Building condition recording system, and construction progress management system using building condition recording system

Abstract

To improve safety without occupying both hands of a site worker while suppressing reduction in the detection accuracy of a position when the site worker patrols the inside of a building, photographs the inside of the building by a photographing recording apparatus, and records a photographed image with the position.SOLUTION: A building condition recording system 1 includes: an identification slip which is arranged in different positions inside a building; an autonomous navigation apparatus 2 which is equipped with a sensor 20 for acquiring movement information of a site worker; a photographing recording apparatus 3 which photographs the inside of the building; a detection unit 22 which detects the identification slip from an image photographed by the photographing recording apparatus 3; an information integration unit 23 which associates the photographed image with a position included in the movement information of the site worker, in terms of time; a movement information correction unit 24 which corrects the position included in the movement information of the site worker, based on the position of the detected identification slip; and a movement information display data creation unit 25 which causes a display unit 26 to display movement information display data formed by superimposing the movement information of the site worker on a drawing of the building. The autonomous navigation apparatus 2 and the photographing recording apparatus 3 are integrally connected and supported with a support bar.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a building condition recording system for recording the conditions inside a building, and a construction progress management system for managing the progress of wall construction and ceiling construction at a construction site using the building condition recording system.

Background Art

[0002] When constructing a building, it is essential to grasp the conditions at the construction site in order to manage quality, processes, etc. Also, even after the building is completed and put into operation, it is important to grasp the condition of the building from the viewpoints of building facility management and facility management. When grasping the condition of a building as described above, information may be shared among relevant parties using photos and videos. Here, in order to appropriately utilize the taken photos and videos, not only the date and time when the photos and videos were taken, but also the position where the photos and videos were taken need to be given as information to the photos and videos to clarify where in the building the scene of the photos and videos was taken. The date and time when the photos and videos were taken are given as metadata for the photos and videos at the time of shooting. However, it is not easy to attach the taken position to the photos and videos. For example, it is conceivable to attach the position information obtained by widely used GPS (Global Positioning System) to the photos and videos, but the position information obtained by GPS has a large error inside the building and is not suitable for the above purposes.

[0003] Regarding this, for example, Patent Document 1 discloses a configuration of a position management system including a position acquisition unit that acquires the positions of people and construction equipment at a construction site, and a display control unit that displays the positions of people and construction equipment acquired by the position acquisition unit. In this configuration, the position acquisition unit includes a transmitter attached to a person or construction equipment that transmits radio waves, and a receiver attached to a building that receives the radio waves transmitted from the transmitter. In addition, Patent Document 2 discloses a configuration of a site management system that installs a plurality of receiving antennas indoors to receive radio waves transmitted from wireless tags attached to on-site workers and on-site equipment and materials, and detects the positions of the wireless tags by analyzing the radio waves received by the receiving antennas. Applying the configurations such as those in Patent Documents 1 and 2 above, for example, it is conceivable to provide a transmitter that emits radio waves to on-site workers, provide a receiver that receives radio waves in a building, identify the photographed position by analyzing the received radio waves, and attach this to a photo or video. In such a case, there is a possibility that the accuracy will be further improved. However, in this case, it is necessary to install receivers inside the building so as to cover all spaces in the building. In particular, when targeting a building under construction, there is also a high possibility that the receivers will be damaged or lost due to construction. Therefore, the introduction and operation costs increase.

[0004] On the other hand, Patent Document 3 discloses a configuration of a position management system that includes a pedestrian dead reckoning means for acquiring the movement information of on-site workers carried by on-site workers, a photographing and recording device for photographing a construction site, and an identification tag arranged at the construction site, and detects the positions of on-site workers within the construction site. In this configuration, the positions of on-site workers are detected based on the equipment and material information and / or the identification information of the identification tag obtained using the photographing and recording device and the movement information of the on-site workers obtained from the pedestrian dead reckoning means. As the pedestrian dead reckoning means, a smartphone, a tablet terminal, etc. are used, as the photographing and recording device, a digital camera, a digital video, an omnidirectional camera (360-degree camera) are used, and as the identification tag, a two-dimensional barcode, an AR marker, etc. are used. In Patent Document 3, since the identification tags installed in the building are two-dimensional barcodes, AR markers, etc. as described above, they do not require much cost for introduction and operation. Also, even if an identification tag is lost, the cost required for reinstalling the identification tag is not high.

[0005] However, in the configuration of Patent Document 3, for example, when a smartphone is used as the pedestrian self-navigation means and an omnidirectional camera is used as the shooting and recording device, since the field worker needs to hold both of them, both hands will be occupied. Such a state is not preferable from the viewpoint of safety. It is conceivable to move inside the building with the smartphone, for example, stored in the chest pocket in order to free one hand. However, in this case, the smartphone is not fixed, and due to the body sway during walking, the smartphone sways irregularly or tilts in the pocket, so errors can occur in the acceleration and angular velocity measured by the smartphone. As a result, the accuracy of measuring the movement information by the pedestrian self-navigation means and detecting the position of the field worker based on this may be reduced. When a field worker patrols inside a building, shoots inside the building with a shooting and recording device, and records the shooting image together with the position, it is desired to improve safety without occupying both hands while suppressing a reduction in the detection accuracy of the position.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0007] The problem to be solved by the present invention is to provide a building condition recording system and a construction progress management system using the building condition recording system, which can suppress a reduction in the detection accuracy of the position and improve safety without occupying both hands when a field worker patrols inside a building, shoots inside the building with a shooting and recording device, and records the shooting image together with the position.

