour line 51 is generated, as shown in FIG. 6, the server control unit 33 sets the base point BP (see FIG. 7) at approximately the center of the virtual straight line connecting the two intersections at the position where the distance between the intersections of the straight line substantially parallel to the Y-axis of the polar coordinate plane and the inner contour line 51 is the maximum (step S123).

[0082] At this time, since the intersection of the spring line SL and the tunnel center TC is located at the origin of the polar coordinate plane, the base point BP is located at the origin of the polar coordinate plane. After that, in order to calculate the cross-sectional area of the target area E indicated by the inner contour line 51, the server control unit 33 equally divides the target area E into a plurality of divided ranges E n (step S124).

[0083] Specifically, as shown in FIGS. 7 and 8, the server control unit 33 starts from an arbitrary position in the circumferential direction clockwise around the base point BP, and in the range with the position 360° separated clockwise from the starting point as the end point, equally divides the target area E indicated by the inner contour line 51 in the circumferential direction around the base point BP into a plurality of divided ranges E n (step S124).

[0084] Furthermore, the server control unit 33 sets the division angle when the target area E indicated by the inner contour line 51 is equally divided into a predetermined number of divisions as a predetermined angle Δθ. In other words, the server control unit 33 equally divides the target area E within a range of a predetermined angle Δθ centered on the reference point BP.

[0085] For example, when the predetermined number of divisions = 630, the server control unit 33 sets the division angle 360° / 630 = 0.57° = 0.01 rad, which is the angle obtained when the target area E indicated by the inner contour line 51 is divided into 630 parts in the circumferential direction centered on the reference point BP, as the predetermined angle Δθ.

[0086] Therefore, the division range E n is a substantially fan-shaped range surrounded by the first boundary line L1 and the second boundary line L2 that extend radially from the reference point BP and are spaced apart by a predetermined angle Δθ in the circumferential direction centered on the reference point BP, and the inner contour line 51, as shown in FIGS. 7 and 8.

[0087] In other words, the division range E n is a substantially fan-shaped range surrounded by three points: the reference point BP, the intersection of the first boundary line L1 and the inner contour line 51, and the intersection of the second boundary line L2 and the inner contour line 51. When setting the predetermined angle Δθ, the server control unit 33 sets the counter n used in subsequent processing to n = 1 and initializes it so that the cumulative angle θ and the total area Sa described later become "0".

[0088] When setting the predetermined angle Δθ, the server control unit 33 determines whether or not there is at least one point of the extraction point group 38A in the nth division range E (step S125) counted from the starting point in the clockwise circumferential direction centered on the reference point BP as shown in FIG. 6. n If there is not a single point of the extraction point group 38A in the nth division range E (step S125: No), the server control unit 33 proceeds to step S128, which will be described later. nth division range E n On the other hand, if there is at least one point of the extraction point group 38A in the nth division range E (step S125: Yes), the server control unit 33 calculates the area of the nth division range E as the range area S

[0089] On the other hand, if there is at least one point of the extraction point group 38A in the nth division range E n (step S125: Yes), the server control unit 33 calculates the area of the nth division range E as the range area S n of the nth division range E nCalculate as (step S126).

[0090] Specifically, the server control unit 33 sets a representative point at a position approximately in the center of the inner contour line 51 separated by the first boundary line L1 and the second boundary line L2 of the division range E n and sets the straight-line distance from the base point BP to the representative point as the radius r n in the nth division range E n .

[0091] After that, the server control unit 33 calculates the range area S n in the nth division range E n based on the following formula.

[0092] [Number] Note that the server control unit 33 sets the range area S n enclosed by the inner contour line 51a among the inner contour lines 51 as the minimum range area S n min, sets the range area S n enclosed by the outer contour line 51b as the maximum range area S n max, and calculates the range area S n enclosed by the central contour line 51c as the average range area S n ave.

[0093] Specifically, as shown in FIG. 8, the server control unit 33 sets a representative point RP1 at a position approximately in the center of the inner contour line 51a separated by the first boundary line L1 and the second boundary line L2 of the division range E n and sets the straight-line distance from the base point BP to the representative point RP1 as the radius r n . After that, the server control unit 33 temporarily stores the range area S n calculated based on the above formula as the minimum range area S n min.

[0094] Similarly, as shown in FIG. 8, the server control unit 33 sets a representative point at a position approximately in the center of the inner contour line 51a separated by the first boundary line L1 and the second boundary line L2 of the division range E nA representative point RP2 is set at a position approximately at the center of the outer contour line 51b delimited by the first boundary line L1 and the second boundary line L2, and the straight-line distance from the base point BP to the representative point RP2 is set as the radius r. n Then, the server control unit 33 temporarily stores, as the maximum range area S n max, the range area S n calculated based on the above formula.

[0095] Furthermore, as shown in FIG. 8, the server control unit 33 sets a representative point RP3 at a position approximately at the center of the central contour line 51c delimited by the first boundary line L1 and the second boundary line L2 of the divided range E n and sets the straight-line distance from the base point BP to the representative point RP3 as the radius r n . Then, the server control unit 33 temporarily stores, as the average range area S n ave, the range area S n calculated based on the above formula.

[0096] When calculating the range area S n , the server control unit 33 calculates and updates the cumulative angle θ indicating the cumulative value of the predetermined angle Δθ and the total area Sa indicating the cumulative value of the range area S n (step S127).

[0097] At this time, the server control unit 33 calculates a new cumulative angle θ by adding the predetermined angle Δθ in the nth divided range E n to the cumulative angle θ, and calculates and updates a new total area Sa by adding the nth range area S n to the total area Sa.

[0098] More specifically, the server control unit 33 sets the cumulative value of the minimum range area S n min as the minimum total area Sa min , and calculates a new minimum total area Sa min by adding the nth minimum range area S n min to the minimum total area Sa min .

[0099] Similarly, the server control unit 33 calculates the maximum range area Sn Set the cumulative value of max as the maximum total area Sa max and the average range area S n Set the cumulative value of ave as the average total area Sa ave Then, add the nth maximum range area S max max to the maximum total area Sa n to calculate a new maximum total area Sa max and add the nth average range area S ave ave to the average total area Sa n to calculate a new average total area Sa ave .

[0100] After that, as shown in FIG. 6, the server control unit 33 updates the counter n as n = n + 1 (step S128), and then determines whether the counter n exceeds a predetermined number of divisions (step S129).

[0101] If the counter n is less than or equal to the predetermined number of divisions (step S129: No), the server control unit 33 returns the process to step S125 and repeats steps S125 to S128 from the above until the counter n exceeds the predetermined number of divisions.

[0102] On the other hand, if the counter n exceeds the predetermined number of divisions (step S129: Yes), the server control unit 33 determines that the processing for the entire area from the starting point to the ending point separated by 360° in the circumferential direction centered on the reference point BP, that is, all the divided ranges E n has been completed.