Means for Solving the Problems

[0008] To solve the above problems, the present invention adopts the following means. That is, a building condition recording system according to the present invention is a building condition recording system that records the condition inside a building, comprising identification tags arranged at different positions inside the building, an autonomous navigation device carried by a field worker and equipped with a sensor that acquires movement information including the position of the field worker, a photographing and recording device carried by the field worker for photographing inside the building, a detection unit that detects the identification tag from a photographed image obtained by the photographing and recording device, an information integration unit that associates the position included in the movement information of the field worker, and the photographed image obtained by the photographing and recording device, by time, a movement information correction unit that corrects the position included in the movement information of the field worker based on the position of the detected identification tag, a display unit, and a movement information display data creation unit that creates movement information display data in which the movement information of the field worker is superimposed on a drawing of the building and causes the display unit to display the data. The autonomous navigation device and the photographing and recording device are characterized in that they are integrally connected and supported by a support rod, or are both mounted on a helmet. According to the above configuration, movement information including the position of a field worker is acquired at any time by a sensor of an autonomous navigation device carried by the field worker. Also, the inside of the building is photographed at any time by a photographing and recording device carried by the field worker. Since the position included in the movement information of the field worker and the photographed image thus obtained are associated by time, each photographed image is recorded together with the movement information, that is, the position where the photographed image was taken. Here, a plurality of identification tags are arranged at different positions inside the building. When an identification tag is detected from a photographed image taken by a photographing and recording device, the position where the photographed image was taken can be accurately estimated from the position of the detected identification tag. Therefore, by correcting the movement information of the field worker based on the position of the detected identification tag, it is possible to further improve the accuracy of the movement information, that is, the position where the photographed image was taken. The autonomous navigation device and the photographing and recording device as described above are integrally connected and supported by a support rod, or both are attached to a helmet. When the autonomous navigation device and the photographing and recording device are integrally connected and supported by a support rod, a field worker can carry the autonomous navigation device and the photographing and recording device by holding the support rod with one hand. Also, when the autonomous navigation device and the photographing and recording device are attached to a helmet, a field worker can carry the autonomous navigation device and the photographing and recording device by wearing the helmet on the head. In either of these cases, since one or both hands of the field worker will be free, it is possible to suppress a loss of safety when using the building condition recording system. Also, since the autonomous navigation device is fixed to the support rod or the helmet, a reduction in the measurement accuracy of movement information, such as may occur when the autonomous navigation device is stored in a chest pocket and moved inside a building, is suppressed. In this way, when a field worker patrols inside a building, photographs the inside of the building with the photographing and recording device, and records the photographed image together with the position, it is possible to provide a building condition recording system that can suppress a reduction in the detection accuracy of the position and enhance safety without blocking both hands.

[0009] In one aspect of the present invention, when the identification tag is detected from the most recently photographed photographing image, the movement information correction unit calculates the current absolute position of the field worker based on the photographing mode of the identification tag in the most recently photographed photographing image, and from the immediately previous absolute position of the field worker calculated at the time when the identification tag was detected immediately before, each of the positions included in the movement information from the time when the photographing image was most recently photographed to the time when the photographing image was most recently photographed is corrected based on the relationship between the latest position included in the movement information at the time when the photographing image was most recently photographed and the current absolute position. According to such a configuration, when an identification tag is detected from the most recently captured captured image, for example, based on the shooting mode of the identification tag such as the size and posture of the identification tag in the captured image, the current absolute position of the on-site worker is calculated. Also, even at the time when the identification tag was detected immediately before, the absolute position of the on-site worker at that time is similarly calculated as the absolute position immediately before the on-site worker. Here, since the movement information acquired by the sensor of the autonomous navigation device from the absolute position immediately before the on-site worker to the time when the captured image was most recently captured is acquired as the relative position from the absolute position immediately before the on-site worker, it may contain a lot of errors. This error appears as a relationship such as, for example, the distance or the direction in which the error occurred between the current absolute position of the on-site worker and the latest position included in the movement information at the time when the captured image was most recently captured. Therefore, based on this relationship, it is possible to estimate and correct each of the positions included in the movement information, which was acquired as the relative position from the absolute position immediately before the on-site worker to the time when the captured image was most recently captured, as to exactly which position it is. In this way, by correcting the movement information of the on-site worker after the time when the identification tag was detected immediately before, based on the shooting mode of the identification tag included in the most recently captured captured image, the detection accuracy of the position can be improved.