[0103] After that, the server control unit 33 divides the angle from the starting point to the ending point in the clockwise circumferential direction centered on the reference point BP (here 360°) by the cumulative angle θ to calculate the ratio of the cumulative angle θ to the angle from the starting point to the ending point (step S130).

[0104] This ratio of the cumulative angle θ indicates the point group acquisition rate at which the server control unit 33 acquired the points of the extraction point group 38A in the process of step S125 repeated until the counter n reaches the predetermined number of divisions.

[0105] When calculating the ratio of the cumulative angle θ, the server control unit 33 divides the total area Sa by the ratio of the cumulative angle θ to calculate an estimated cross-sectional area that is an estimated value of the cross-sectional area of the inner cavity cross-section in the tunnel T (step S131).

[0106] More specifically, the server control unit 33 temporarily stores, as the minimum estimated cross-sectional area, the estimated cross-sectional area obtained by dividing the minimum total area Sa min by the ratio of the cumulative angle θ. Furthermore, the server control unit 33 sets the estimated cross-sectional area obtained by dividing the maximum total area Sa max by the ratio of the cumulative angle θ as the maximum estimated cross-sectional area, and temporarily stores, as the average estimated cross-sectional area, the estimated cross-sectional area obtained by dividing the average total area Sa ave by the ratio of the cumulative angle θ.

[0107] Here, an example of the estimated cross-sectional area in the inner cavity cross-section with a designed cross-sectional area of 54.5 m 2 will be further described in detail using the following table (Table 1). In Table 1, when the minimum total area Sa min is 48.49 m 2 and the ratio of the cumulative angle θ is 89.0%, the minimum estimated cross-sectional area is 48.49 / 0.89 = 54.48 m 2 .

[0108]

Table 1

[0109] At this time, the designed cross-sectional area = 54.5 m 2The error ratio with respect to is the minimum total area Sa min =48.49m 2 is -0.03%, and the maximum total area Sa max =49.39m 2 is +1.82%, and the average total area Sa ave =48.89m 2 is +0.79%. Therefore, it can be seen that in any case of the minimum total area Sa min , the maximum total area Sa max , and the average total area Sa ave , a good estimated cross-sectional area is obtained.

[0110] When calculating the estimated cross-sectional area in step S131, as shown in FIG. 6, the server control unit 33 multiplies the length in the tunnel axis direction X in the cut-out extraction point group 38A by the estimated cross-sectional area to calculate the estimated volume of the cut-out range (step S132).

[0111] More specifically, the server control unit 33 calculates the estimated volume obtained by multiplying the length in the tunnel axis direction X by the minimum estimated cross-sectional area as the minimum estimated volume, the estimated volume obtained by multiplying the length in the tunnel axis direction X by the maximum estimated cross-sectional area as the maximum estimated volume, and the estimated volume obtained by multiplying the length in the tunnel axis direction X by the average estimated cross-sectional area as the average estimated volume.

[0112] After that, the server control unit 33 stores the estimated cross-sectional area and the estimated volume in the server storage unit 32, and then ends the calculation process and proceeds to step S106 in FIG. 5. Returning to step S105 in FIG. 5 and ending the calculation process, the server control unit 33 determines the quality of the estimated cross-sectional area and the estimated volume calculated in the calculation process (step S106) as shown in FIG. 5.

[0113] Specifically, if the difference between the estimated cross-sectional area and the designed cross-sectional area of the inner cavity cross-section registered in the design value data 37 is within a predetermined tolerance range, the server control unit 33 determines that the estimated cross-sectional area is "good", and if it is outside the predetermined tolerance range, the server control unit 33 determines that the estimated cross-sectional area is "bad".

[0114] Similarly, if the difference between the estimated volume and the designed volume of the internal space registered in the design value data 37 is within a predetermined tolerance range, the server control unit 33 determines that the estimated volume is "good", and if it is outside the predetermined tolerance range, the server control unit 33 determines that the estimated volume is "bad".

[0115] After that, the server control unit 33 stores the information indicating the pass / fail of the estimated cross-sectional area and the information indicating the pass / fail of the estimated volume in the project data 36 of the server storage unit 32, and then calculates the placement amount of the formwork concrete from the difference between the designed volume and the estimated volume, and stores it in the server storage unit 32 (step S107).

[0116] More specifically, the server control unit 33 calculates the minimum placement amount from the difference between the designed volume and the minimum estimated volume, calculates the maximum placement amount from the difference between the designed volume and the maximum estimated volume, and calculates the average placement amount from the difference between the designed volume and the average estimated volume.

[0117] After that, as shown in FIG. 5, the server control unit 33 transmits the transmission information in which the project name is associated with the estimated cross-sectional area and the estimated volume calculated in step S105, the pass / fail determination results of the estimated cross-sectional area and the estimated volume determined in step S106, and the placement amount calculated in step S107 to the management terminal 20 (step S108).

[0118] When acquiring the transmission data from the server 30, the control unit 25 of the management terminal 20 displays a calculation result screen 200 showing the calculation results on the display unit 22 based on the acquired transmission information as shown in FIG. 5 (step S109).

[0119] For example, as shown in FIG. 9, on the calculation result screen 200, a title "Calculation Results" and the project name are displayed, and below that, a minimum value button 201 for displaying the minimum values of the estimated cross-sectional area, the estimated volume, and the placement amount, an average value button 202 for displaying the average value, and a maximum value button 203 for displaying the maximum value are displayed.

[0120] Furthermore, on the calculation result screen 200, there are displayed an inner cavity cross-sectional area column 204 for displaying the estimated cross-sectional area as the cross-sectional area of the inner cavity, an area quality column 205 for displaying the quality of the estimated cross-sectional area, a volume column 206 for displaying the estimated volume as the volume of the internal space, a volume quality column 207 for displaying the quality of the estimated volume, and a placement quantity column 208 for displaying the placement quantity.

[0121] In addition, on the calculation result screen 200, there are displayed a registration button 209 for registering the values of the inner cavity cross-sectional area column 204, the volume column 206, and the placement quantity column 208 as numerical values to be used for the construction management of the tunnel T in the server 30, a transition button 210 for transitioning to the calculation of the next range, and a close button 211 for closing the calculation result screen 200.

[0122] Then, the user of the management terminal 20 appropriately presses the minimum value button 201, the average value button 202, and the maximum value button 203, and while checking the values displayed in each column, performs appropriate operations such as pressing the registration button 209 and the transition button 210.

[0123] In this way, the inner cavity cross-section calculation system 1 supports the construction management of the tunnel T by sequentially calculating the cross-sectional area of the inner cavity and the volume of the internal space along the tunnel axis direction X while sequentially cutting out the point cloud data 38 in the tunnel axis direction X.

[0124] As described above, the inner cavity cross-section calculation system 1 of the first embodiment is a system for calculating the cross-sectional area of the tunnel T at the cross-sectional position in the tunnel axis direction X based on the point cloud data 38 indicating the inner surface shape of the tunnel T having an internal space extending in the tunnel axis direction X.