[0010] The construction progress management system of the present invention is a construction progress management system that manages the progress status of wall construction and ceiling construction within a construction site using the building condition recording system as described above. It includes a construction detection unit that detects the construction including the wall construction and the ceiling construction from the captured image by the imaging recording device and estimates their progress status, a construction range estimation unit that estimates the position and range where the construction is being carried out based on the position included in the movement information of the on-site worker associated with the captured image, and an information display unit that creates display data by overlapping the progress status of the construction on the position and range of the construction estimated by the construction range estimation unit on the construction drawing of the building and displays the display data on a display device. It is characterized by comprising these components. According to such a configuration, the construction progress status including wall construction and ceiling construction detected from the captured images by the imaging recording device is estimated by the construction detection unit. The construction range estimation unit estimates the position and range where the construction including wall construction and ceiling construction is being carried out based on the positions included in the movement information of the on-site workers associated with the captured images. Then, the information display unit causes the display device to display the display data created by superimposing the construction progress status on the position and range of the construction estimated by the construction range estimation unit. As a result, since the position and range of the construction being carried out at the construction site and the construction progress status are displayed in association with each other, it becomes possible to easily grasp the construction progress status.

Advantages of the Invention

[0011] According to the present invention, when on-site workers patrol inside a building, capture images inside the building with an imaging recording device, and record the captured images together with the positions, it is possible to provide a building condition recording system and a construction progress management system using the building condition recording system that can suppress a reduction in the detection accuracy of positions and enhance safety without blocking both hands.

Brief Description of the Drawings

[0012]

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Mode for Carrying Out the Invention

[0013] The present invention relates to a building condition recording system for recording the conditions inside a building, and a construction progress management system for managing the progress of wall construction and ceiling construction at a construction site using the building condition recording system. The building condition recording system is characterized in that an autonomous navigation device for acquiring movement information including the position of a field worker, which is carried by the field worker, and a photographing and recording device for photographing the inside of the building are integrally connected by a support rod, or are both worn on a helmet, and the conditions inside the building are recorded. Hereinafter, with reference to the accompanying drawings, embodiments for implementing a building condition recording system according to the present invention and a construction progress management system using the building condition recording system will be described based on the drawings. FIG. 1 shows a diagram showing the configuration of a building condition recording system according to an embodiment of the present invention and a construction progress management system using the building condition recording system. FIG. 2 is a diagram showing an example of a construction site for managing the progress of construction in the construction progress management system of FIG. 1. As shown in FIG. 1, the building condition recording system 1 mainly includes an autonomous navigation device 2 and a photographing and recording device 3. The building condition recording system 1 records the conditions inside the building while the field worker carries the autonomous navigation device 2 and the photographing and recording device 3 and moves inside the building. More specifically, while the field worker moves inside the building, the photographing and recording device 3 photographs the inside of the building, and the autonomous navigation device 2 acquires the movement information of the field worker, and associates and stores the position included in the movement information and the photographed image by the photographing and recording device 3 over time. As a result, it is possible to know which location inside the building the photographed image was taken, so that by viewing the stored records, information about the inside of the building can be confirmed or shared among relevant parties.

[0014] Such a building condition recording system 1 can be used for facility management and facility management of a building after completion and operation. In addition, the building condition recording system 1 can also be used for the purpose of grasping the condition of the construction site G during the construction of the building and managing the quality, process, etc. In this embodiment, the latter case will be particularly described. In particular, in this embodiment, the construction progress management system 4 described later uses the records stored in the building condition recording system 1, so that the construction progress management system 4 manages the progress of the construction including wall construction and ceiling construction in the construction site G of the building. In this embodiment, the construction site G is a site where construction and construction of a building having a plurality of floors such as a high-rise building are carried out.

[0015] As shown in FIG. 2, a plurality of identification tickets M are arranged at different positions in the construction site G. The identification ticket M is used to specify the position where the captured image is taken by detecting the identification ticket M from the captured image when the identification ticket M is captured by the image capturing recording device 3. In this embodiment, the identification ticket M has a rectangular shape. The identification ticket M is installed on each floor (floor), for example, in a construction site G having a plurality of floors. The identification ticket M is preferably installed near a staircase room or an elevator room where there is a lot of human traffic in the construction site G and which is likely to be the starting point or the ending point of human movement on each floor. In particular, in this embodiment, the identification ticket M is installed at a plurality of locations on each floor.

[0016] The identification ticket M is preferably provided, for example, on the surface of a column or a wall where the construction is completed. In particular, when the building to be constructed has a plurality of floors, it is often the case that a piece of paper with the floor number written on it is pasted and posted on the columns of each floor. In such a case, by providing the identification ticket M near the display of the floor number, the identification ticket M can be provided at the same time when the floor number is displayed. In this way, there is no need to patrol the inside of the building for the installation of the identification ticket M. In particular, in a building under construction, for example, when the walls, ceiling, floor, etc. are under construction, if the identification ticket M is placed on the base material or the like, it becomes necessary to replace the identification ticket M as the construction progresses. Alternatively, the identification ticket M may be lost. Therefore, it is desirable to install the identification ticket M on the window glass that does not require subsequent construction after being installed, or in a place where the finishing is completed. Also, if the identification ticket M is installed so as to be attached with a magnet or an adhesive, the work is easy when removing it. FIG. 3 is a diagram showing an example of a captured image P in which the identification ticket is captured. As shown in FIG. 3, in the present embodiment, the identification ticket M is, for example, a two-dimensional barcode, an AR marker, or the like. Individual identification information is associated with each identification ticket M.

[0017] The imaging recording device 3 is carried by the on-site worker Q and images the inside of the building construction site G. The imaging recording device 3 is composed of, for example, a portable digital camera, a digital video, or the like. The imaging recording device 3 may be a so-called omnidirectional camera (360-degree camera) that can image the entire 360-degree surrounding area. The imaging recording device 3 includes an imaging element using a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like, and images at least one of a still image and a moving image. The imaging start, imaging end, etc. of the imaging recording device 3 are controlled by the imaging control unit 29 of the autonomous navigation device 2 described later. The imaging time, which is the time when the imaging image is captured, is associated with the imaging image captured by the imaging recording device 3. The imaging image of the inside of the construction site G around the movement path of the on-site worker Q is transferred to the autonomous navigation device 2 in a state where the imaging time is associated under the control of the imaging control unit 29 of the autonomous navigation device 2 and stored in the database 27. When the imaging recording device 3 images the inside of the construction site G around the movement path of the on-site worker Q, if the identification ticket M is arranged within the imaging range, the identification ticket M will appear in the imaging image.

[0018] The self-navigating device 2 is carried by the on-site worker Q, and acquires movement information including the position of the on-site worker Q by pedestrian self-navigation, that is, PDR (Pedestrian Dead-Reckoning). The self-navigating device 2 is provided with a sensor 20. The sensor 20 is, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, or the like. After the start of positioning, the sensor 20 detects changes in acceleration, angular velocity, geomagnetism, etc. that occur as the on-site worker Q carrying the self-navigating device 2 moves. Note that the sensor 20 is not limited to an acceleration sensor, a gyro sensor, or a geomagnetic sensor, and other sensors that can detect appropriate parameters may be used as long as they can acquire the movement information of the on-site worker Q within the construction site G. As the self-navigating device 2, any device can be used as long as it has the sensor 20 as described above and an arithmetic function capable of executing each function as described later. Particularly in the present embodiment, the self-navigating device 2 is a smartphone or a tablet terminal.

[0019] FIG. 4 is a diagram showing an example in which, in the present embodiment, an on-site worker attaches and carries a photographing and recording device and a self-navigating device to a support rod. As already described, the photographing and recording device 3 and the self-navigating device 2 are used when the on-site worker Q moves within the construction site G while photographing the inside of the construction site G within a building under construction. The photographing and recording device 3 and the self-navigating device 2 are carried by the on-site worker Q. In the present embodiment, the photographing and recording device 3 and the self-navigating device 2 are integrally connected and supported by a support rod 100. In order to prevent the photographing field of view by the photographing and recording device 3 from being blocked by various equipment and materials arranged within the construction site G, the photographing and recording device 3 is preferably provided at as high a position as possible to photograph the inside of the construction site G. For this reason, after attaching the photographing and recording device 3 to the tip 100t of the support rod 100, it is preferable that the on-site worker Q supports the support rod 100 in a state where the support rod 100 extends in the vertical direction and the tip 100t provided with the photographing and recording device 3 faces upward and is positioned at as high a position as possible, such as above the head of the on-site worker Q.

[0020] Further, as will be described later, on the display unit 26 of the autonomous navigation device 2, the movement information R of the on-site worker Q is superimposed and displayed on the building drawing so that the on-site worker Q can grasp his / her own position in the building. For this reason, the on-site worker Q may frequently view the display unit 26 of the autonomous navigation device 2. Therefore, as shown in FIG. 4, with the on-site worker Q gripping the support rod 100, the autonomous navigation device 2 is positioned at a position between the gripping portion 100a gripped by the on-site worker Q and the tip (upper end) 100t where the photographing and recording device 3 is provided, so that when the on-site worker Q views the display unit 26, the front of the on-site worker Q can be confirmed. In particular, there are many obstacles etc. at the construction site G, and if the on-site worker Q walks with his / her line of sight downward, there is a possibility of contacting an obstacle. Therefore, with the on-site worker Q gripping the gripping portion 100a, the display unit 26 of the autonomous navigation device 2 is positioned at the height of the on-site worker Q's eye level or slightly below the eye level so that the line of sight of the on-site worker Q faces upward as much as possible and the on-site worker Q can recognize the front while viewing the display unit 26. It is desirable to attach the autonomous navigation device 2 to the support rod 100.

[0021] In addition to the sensor 20 as described above, the autonomous navigation device 2 includes a movement information calculation unit 21, a detection unit 22, an information integration unit 23, a movement information correction unit 24, a movement information display data creation unit 25, a display unit 26, a database 27, a data output unit 28, and a photographing control unit 29. The autonomous navigation device 2 realizes the functions corresponding to each of the above by executing a dedicated application installed in, for example, a smartphone or a tablet terminal.