[0125] This inner cavity cross-section calculation system 1 includes a point cloud extraction means (server control unit 33) for extracting a point cloud corresponding to the cross-sectional position as the extracted point cloud 38A from the point cloud data 38, and a coordinate information conversion means (server control unit 33) for converting the coordinate information of the extracted extracted point cloud 38A into the coordinate information of the polar coordinate plane.

[0126] Furthermore, the internal cross-sectional area calculation system 1 divides a target area E, for which calculation of the cross-sectional area is desired, among the cross-sections of the tunnel T indicated by the extraction point group 38A on the polar coordinate plane, into a plurality of divided ranges E in the circumferential direction with a predetermined number of divisions around a reference point BP that is an arbitrary position in the target area E. n A divided range setting means (server control unit 33) that sets the divided ranges, and a range area calculation means (server control unit 33) that calculates the area of the divided range E where the points of the extraction point group 38A exist as a range area S n are provided. n In addition, the internal cross-sectional area calculation system 1 includes a total area calculation means that sums up the range areas S calculated by the range area calculation means to calculate a total area Sa, and a cumulative angle calculation means (server control unit 33) that accumulates the predetermined angle Δθ in the circumferential direction around the reference point BP in the divided range E to calculate a cumulative angle θ, where the range area S

[0127] has been calculated for the divided range E. n The internal cross-sectional area calculation system 1 also includes a ratio calculation means (server control unit 33) that calculates the ratio of the cumulative angle θ to the angle (360° in this embodiment) from the start point to the end point of the target area E in the circumferential direction around the reference point BP, and an estimated cross-sectional area calculation means (server control unit 33) that divides the total area Sa by the ratio of the cumulative angle θ to calculate an estimated cross-sectional area. n Furthermore, the internal cross-sectional area calculation method of Example 1 is a method for calculating the cross-sectional area of the tunnel T at a cross-sectional position in the tunnel axis direction X based on point group data 38 indicating the inner surface shape of the tunnel T having an internal space extending in the tunnel axis direction X. n This internal cross-sectional area calculation method performs a point group extraction step in which the server control unit 33 extracts a point group corresponding to the cross-sectional position as the extraction point group 38A from the point group data 38, and a coordinate information conversion step in which the server control unit 33 converts the coordinate information of the extracted extraction point group 38A into coordinate information on the polar coordinate plane. n is performed.

[0128] And, the internal cross-sectional area calculation system 1 includes a ratio calculation means (server control unit 33) that calculates the ratio of the cumulative angle θ to the angle (360° in this embodiment) from the start point to the end point of the target area E in the circumferential direction around the reference point BP, and an estimated cross-sectional area calculation means (server control unit 33) that divides the total area Sa by the ratio of the cumulative angle θ to calculate an estimated cross-sectional area.

[0129] Also, the internal cross-sectional area calculation method of Example 1 is a method for calculating the cross-sectional area of the tunnel T at a cross-sectional position in the tunnel axis direction X based on point group data 38 indicating the inner surface shape of the tunnel T having an internal space extending in the tunnel axis direction X.

[0130] This internal cross-sectional area calculation method performs a point group extraction step in which the server control unit 33 extracts a point group corresponding to the cross-sectional position as the extraction point group 38A from the point group data 38, and a coordinate information conversion step in which the server control unit 33 converts the coordinate information of the extracted extraction point group 38A into coordinate information on the polar coordinate plane.

[0131] Furthermore, in the inner cross-sectional area calculation method, among the cross-sections of the tunnel T indicated by the extraction point group 38A on the polar coordinate plane, the target area E for which the calculation of the cross-sectional area is desired is divided by the server control unit 33 into a plurality of divided ranges E in the circumferential direction with a predetermined number of divisions around a base point BP that is an arbitrary position in the target area E n in a division range setting step of setting, and the area of the division range E n in which the points of the extraction point group 38A exist is calculated by the server control unit 33 as the range area S n in a range area calculation step.

[0132] In addition, the inner cross-sectional area calculation method includes a total area calculation step in which the server control unit 33 sums up the range areas S n calculated in the range area calculation step to calculate the total area Sa, and a cumulative angle calculation step in which the server control unit 33 accumulates the circumferential angles with respect to the base point BP in the division range E n as a predetermined angle Δθ to calculate the cumulative angle θ for the division range E n in which the range area S n is calculated.

[0133] And the inner cross-sectional area calculation method includes a ratio calculation step in which the server control unit 33 calculates the ratio of the cumulative angle θ to the angle (360° in this embodiment) from the start point to the end point of the target area E in the circumferential direction centered on the base point BP, and an estimated cross-sectional area calculation step in which the server control unit 33 divides the total area Sa by the ratio of the cumulative angle θ to calculate the estimated cross-sectional area.

[0134] According to this configuration, among the plurality of divided ranges E obtained by dividing the target area E for which the calculation of the cross-sectional area is desired, the range area S n of the division range E n in which the points of the extraction point group 38A exist is summed up, so that the cross-sectional area of the target area E excluding the division range E n in which the points of the extraction point group 38A do not exist can be calculated. n

[0135] Furthermore, the total area Sa obtained by summing up the range areas S n is divided by the range area Sn By dividing by the ratio of the cumulative angle θ, which is the cumulative sum of a predetermined angle Δθ that has been calculated, the internal cross-section calculation system 1 can determine the division range E where there are no points in the extracted point cloud 38A n and estimate the cross-sectional area of the target area E including this. As a result, the internal cross-section calculation system 1 and the internal cross-section calculation method can calculate the cross-sectional area of the tunnel T even when the point cloud data 38 has partially missing points.

[0136] Also, in order to convert the coordinate information of the extracted point cloud 38A into the coordinate information of the polar coordinate plane, the internal cross-section calculation system 1 uses the straight-line distance from the reference point BP to the representative point as the radius r n and calculates the range area S based on the radius r n and a predetermined angle Δθ. n This can be done.

[0137] As a result, the internal cross-section calculation system 1 can calculate the range area S more easily compared to the case where the coordinate information of the extracted point cloud 38A is converted into the coordinate information of the orthogonal coordinate plane, and thus can calculate the estimated cross-sectional area efficiently. n

[0138] Also, the internal cross-section calculation system 1 includes representative point setting means (server control unit 33) for setting a representative point based on the points of the extracted point cloud 38A included in the division range E n . Furthermore, the range area calculation means (server control unit 33) is configured to calculate the range area S based on the straight-line distance connecting the reference point BP and the representative point as the radius r n and using the radius r n and a predetermined angle Δθ. n

[0139] According to this configuration, since the range area S is calculated using the representative point based on the points of the extracted point cloud 38A included in the division range E n , it is possible to suppress a decrease in the calculation accuracy of the range area S due to variations in the positions of the points of the extracted point cloud 38A. n n

[0140] In addition, since the representative point setting means (server control unit 33) sets representative points RP1, RP2, and RP3 with different linear distances from the base point BP, the internal cross-section calculation system 1 calculates the range area S taking into account the variation of the points in the extraction point group 38A in the radial direction centered on the base point BP. n can be calculated.