[0022] The photographing control unit 29 remotely operates the photographing and recording device 3. The photographing control unit 29 controls operations such as control of the start and end of photographing by the photographing and recording device 3 and transfer of the video or still image photographed by the photographing and recording device 3 to the autonomous navigation device 2. When a still image is captured by the imaging control unit 29 in the imaging recording device 3, the still image is recorded in the database 27 in a state associated with the imaging time as an imaging image. When a moving image is captured by the imaging recording device 3, in this embodiment, for example, a plurality of still images are cut out from the moving image at a predetermined time interval, and each of the cut-out still images is used as an imaging image, and the imaging time corresponding to each still image is associated and recorded in the database 27.

[0023] The movement information calculation unit 21 generates the movement information of the on-site worker Q by calculating the amount of movement and the movement direction from the positioning start position, that is, the relative position with respect to the positioning start position, when the on-site worker Q moves from the detection data from the sensor 20. More specifically, the movement information calculation unit 21 measures, by PDR, at regular time intervals, the amount of movement and the movement direction from the position at the previous time, that is, the relative position (hereinafter referred to as the relative position), and calculates the position by integrating this. The movement information of the on-site worker Q is information indicating a movement path based on a plurality of relative positions measured at regular time intervals as described above. In the movement information of the on-site worker Q, the position information at each of the plurality of relative positions constituting the movement path and the time information when each of the plurality of relative positions is detected are associated. That is, by viewing the position information, it is possible to grasp at what time and at what relative position the on-site worker Q was located. In this embodiment, the movement information calculation unit 21 calculates the relative position as described above as coordinates in the coordinate system represented on the design drawing data of the construction site G, which shows the floor plan layout of each floor of the building. The movement information calculation unit 21 records the movement information in the database 27.

[0024] The database 27 stores various data necessary for processing in the building state recording system 1. The database 27 stores the design drawing data of the construction site G. The drawing data of each floor in the construction site G includes CAD (Computer Aided Design) data, BIM (Building Information Modeling) data, etc. of the parts including the walls and ceilings of each floor. In addition, the database 27 stores data related to the identification ticket M. In the database 27, as data related to the identification ticket M, identification information such as an identification number recorded in association with the identification ticket M, the horizontal position and height position (floor) in the construction site G where the identification ticket M is installed, and the correspondence with the orientation (azimuth or angle) of posting the identification ticket M are stored. In particular, in the database 27, as the horizontal position in the construction site G where the identification ticket M is installed, the coordinates on the coordinate system represented on the above design drawing data are stored as the absolute position where the exact position on the coordinate system is determined. In addition, the database 27 stores the photographed images of the construction site G around the movement path of the on-site worker Q taken by the photographing and recording device 3, in association with the photographing time which is the time when the photographed image is taken. Furthermore, the database 27 stores the movement information generated by the movement information calculation unit 21.

[0025] The detection unit 22 detects the identification ticket M from a plurality of photographed images P taken by the photographing and recording device 3 on each floor in the construction site G. When the detection unit 22 detects the identification ticket M from the photographed image P, it refers to the database 27 and acquires the identification information recorded in association with the identification ticket M based on the two-dimensional barcode, AR marker, etc. described on the identification ticket M. The detection unit 22 acquires the horizontal position (absolute position) and height position (floor) in the construction site G where the identification ticket M is installed, and the orientation (azimuth or angle) of posting the identification ticket M, which are recorded in the database 27 in association with the acquired identification information. Thereby, the detection unit 22 specifies the floor where the photographed image P in which the identification ticket M is detected is taken in the construction site G, and the position of the detected identification ticket M on that floor.

[0026] FIG. 5 is a diagram showing an example of an identification ticket that is captured while tilted in the captured image P. Further, the detection unit 22 detects the coordinates of the corner Mc of the identification ticket M within the captured image P. In the present embodiment, the identification ticket M has a rectangular shape, and thus the detection unit 22 detects the coordinates of each of the four corner portions Mc of the identification ticket M. Based on the position of the corner Mc of the identification ticket M, the detection unit 22 calculates the angle at which the captured image P was captured from the front position of the identification ticket M. When the identification ticket M is photographed from the front, each corner Mc should be positioned in the captured image P such that, for example, the identification ticket M forms a rectangular shape within the captured image P. On the other hand, when the identification ticket M is photographed from a position at an angle different from the front of the identification ticket M, for example, as shown in FIG. 5, the line connecting each corner Mc does not form a rectangle, and the corner Mc is positioned at a distorted shape such as a trapezoid. The detection unit 22 calculates, as the posture of the identification ticket M, the angle at which the captured image P was captured from the front position of the identification ticket M based on the position of such a corner Mc. Further, the detection unit 22 calculates the size of the identification ticket M within the captured image P.

[0027] The information integration unit 23 associates the position included in the movement information of the field worker acquired by the autonomous navigation device 2, which is stored in the database 27, with the captured image P by the imaging recording device 3 according to time. More specifically, for each captured image P, the information integration unit 23 collates the shooting time associated with the captured image P with the time information associated with each of the positions in the movement information, extracts the time information closest to the shooting time in the movement information, and derives the position (relative position) corresponding to the time information in the movement information, thereby specifying the position (relative position) where the captured image P was captured. The information integration unit 23 associates the captured image P with the specified position (relative position) included in the movement information where the captured image P was captured and stores it in the database 27.

[0028] The movement information correction unit 24 corrects the position included in the movement information of the field worker Q based on the detected position of the identification ticket M. When the identification ticket M is detected from the captured image P, the movement information correction unit 24 calculates the position of the on-site worker Q where the captured image P was taken based on the shooting mode of the identification ticket M in the captured image P, such as the posture and size of the identification ticket M. Specifically, the movement information correction unit 24 calculates the distance from the identification ticket M to the position where the captured image P was taken from the size of the identification ticket M in the captured image P calculated by the detection unit 22. Then, the movement information correction unit 24 calculates the position of the on-site worker Q when the detected identification ticket M was taken based on the position of the identification ticket M in the construction site G identified by the detection unit 22, the angle at which the captured image P was taken calculated by the detection unit 22, and the distance from the identification ticket M calculated as described above. The position where the captured image P was taken, calculated in this way, is based on the position of the identification ticket M, which is an absolute position where the exact position on the coordinate system represented on the design drawing data is determined. Therefore, like the position of the identification ticket M, it is an absolute position. In this way, every time the identification ticket M is detected from the captured image P, the movement information correction unit 24 obtains the absolute position of the on-site worker Q. Also, based on the angle at which the captured image P was taken on the premise that the on-site worker Q took the captured image P facing forward, the movement information correction unit 24 specifies the orientation of the on-site worker Q when the identification ticket M was detected from the captured image P.

[0029] FIG. 6 is a diagram showing an example of movement information by an on-site worker. For example, as shown in FIG. 6, consider the case where the on-site worker Q starts walking from the measurement start position Z0 on a certain floor of the construction site G and captures the construction site G with the shooting recording device 3. As already described, in the movement information calculation unit 21, the position is measured as the amount of movement and the direction of movement from the position at the previous time, that is, as a relative position. Therefore, until the identification ticket M is detected for the first time from the captured image P taken from the measurement start position Z0, the movement information R1 of the on-site worker Q obtained by the autonomous navigation device 2 is composed of a set of relative positions from the previously measured positions at regular time intervals.

[0030] After that, when the identification tag M is detected for the first time from the captured image P, the movement information correction unit 24 identifies the floor on which the field worker Q is located from the height position within the construction site G where the identification tag M is installed, based on the information associated with the identification tag M detected for the first time. Further, the movement information correction unit 24 obtains the absolute position Z1 of the field worker Q within the construction site G and the orientation of the field worker Q when the identification tag M is detected for the first time, as described above, based on the detection result of the identification tag M. Then, the movement information correction unit 24 aligns the position within the movement information R1 at the time when the identification tag M is detected for the first time, for example, with the absolute position Z1 of the field worker Q within the construction site G, and also aligns the movement direction of the field worker Q (for example, the movement direction from the previous position) at the time when the identification tag M is detected for the first time with the orientation of the field worker Q, and positions the entire movement information R1 on the design drawing data. In this way, based on the absolute position Z1 of the field worker Q and the orientation of the field worker Q, the positions on the coordinate system represented on the design drawing data corresponding to each of the positions in the movement information R1 of the field worker Q from the measurement start position Z0 to the time when the identification tag M is detected for the first time are calculated.

[0031] Further, after the identification tag M is detected for the first time, when the identification tag M is detected two or more times from the captured image P, the movement information correction unit 24 corrects the movement information from the previous absolute position of the field worker Q calculated at the time when the identification tag M was detected immediately before (for the first time) to the time when the captured image P was captured most recently (for the second time). More specifically, the movement information correction unit 24 corrects each of a plurality of positions (relative positions) included in the movement information from the previous absolute position of the field worker Q at the time when the identification tag M was detected immediately before (for the first time) to the time when the captured image P was captured most recently (for the second time), based on the relationship between the latest position (relative position) included in the movement information and the current absolute position at the time when the captured image P was captured most recently.

[0032] FIG. 7 is a diagram for explaining a method of correcting movement information based on the absolute position obtained by detecting an identification tag. As shown in FIG. 7, for example, after the identification tag M is detected for the first time and the end point of the movement information R1 is determined as the absolute position Z1, until the identification tag M is detected for the second time, the movement information R2 of the field worker Q obtained by the autonomous navigation device 2 is relative with the absolute position Z1 as the starting point. Each position detected at regular time intervals that constitutes this movement information R2 is based on the result of positioning by a sensor 20 configured as an acceleration sensor, a gyro sensor, a geomagnetic sensor, etc., and thus may contain considerable errors. Therefore, the movement information correction unit 24 uses the absolute position Z2 of the field worker Q obtained based on the position of the identification tag M detected for the second time, and corrects each position that constitutes the movement information R2 after the identification tag M is detected for the first time and the absolute position Z1 is determined.