[0141] Specifically, the internal cross-section calculation system 1 calculates the minimum value (minimum range area S n min), the maximum value (maximum range area S n max), and the average value (average range area S n ave) of the range area S. n of the range area S. n of the range area S. n can be calculated. Thereby, since the internal cross-section calculation system 1 can calculate the variation of the estimated cross-sectional area, the calculation accuracy of the cross-sectional area of the tunnel T can be improved.

[0142] The internal cross-section calculation system 1 also includes a base point setting means (server control unit 33) that sets the base point BP at approximately the center of the virtual straight line connecting the intersections at the position where the distance between the intersections of the straight line substantially parallel to the Y-axis of the polar coordinate plane and the internal contour line 51 of the target area E is the maximum.

[0143] According to this configuration, the base point BP can be set at approximately the center of the spring line SL. Thereby, the internal cross-section calculation system 1 can calculate the range area S n more efficiently than when the base point BP is set at an arbitrary position.

[0144] The point group extraction means (server control unit 33) is configured to extract a point group corresponding to a predetermined range in the tunnel axis direction X from the cross-section position as the extraction point group 38A from the point group data 38. According to this configuration, since the number of point groups to be extracted increases compared to the case of extracting the point group at the cross-section position, the range area S taking into account the variation of the point groups n can be calculated for each divided range E n respectively. As a result, the internal cross-section calculation system 1 can calculate an estimated cross-sectional area that suppresses a decrease in calculation accuracy due to the variation in the point cloud.

[0145] In addition, the internal cross-section calculation system 1 includes a storage means (server storage unit 32) for storing a designed cross-sectional area calculated based on the designed cross-section of the tunnel T, and a pass / fail determination means (server control unit 33) for determining the pass / fail of the estimated cross-sectional area calculated by the estimated cross-sectional area calculation means based on the designed cross-sectional area. According to this configuration, it is possible to eliminate the need for the user who uses the internal cross-section calculation system 1 to determine the pass / fail of the estimated cross-sectional area, and improve the convenience for the user.

[0146] In addition, the internal cross-section calculation system 1 includes a volume calculation means (server control unit 33) for calculating an estimated volume of the internal space based on the estimated cross-sectional area calculated by the estimated cross-sectional area calculation means. According to this configuration, it is possible to calculate an estimated volume that suppresses a decrease in calculation accuracy. Therefore, the internal cross-section calculation system 1 can facilitate the calculation of the placement amount of the lining concrete.

Example

[0147] The internal cross-section calculation system 1 of the second embodiment is different from the above-described first embodiment in the calculation process in step S015 of FIG. 5. The internal cross-section calculation system 1 of the second embodiment will be described with reference to FIG. 11 showing the flowchart of the calculation process in the second embodiment. Note that the same components as those in the above-described first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

[0148] First, when the user operates the management terminal 20 to execute the calculation application, the control unit 25 of the management terminal 20 displays a guidance screen (not shown) on the display unit 22 as shown in FIG. 5 (step S101), and then acquires the point cloud data 38 from the server 30 via step S102.

[0149] Thereafter, in step S103 of FIG. 5, the control unit 25 of the management terminal 20 displays the point cloud data 38 and displays on the display unit 22 a position designation screen (not shown) for allowing the user to designate the position of a predetermined space for which volume calculation is desired.

[0150] At this time, for example, following the guidance of the position designation screen, the user designates two positions in the tunnel axis direction X, thereby designating the position of the predetermined space for which volume calculation is desired. When the user designates the position of the predetermined space, the control unit 25 of the management terminal 20 transmits to the server 30, instead of the cross-section position information of the first embodiment, space position information indicating the designated position of the predetermined space.

[0151] In step S104 of FIG. 5, when the server 30 acquires the space position information from the management terminal 20, the server control unit 33 of the server 30 starts the cutting process and cuts out from the point cloud data 38 the point cloud of the predetermined space indicated by the space position information and temporarily stores it as the extracted point cloud 38A. Thereafter, in step S105 of FIG. 5, the server control unit 33 starts a calculation process for calculating the volume of the predetermined space in the tunnel T based on the cut-out extracted point cloud 38A.

[0152] Specifically, as shown in FIG. 11, the server control unit 33 converts the position coordinates of each point in the cut-out extracted point cloud 38A into the position coordinates of a polar coordinate plane, which is a two-dimensional coordinate plane of a polar coordinate system orthogonal to the tunnel axis direction X (step S141). Note that the polar coordinate plane of the second embodiment is a coordinate plane capable of holding the coordinate information in the tunnel axis direction X at each point of the extracted point cloud 38A.

[0153] At this time, with the polar coordinate plane being the Y-Z coordinate plane as in the first embodiment, the server control unit 33 replaces the three-dimensional coordinate information assigned to each point of the extracted point cloud 38A with two-dimensional coordinate information of the polar coordinate system so as to translate each point of the extracted point cloud 38A onto the same plane while holding the coordinate information in the X-axis direction indicating the tunnel axis direction X at each point of the extracted point cloud 38A.

[0154] Furthermore, similar to the first embodiment, the server control unit 33 sets the tunnel center TC and the spring line SL, corrects the two-dimensional coordinate information at each point of the extracted point group 38A so that the intersection of the tunnel center TC and the spring line SL is located at the origin of the polar coordinate plane, and arranges the cut-out extracted point group 38A on the polar coordinate plane centered at the origin.

[0155] When the position coordinates of the extracted point group 38A are converted, as shown in FIG. 11, the server control unit 33 generates three inner contour lines 51 based on the variation of the extracted point group 38A in the radial direction centered at the origin (step S142), and then sets a base point BP at approximately the center of the spring line SL (step S143).

[0156] Furthermore, as shown in FIG. 11, the server control unit 33 equally divides the target area E to generate a plurality of divided ranges E n and then sets a predetermined angle Δθ (step S144). Note that steps S142 to S144 are the same as steps S122 to S124 of the first embodiment described above, and thus the detailed description thereof is omitted.

[0157] Thereafter, as shown in FIG. 11, the server control unit 33 determines whether there is at least one point of the extracted point group 38A in the nth divided range E n counting from the starting point in the circumferential direction clockwise centered on the base point BP. If there is no point of the extracted point group 38A in the nth divided range E n (step S125: No), the process proceeds to step S148 described later.

[0158] On the other hand, if there is at least one point of the extracted point group 38A in the nth divided range E n (step S145: Yes), the server control unit 33 sets the nth divided range E n as a three-dimensional shape with a substantially fan-shaped cross section extending in the tunnel axis direction X, and calculates the volume of the divided range E n as the range volume V n (step S146).

[0159] At this time, for example, the server control unit 33 sets a representative point at a position approximately in the center of the inner contour line 51 delimited by the division range E n and sets the straight-line distance from the reference point BP to the representative point as the radius r n in the nth division range E n .

[0160] Furthermore, the server control unit 33, based on the radius r n and the predetermined angle Δθ, and the coordinate information in the X-axis direction held at each point of the extraction point group 38A in step S141, calculates the range volume V n of the nth division range E n .

[0161] When calculating the range volume V n , as shown in FIG. 11, the server control unit 33 calculates and updates the cumulative angle θ indicating the cumulative value of the predetermined angle Δθ and the total volume Va indicating the cumulative value of the range volume V n (step S147).

[0162] After that, as shown in FIG. 11, the server control unit 33 updates the counter n as counter n = n + 1 (step S148). Then, when the counter n is less than or equal to the predetermined number of divisions (step S149: No), the process returns to step S145

[0163] On the other hand, when the counter n exceeds the predetermined number of divisions (step S149: Yes), the server control unit 33 determines that the processing for all the division ranges E n is completed, and calculates the ratio of the cumulative angle θ to the angle from the start point to the end point in the same manner as in the first embodiment (step S150).

[0164] When calculating the ratio of the cumulative angle θ, the server control unit 33 divides the total volume Va by the ratio of the cumulative angle θ, calculates the estimated volume, which is an estimated value of the volume of the predetermined space in the tunnel T (step S151), stores the estimated volume in the server storage unit 32, and advances the process to step S106 in FIG. 5

[0165] In step S106 of FIG. 5, after the server control unit 33 determines the quality of the estimated volume calculated by the calculation process, in step S107 of FIG. 5, it calculates the placement amount of the formwork concrete from the difference between the designed volume and the estimated volume.

[0166] Furthermore, in step S108 of FIG. 5, the server control unit 33 transmits the transmission information in which the project name is associated with the estimated volume, the quality determination result of the estimated volume, and the placement amount to the management terminal 20.

[0167] When acquiring the transmission data from the server 30, the control unit 25 of the management terminal 20 displays a calculation result screen 200 showing the calculation result on the display unit 22 based on the acquired transmission information as shown in FIG. 5 (step S109).

[0168] As described above, the internal cross-sectional calculation system 1 of the second embodiment includes a point group extraction means (server control unit 33) that extracts a point group corresponding to a predetermined space as the extraction point group 38A from the point group data 38, and coordinate information conversion means (server control unit 33) that converts the coordinate information of the extracted extraction point group 38A into the coordinate information of a polar coordinate plane that holds the coordinate information in the tunnel axis direction X.

[0169] Furthermore, the internal cross-sectional calculation system 1 divides a target area E for which volume calculation is desired among the cross-sections of the tunnel T indicated by the extraction point group 38A on the polar coordinate plane into a plurality of divided ranges E by dividing it in the circumferential direction with a predetermined number of divisions around a base point BP that is an arbitrary position in the target area E. n It has a divided range setting means (server control unit 33) for setting, and a range volume calculation means (server control unit 33) for calculating the volume of the divided range E where the points of the extraction point group 38A exist as a range volume V based on the coordinate information in the tunnel axis direction X. n n n It is provided with.

[0170] In addition, the internal cross-sectional calculation system 1 includes a total volume calculation means (server control unit 33) for calculating the total volume Va by summing up the range volumes V calculated by the range volume calculation means, and the divided range E for which the range volume V n is calculated. n nn It includes a cumulative angle calculation means (server control unit 33) that accumulates a predetermined angle Δθ to calculate a cumulative angle θ.

[0171] And the internal cross-section calculation system 1 includes a ratio calculation means (server control unit 33) that calculates the ratio of the cumulative angle θ to the angle from the start point to the end point of the target region E in the circumferential direction centered on the base point BP, and an estimated volume calculation means (server control unit 33) that divides the total volume Va by the ratio of the cumulative angle θ to calculate an estimated volume.

[0172] Also, in the internal cross-section calculation method of the second embodiment, the server control unit 33 performs a point group extraction step of extracting a point group corresponding to a predetermined space as an extraction point group 38A from the point group data 38, and a coordinate information conversion step of converting the coordinate information of the extracted extraction point group 38A into the coordinate information of a polar coordinate plane in which the server control unit 33 holds the coordinate information in the tunnel axis direction X.

[0173] Furthermore, in the internal cross-section calculation method, among the cross-sections of the tunnel T indicated by the extraction point group 38A on the polar coordinate plane, the server control unit 33 divides a target region E for which volume calculation is desired into a plurality of divided ranges E in the circumferential direction centered on a base point BP that is an arbitrary position in the target region E with a predetermined number of divisions. n to perform a divided range setting step of setting, and a range volume calculation step of calculating, as a range volume V based on the coordinate information in the tunnel axis direction X by the server control unit 33, the volume of the divided range E in which the points of the extraction point group 38A exist. n of the divided range E in which the points of the extraction point group 38A exist. n to perform a range volume calculation step of calculating, as a range volume V based on the coordinate information in the tunnel axis direction X by the server control unit 33, the volume of the divided range E in which the points of the extraction point group 38A exist.

[0174] In addition, the internal cross-section calculation method includes a total volume calculation step of calculating a total volume Va by the server control unit 33 summing up the range volumes V calculated in the range volume calculation step, and a cumulative angle calculation step of calculating a cumulative angle θ by the server control unit 33 accumulating the predetermined angle Δθ of the divided range E in which the range volume V was calculated. n to perform a total volume calculation step of calculating a total volume Va by the server control unit 33 summing up the range volumes V calculated in the range volume calculation step, and a cumulative angle calculation step of calculating a cumulative angle θ by the server control unit 33 accumulating the predetermined angle Δθ of the divided range E in which the range volume V was calculated. n of the divided range E in which the range volume V was calculated. n to perform a cumulative angle calculation step of calculating a cumulative angle θ by the server control unit 33 accumulating the predetermined angle Δθ of the divided range E in which the range volume V was calculated.

[0175] Then, the internal cross-sectional area calculation method includes a ratio calculation step in which the server control unit 33 calculates the ratio of the cumulative angle θ to the angle from the start point to the end point of the target area E in the circumferential direction centered on the base point BP, and an estimated volume calculation step in which the server control unit 33 divides the total volume Va by the ratio of the cumulative angle θ to calculate the estimated volume.

[0176] According to this configuration, among the plurality of divided ranges E obtained by dividing the target area E for which the volume is to be calculated, n the volume V of the divided range E in which the points of the extracted point group 38A exist n is totaled, so that the volume of the target area E excluding the divided range E where the points of the extracted point group 38A do not exist n can be calculated. n

[0177] Furthermore, by dividing the total volume Va obtained by totaling the range volumes V n by the ratio of the cumulative angle θ, which is the cumulative value of the predetermined angle Δθ for which the range volume V n is calculated, the internal cross-sectional area calculation system 1 can estimate the volume of the target area E including the divided range E where the points of the extracted point group 38A do not exist. n As a result, the internal cross-sectional area calculation system 1 and the internal cross-sectional area calculation method of the second embodiment can calculate the volume of the tunnel T even for the point group data 38 in which the point group is partially missing.