[0033] As a specific example, while maintaining the starting point of the movement information R2 on the absolute position Z1, an operation is performed to superimpose the end point Z2t of the movement information R2 on the absolute position Z2 of the field worker Q obtained based on the position of the identification tag M detected for the second time. FIG. 8 is a diagram for explaining a method of correcting movement information based on the absolute position obtained by detecting an identification tag, and shows a state in which the movement information in FIG. 7 is rotated. First, as shown in FIG. 8, in the coordinate system represented on the design drawing data, a line (vector) L indicating the traveling direction that connects the absolute position Z1 of the field worker Q at the time when the identification tag M was detected immediately before and the absolute position Z2 of the field worker Q at the time when the identification tag M was detected most recently is obtained. Then, after positioning the entire relative position included in the movement information R2 of the field worker Q obtained after the time when the identification tag M was detected immediately before in the coordinate system represented on the design drawing data, it is rotated around the starting point (absolute position Z1) of the movement information R2 so that the end point Z2t of the movement information R2 is positioned on the line L indicating the traveling direction. As an actual operation, for example, with the absolute position Z1 of the starting point as the center, the rotation angle when performing the rotation of the movement information R2 as described above is obtained in a local coordinate system x-y where the horizontal axis coincides with the line L indicating the traveling direction, and each position that constitutes the movement information R2 is multiplied by a rotation matrix that rotates by the above rotation angle in the local coordinate system x-y.

[0034] FIG. 9 is a diagram for explaining a method of correcting movement information based on an absolute position obtained by detecting an identification tag, and shows a state in which the movement information in FIG. 8 is expanded and contracted. Next, based on the starting point (absolute position Z1) of the movement information R2 of the on-site worker Q obtained after the time when the identification tag M was detected immediately before, the end point Z2t of the movement information R2 is adjusted so that, as shown in FIG. 9, it matches the absolute position Z2 of the on-site worker Q at the time when the latest identification tag M was detected. The entire movement information R2 is expanded and contracted along the line L. At this time, based on the starting point (absolute position Z1) of the movement information R2, the expansion and contraction rate of the movement information R2 when the end point Z2t matches the absolute position Z2 is obtained. Then, the position coordinates of each position constituting the movement information R2, based on the starting point (absolute position Z1) of the movement information R2, are corrected according to the obtained expansion and contraction rate. As an actual calculation, for example, after calculating the expansion and contraction rate as described above, on the local coordinate system x-y, for each position constituting the movement information R2, only the x coordinate in the x-axis direction set along the line L indicating the traveling direction is multiplied by the above expansion and contraction rate. On the local coordinate system x-y, the movement information R2 starts from the starting point (absolute position Z1) located at the origin, and the end point Z2t is located at the position on the x coordinate farthest from the origin. As it approaches the end point Z2t, the absolute value of the x coordinate increases. Therefore, if the above expansion and contraction rate is multiplied by the x coordinate of each position of the movement information R2, the correction amount becomes smaller for points closer to the starting point and larger for points closer to the end point Z2t, and the entire movement information R2 is overall expanded and contracted in the direction in which the traveling direction straight line extends. Then, the local coordinate system x-y is converted into the global coordinate system X-Y represented on the design drawing data. For this, for example, by the angle formed by the X axis of the global coordinate system X-Y and the x axis of the local coordinate system x-y, on the local coordinate system x-y, each position of the movement information R2 is rotated, and in the global coordinate system X-Y, the coordinate value of the absolute position Z1 corresponding to the coordinates of the origin of the local coordinate system x-y is added to each position of the movement information R2.

[0035] In this way, the movement information correction unit 24 corrects each position constituting the movement information R2 obtained as the relative position. The correction of each position of the movement information as described above can be similarly performed even when the identification ticket M is detected three or more times from the captured image P. Note that the correction method for each position of the movement information and the calculation method for correction as described above may be appropriately changed to other methods.

[0036] As the on-site worker Q moves as described above, at the same time, the building is also photographed by the photographing recording device 3. As already described, the information integration unit 23 associates the captured image P with the identified position (relative position) where the captured image P was captured and stores it in the database 27 according to time. In the present embodiment, when each position (relative position) of the movement information is corrected by the movement information correction unit 24 as described above, the position in the movement information associated with the captured image P and stored in the database 27 is updated to the corrected value.

[0037] FIG. 10 is a diagram showing an example of movement information display data displayed on the display unit. The display unit 26 is provided in the autonomous navigation device 2 and is composed of a liquid crystal panel or the like. The movement information display data creation unit 25 creates movement information display data by superimposing the movement information R of the on-site worker Q on the design drawing data (drawing) K of the building and displays it on the display unit 26. The movement information display data creation unit 25 superimposes the movement information R of the on-site worker Q whose position has been corrected by the movement information correction unit 24 on the design drawing data K showing the floor plan layout of each floor of the building recorded in the database 27. As already described, the floor on which the on-site worker Q is located has been specified from the detected identification ticket M. The movement information display data creation unit 25 calls the design drawing data K of the floor from the drawing data of the building recorded in the database 27, superimposes the movement information R of the on-site worker Q, and creates movement information display data. Based on the created movement information display data, the movement information display data creation unit 25 causes the display unit 26 to display the movement information R superimposed on the design drawing data K of the building on the floor.