[0178] In the correspondence between the configuration of this invention and the above-described embodiment, the axial direction of this invention corresponds to the tunnel axial direction X of the embodiment, and similarly hereinafter, the internal structure corresponds to the tunnel T, the point group extraction means, the coordinate information conversion means, the divided range setting means, the range area calculation means, the total area calculation means, the cumulative angle calculation means, the ratio calculation means, the estimated cross-sectional area calculation means, the representative point setting means, the base point setting means, the pass / fail determination means, the volume calculation means, the range volume calculation means, the total volume calculation means, and the estimated volume calculation means correspond to the server control unit 33, the predetermined coordinate plane corresponds to the polar coordinate plane, The virtual straight line connecting the intersection points corresponds to the spring line SL, The storage means corresponds to the server storage unit 32, The point group extraction step corresponds to step S104, The coordinate information conversion step corresponds to step S121 and step S141, The division range setting step corresponds to step S124 and step S144, The range area calculation step corresponds to step S125, step S126, step S128 and step S129, The total area calculation step corresponds to step S127, The cumulative angle calculation step corresponds to step S127 and step S147, The ratio calculation step corresponds to step S130 and step S150, The estimated cross-sectional area calculation step corresponds to step S131, The range volume calculation step corresponds to step S145, step S146, step S148 and step S149, The total volume calculation step corresponds to step S147, The estimated volume calculation step corresponds to step S151, but The present invention is not limited to the configuration of the above-described embodiments, and many embodiments can be obtained.

[0179] For example, in the above-described embodiment, the client terminal used by the worker M at the excavation site is the mobile terminal 10, but it is not limited thereto, and a tablet terminal or a notebook computer may be used as the client terminal.

[0180] Also, the video inside the tunnel T was taken with the mobile terminal 10 equipped with a camera, but it is not limited thereto, and as long as video data 13a can be output, a tablet terminal equipped with a camera, a notebook computer equipped with a camera, a digital camera, a video camera, or a wearable camera may be used.

[0181] Also, although the point cloud data 38 was generated based on the video data 13a, it is not limited to this. For example, the point cloud data 38 based on the measurement data measured by a three-dimensional laser scanner, 3D-LiDAR, etc. may also be used. Also, although the server 30 is configured to acquire the video data 13a from the mobile terminal 10 via the communication line 2, it is not limited to this. The video data 13a may be acquired from a terminal different from the mobile terminal 10 (for example, the management terminal 20) via the communication line 2, or the video data 13a acquired via a portable storage medium may also be used.

[0182] Also, although the server 30 generated the point cloud data 38 based on the video data 13a, it is not limited to this. A configuration may be adopted in which a terminal or server different from the server 30 generates the point cloud data based on the video data 13a and transmits the generated point cloud data to the server 30.

[0183] Also, although the unnecessary point cloud of the point cloud data generated by the server 30 was deleted by the management terminal 20, it is not limited to this. After the server 30 generates the point cloud data from the video data 13a, it may accept the operation of the user via the management terminal 20 and delete the unnecessary point cloud.

[0184] Also, in the management terminal 20, although the point cloud data 38 from which the unnecessary point cloud was deleted by accepting the operation of the user was used, it is not limited to this. For example, the point cloud data 38 from which the unnecessary point cloud was automatically deleted by a machine learning model provided in the management terminal 20 or the server 30 may also be used.

[0185] Also, although the above-described processing is started by executing the calculation application stored in the storage unit 23 of the management terminal 20, it is not limited to this. A so-called web application that starts the above-described processing by accessing a predetermined URL using a web browser may also be used.

[0186] Also, in steps S101 and S102 of FIG. 5, the point cloud data 38 was transmitted to the management terminal 20 in order to specify the cross-sectional position for calculating the cross-sectional area. However, the present invention is not limited to this, and design value data 37 may be transmitted instead of the point cloud data 38. In this case, the control unit 25 of the management terminal 20 displays the design drawing of the tunnel T registered in the design value data 37 on the guidance screen in step S103.

[0187] Also, in step S104 of FIG. 6, a point cloud within a predetermined range along the tunnel axis direction X from the cross-sectional position was cut out from the point cloud data 38 and used as the extracted point cloud 38A. However, the present invention is not limited to this, and the point cloud at the cross-sectional position may be cut out from the point cloud data 38 and used as the extracted point cloud 38A. Also, in steps S121 of FIG. 6 and S141 of FIG. 11, the cut-out extracted point cloud 38A was arranged on the polar coordinate plane. However, the present invention is not limited to this, and it may be arranged on the coordinate plane of the rectangular coordinate system.

[0188] Also, in steps S121 and S141, the polar coordinate plane was set as the Y-Z coordinate plane for ease of explanation. However, the present invention is not limited to this. For example, if the polar coordinate plane is set as the X-Y coordinate plane, the three-dimensional coordinate information assigned to each point of the extracted point cloud 38A may be replaced with the two-dimensional coordinate information of the polar coordinate plane.

[0189] For example, in the case of step S121, the server control unit 33 converts the coordinate information in the Y-axis direction indicating the width direction of the tunnel T among the three-dimensional coordinate information assigned to each point of the extracted point cloud 38A into the coordinate information in the X-axis direction in the polar coordinate plane, converts the coordinate information in the Z-axis direction indicating the height direction of the tunnel T into the coordinate information in the Y-axis direction in the polar coordinate plane, and deletes the coordinate information in the X-axis direction indicating the tunnel axis direction X and replaces it with the two-dimensional coordinate information of the polar coordinate system.

[0190] Also, in step S122 of FIG. 6, the inner contour line 51a, the outer contour line 51b, and the central contour line 51c were set as the inner contour line 51. However, the present invention is not limited to this as long as at least two or more representative points with different straight-line distances from the base point BP can be set.

[0191] For example, among the inner contour line 51a, the outer contour line 51b, and the central contour line 51c, at least two of them may be selected and set by the server control unit 33, or may be set by accepting the operation of the user.

[0192] Also, in step S123 of FIG. 6 and step S143 of FIG. 11, the origin of the polar coordinate plane was used as the reference point BP, but it is not limited to this. Any position may be used as the reference point BP as long as it is inside or on the contour of the target area E indicated by the inner empty contour line 51. At this time, the server control unit 33 may automatically set the reference point BP, or may be configured to set the reference point BP by the operation of the user.

[0193] Also, in step S124 of FIG. 6 and step S144 of FIG. 11, the target area E was equally divided into a plurality of divided ranges E n in the circumferential direction centered on the reference point BP with a predetermined number of divisions, but it is not limited to this. The target area E may be equally divided in the circumferential direction centered on the reference point BP by a predetermined angle Δθ (for example, 0.01 rad) to set a plurality of divided ranges E n instead. Also, in step S124 of FIG. 6, the predetermined number of divisions was set to 630, but it is not limited to this. The predetermined number of divisions may be an appropriate number.

[0194] Also, the number of the divided ranges E n counted from the starting point by the counter n was used, but it is not limited to this. The counter n may be the cumulative value of the predetermined angle Δθ. In this case, for example, in step S128 of FIG. 6, the counter n = n + Δθ is calculated, and in step S129, it is determined whether the counter n exceeds 2π rad.

[0195] Also, in step S126 of FIG. 6, three representative points RP1, RP2, and RP3 were set, but it is not limited to this. It may be configured to set at least two representative points with different linear distances from the reference point BP, or to set one representative point.

[0196] Also, in step S126 of FIG. 6, a representative point was set on the inner contour line 51, but it is not limited to this, and the division range E n may be a representative point of one of the extraction point groups 38A included in n or the midpoint of a virtual straight line connecting at least two points included in the division range E

[0197] Also, in step S126 of FIG. 6, the division range E n is set as a substantially fan-shaped range, and the range area S n is calculated based on a predetermined angle Δθ and a radius r n but is not limited to this.

[0198] For example, a substantially triangular division range E surrounded by a first boundary line L1 and a second boundary line L2 extending radially from the base point BP and the inner contour line 51 n is used, and the range area S n of the division range E n may be calculated based on an equation for obtaining the area of a triangle. At this time, the designed cross-sectional area registered in the design value data 37 is also the total value of the range areas calculated based on the equation for obtaining the area of a triangle.

[0199] Also, the calculation result screen 200 of FIG. 9 is an example and is not limited to this, and may have an appropriate configuration. Also, the processing flow in the above-described embodiment is an example, and as long as it is a processing operation for estimating the cross-sectional area of the inner cavity by dividing the total area Sa by the ratio of the cumulative angle θ, and a processing operation for estimating the volume of a predetermined space by dividing the total volume Va by the ratio of the cumulative angle θ, it is not limited to the above-described embodiment.

[0200] Also, although the configuration is such that the server 30 performs the processing from step S102 to step S108 of FIG. 5, it is not limited to this. For example, it may be an inner cavity cross-section calculation system that performs the processing from step S102 to step S108 on the mobile terminal 10 or the management terminal 20.

[0201] Also, although the tunnel T with a substantially horseshoe-shaped cross-section of the inner cavity has been described, the present invention is not limited thereto. As shown in FIG. 10(a) which is an explanatory diagram for explaining the cross-sectional shape of the tunnel T in another embodiment, the cross-sectional shape of the inner cavity may be a tunnel T1 with a substantially semi-circular cross-section.

[0202] In this case, while converting the position coordinates in the point group data 38 of the tunnel T1 so that the spring line SL (a substantially straight portion of the substantially semi-circular cross-section) in the tunnel T1 is located on the Y-axis of the polar coordinate plane, a base point BP is set at approximately the center of the spring line SL.

[0203] Also, not limited to the tunnel T with a substantially horseshoe-shaped cross-section, as shown in FIG. 10(b), the cross-sectional shape of the inner cavity may be a tunnel T2 with a substantially bell-shaped cross-section having a substantially arc-shaped surface protruding upward. In this case, taking the entire area of the inner cavity with a substantially bell-shaped cross-section as the target area E, a base point BP is set inside or on the contour line of the target area E, and the processes after the above-described step S124 or step S144 are performed to calculate the estimated cross-sectional area and estimated volume of the tunnel T2.

[0204] Alternatively, in the cross-section with a substantially bell-shaped cross-section, taking the substantially semi-circular portion of the cross-section as the target area E, a base point BP is set at approximately the center of the spring line SL, the cross-sectional area of the substantially semi-circular portion is calculated, and the area of the substantially rectangular portion of the cross-section is added to the calculated cross-sectional area to calculate the estimated cross-sectional area of the tunnel T2. Also, the volume of the substantially semi-circular portion is calculated, and the volume of the substantially rectangular portion of the cross-section is added to the calculated volume to calculate the estimated volume of the tunnel T2.

[0205] Or, in the cross-section with a substantially bell-shaped cross-section, taking the substantially semi-circular portion and the substantially rectangular portion of the cross-section as different target areas, a base point BP is set at approximately the center of the spring line SL, and the substantially semi-circular portion and the substantially rectangular portion of the cross-section are each divided into different numbers of segments.

[0206] Then, the calculated cross-sectional area of the substantially semi-circular portion of the cross-section and the cross-sectional area of the substantially rectangular portion of the cross-section are added together to obtain the estimated cross-sectional area of the tunnel T2, or the calculated volume of the substantially semi-circular portion of the cross-section and the volume of the substantially rectangular portion of the cross-section may be added together to obtain the estimated volume of the tunnel T2.

[0207] Moreover, the internal cross-section calculation system 1 for calculating the cross-sectional area and volume of the tunnel T is used, but it is not limited to the above-mentioned tunnel T as long as it is an internal cross-section calculation system for calculating the cross-sectional area and volume of an internal structure having an internal space. For example, as shown in FIG. 12, which is a schematic explanatory diagram for explaining the outline of an internal structure in another embodiment, in a metal flow path pipe 60 extending in the longitudinal direction, an internal cross-section calculation system for calculating the cross-sectional area and volume of the internal cross-section in a throttle portion 61 that narrows a predetermined range in the longitudinal direction may be used.

[0208] In this case, for example, the inner surface shape of the throttle portion 61 is measured with a three-dimensional laser scanner, and the calculation process of step S105 is performed using the point cloud data based on the measured data to calculate the cross-sectional area of the internal cross-section in the throttle portion 61. Thereby, even for an internal structure such as the flow path pipe 60, the same effects as those of the above-described embodiment can be achieved.

Explanation of Reference Numerals

[0209] 1... Internal cross-section calculation system 32... Server storage unit 33... Server control unit 38... Point cloud data 38A... Extracted point cloud BP... Base point E... Target area E n ... Division range RP1, RP2, RP3... Representative points r n ... Radius Sa... Total area S n ... Range area SL... Spring line T... Tunnel X... Tunnel axis direction Δθ... Predetermined angle θ…Cumulative angle

Claims

1. An internal cavity cross-section calculation system that calculates the cross-sectional area of the internal cavity structure at the cross-sectional position in the axial direction based on point cloud data indicating the inner surface shape of the internal cavity structure having an internal space extending in the axial direction, a point cloud extraction means for extracting, as an extraction point cloud, a point cloud corresponding to the cross-sectional position from the point cloud data; coordinate information conversion means for converting the coordinate information of the extracted extraction point cloud into the coordinate information of a predetermined coordinate plane; a division range setting means for dividing, in the circumferential direction, a target area for which the calculation of the cross-sectional area is desired among the cross-sections of the internal cavity structure indicated by the extraction point cloud on the predetermined coordinate plane, at a predetermined number of divisions or a predetermined division angle around a reference point that is an arbitrary position in the target area, to set a plurality of division ranges; a range area calculation means for calculating, as a range area, the area of the division range in which the points of the extraction point cloud exist; a total area calculation means for calculating a total area by summing up the range areas calculated by the range area calculation means; a cumulative angle calculation means for calculating a cumulative angle by accumulating the predetermined angles of the division ranges for which the range areas have been calculated, with the angle in the circumferential direction around the reference point in the division range being the predetermined angle; a ratio calculation means for calculating a ratio of the cumulative angle to the angle from the start point to the end point of the target area in the circumferential direction around the reference point; and an estimated cross-sectional area calculation means for calculating an estimated cross-sectional area by dividing the total area by the ratio of the cumulative angle, the internal cavity cross-section calculation system.

2. wherein the predetermined coordinate plane is a coordinate plane of a polar coordinate system The internal cavity cross-section calculation system according to claim 1.

3. The system is provided with a representative point setting means for setting a representative point based on the points of the extraction point cloud included in the division range, and the range area calculation means is configured to calculate the range area based on the radius, which is the straight-line distance connecting the reference point and the representative point, and the predetermined angle. The internal cavity cross-section calculation system according to claim 2.

4. The representative point setting means is configured to set at least two representative points having different straight-line distances from the reference point. The internal cavity cross-section calculation system according to claim 3.

5. The system is provided with a reference point setting means for setting the reference point substantially at the center of a virtual straight line connecting the intersections, at a position where the distance between the intersections of a straight line substantially parallel to the coordinate axis of the predetermined coordinate plane and the contour of the target area is maximized. The internal cavity cross-section calculation system according to claim 1.

6. The point cloud extraction means configuring to extract, from the point cloud data, the point cloud corresponding to a predetermined range in the axial direction from the cross-sectional position as the extracted point cloud The internal cavity cross-section calculation system according to claim 1.

7. storage means for storing a designed cross-sectional area calculated based on a designed cross-section of the internal cavity structure; quality determination means for determining the quality of the estimated cross-sectional area calculated by the estimated cross-sectional area calculation means based on the designed cross-sectional area, The internal cavity cross-section calculation system according to claim 1.

8. volume calculation means for calculating an estimated volume of the internal space based on the estimated cross-sectional area calculated by the estimated cross-sectional area calculation means, The internal cavity cross-section calculation system according to claim 1.

9. An internal cavity cross-section calculation system for calculating a volume of a predetermined space along the axial direction in an internal cavity structure having an internal space extending in the axial direction, based on point cloud data indicating an inner surface shape of the internal cavity structure, point cloud extraction means for extracting, as an extracted point cloud, a point cloud corresponding to the predetermined space from the point cloud data; coordinate information conversion means for converting coordinate information of the extracted point cloud into coordinate information of a predetermined coordinate plane that holds coordinate information in the axial direction; division range setting means for dividing, in a circumferential direction with respect to a base point that is an arbitrary position in a target region for which calculation of the volume is desired, among cross-sections of the internal cavity structure indicated by the extracted point cloud on the predetermined coordinate plane, at a predetermined number of divisions or a predetermined division angle, to set a plurality of division ranges; range volume calculation means for calculating, as a range volume based on coordinate information in the axial direction, a volume of the division range in which points of the extracted point cloud exist; total volume calculation means for calculating a total volume by summing up the range volumes calculated by the range volume calculation means; cumulative angle calculation means for calculating a cumulative angle by accumulating the predetermined angle of the division range for which the range volume has been calculated, with the angle in the circumferential direction centered on the base point in the division range being the predetermined angle; ratio calculation means for calculating a ratio of the cumulative angle to an angle from a start point to an end point of the target region in the circumferential direction centered on the base point; estimated volume calculation means for calculating an estimated volume by dividing the total volume by the ratio of the cumulative angle, Internal cavity cross-section calculation system.

10. An internal cavity cross-section calculation method for calculating a cross-sectional area of an internal cavity structure at a cross-sectional position in the axial direction, based on point cloud data indicating an inner surface shape of an internal cavity structure having an internal space extending in the axial direction, A point cloud extraction step in which the point cloud extraction means extracts, as an extraction point cloud, a point cloud corresponding to the cross-sectional position from the point cloud data, A coordinate information conversion step in which the coordinate information conversion means converts the coordinate information of the extracted extraction point cloud into the coordinate information of a predetermined coordinate plane, A division range setting step in which the division range setting means divides, in the circumferential direction centered on a base point that is an arbitrary position in the target region, a target region for which calculation of the cross-sectional area is desired among the cross-sections of the internal hollow structure indicated by the extraction point cloud on the predetermined coordinate plane, into a plurality of division ranges at a predetermined number of divisions or a predetermined division angle, A range area calculation step in which the range area calculation means calculates, as a range area, the area of the division range in which the points of the extraction point cloud exist, A total area calculation step in which the total area calculation means sums up the range areas calculated in the range area calculation step to calculate a total area, An accumulated angle calculation step in which the accumulated angle calculation means accumulates the predetermined angles of the division ranges for which the range areas have been calculated, with the angle in the circumferential direction centered on the base point in the division range being a predetermined angle, to calculate an accumulated angle, A ratio calculation step in which the ratio calculation means calculates the ratio of the accumulated angle to the angle from the start point to the end point of the target region in the circumferential direction centered on the base point, An estimated cross-sectional area calculation step in which the estimated cross-sectional area calculation means divides the total area by the ratio of the accumulated angle to calculate an estimated cross-sectional area, An internal hollow cross-section calculation method.

11. An internal hollow cross-section calculation method for calculating the volume of a predetermined space along the axial direction in an internal hollow structure having an internal space extending in the axial direction, based on point cloud data indicating the inner surface shape of the internal hollow structure, A point cloud extraction step in which the point cloud extraction means extracts, as an extraction point cloud, a point cloud corresponding to the predetermined space from the point cloud data, A coordinate information conversion step in which the coordinate information conversion means converts the coordinate information of the extracted extraction point cloud into the coordinate information of a predetermined coordinate plane that holds the coordinate information in the axial direction, A division range setting step in which the division range setting means divides, in the circumferential direction centered on a base point that is an arbitrary position in the target region, a target region for which calculation of the volume is desired among the cross-sections of the internal hollow structure indicated by the extraction point cloud on the predetermined coordinate plane, into a plurality of division ranges at a predetermined number of divisions or a predetermined division angle, A range volume calculation step in which the range volume calculation means calculates, as a range volume based on the coordinate information in the axial direction, the volume of the division range in which the points of the extraction point cloud exist, A total volume calculation step in which the total volume calculation means adds up the range volumes calculated in the range volume calculation step to calculate the total volume; An accumulated angle calculation step in which the accumulated angle calculation means accumulates the predetermined angles of the divided ranges for which the range volumes have been calculated, with the angle in the circumferential direction centered on the reference point in the divided range being the predetermined angle, to calculate the accumulated angle; A ratio calculation step in which the ratio calculation means calculates the ratio of the accumulated angle to the angle from the start point to the end point of the target region in the circumferential direction centered on the reference point; An estimated volume calculation step in which the estimated volume calculation means divides the total volume by the ratio of the accumulated angle to calculate the estimated volume, An inner cavity cross-section calculation method.

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