[0038] As described above, the display in which the building design drawing data K and the movement information R are overlaid by the movement information display data creation unit 25 is performed as needed as the field worker Q moves. In this case, in the route before the time when the identification tag M was last detected, the drawing position in the design drawing data K is determined based on the position corrected by the movement information correction unit 24. Also, in the route after the time when the identification tag M was last detected, since each position constituting the movement information corresponding to the route has not yet been corrected by the movement information correction unit 24, the drawing position in the design drawing data K is determined based on each position (relative position) constituting the movement information before correction. In addition, when the field worker Q has started the patrol and has not detected the identification tag M even once, since the reference position in the design drawing data K has not been determined, it is not possible to determine at which position in the design drawing data K to display the movement information when creating the movement information display data. Therefore, in such a case, for example, the movement information display data creation unit 25 may be realized so as to create data that displays only the movement information without displaying the design drawing data K as the movement information display data.

[0039] The data output unit 28 outputs, as output data, the correspondence between the photographed image P and the position included in the movement information at which the photographed image P was photographed to the outside. In the present embodiment, the data output unit 28 outputs the output data to the construction progress management system 4. The data output from the data output unit 28 is performed, for example, after completing a series of patrols in the construction site G inside the building. In this case, since the patrol in the construction site G has ended, the correction of the position of the movement information by the movement information correction unit 24 should basically have ended. Therefore, the positions included in the movement information associated with each photographed image P in the output data are in a state corrected to absolute positions. Note that the data output from the data output unit 28 may be sequentially performed, for example, during a series of rounds within the construction site G in the building. As a form of outputting data from the data output unit 28 to the construction progress management system 4, for example, in addition to data transfer via a wireless LAN (Local Area Network) such as Wi-Fi and Bluetooth (registered trademark), a mobile phone communication network, etc., data transfer via a connection cable or a memory having various portabilities can be used.

[0040] The construction progress management system 4 uses the building state recording system 1 to manage the progress of wall construction and ceiling construction within the construction site. The construction progress management system 4 estimates the progress of the construction within the construction site G based on the movement information of the on-site worker Q and the photographed images obtained by the autonomous navigation device 2 and the photographing and recording device 3. The construction progress management system 4 consists of a computer device such as a personal computer. As shown in FIG. 1, the construction progress management system 4 functionally includes a data input reception unit 41, a construction detection unit 42, a construction range estimation unit 43, an information display unit 45, and a construction database 47.

[0041] The construction database 47 stores data related to wall construction and ceiling construction performed within the construction site G. As data related to wall construction and ceiling construction, for example, drawing data of each floor within the construction site G, etc. are stored in the construction database 47. As the drawing data of each floor within the construction site G, there are CAD (Computer Aided Design) data, BIM (Building Information Modeling) data, etc. of the parts including the walls and ceilings of each floor. Specifically, as data related to wall construction, information on the wall surface lines indicating the positions of the wall surfaces of the walls, the types of materials constituting each wall (structural materials, base materials, heat insulation materials, finishing materials, etc.), area, thickness, etc. are stored in the construction database 47. Also, as data related to ceiling construction, for example, information on the types of ceiling panels, the installation positions of facilities such as ducts and lighting, etc. are stored in the construction database 47. The data input receiving unit 41 receives the input of output data that is the correspondence between the captured image P output from the data output unit 28 of the autonomous navigation device 2 and the position included in the movement information at which the captured image P was captured. The data received by the data input receiving unit 41 is stored in the construction database 47.

[0042] The construction detection unit 42 detects construction work including wall construction and ceiling construction from a plurality of captured images P captured by the imaging recording device 3 on each floor within the construction site G. The construction detection unit 42 determines and detects whether wall construction and ceiling construction are captured in each captured image P captured by the imaging recording device 3. When wall construction and ceiling construction are captured in the captured image P, the construction detection unit 42 estimates the progress status of the construction work. The construction detection unit 42 estimates which of a plurality of construction types is being carried out as the progress status. For this purpose, the construction detection unit 42 has a learned model 48 that has been deep-learned using a construction image of the construction site G and the corresponding construction type as learning data (teacher data). When wall construction and ceiling construction are captured in the captured image P, the learned model 48 is deep-learned to estimate the construction type of the wall construction and ceiling construction. The learned model 48 is configured by, for example, a convolutional neural network (CNN, Convolutional Newral Network). The learned model 48 is a program module that is a part of artificial intelligence software and has learned appropriate learning parameters. The construction detection unit 42 estimates the construction type of the wall construction and ceiling construction captured in the captured image P when the captured image P is input by executing this learned model 48 as a program on, for example, a CPU or GPU. In the present embodiment, the learned model 48 individually has a learned model 481 for wall construction and a learned model 482 for ceiling construction.

[0043] The learned model 481 for wall construction is deep - learned to detect the wall construction being carried out in the wall construction part when the wall construction part is photographed in the photographed image P, and to estimate the type of the detected wall construction. Specifically, the learned model 481 for wall construction is learned so as to be able to appropriately detect which of a plurality of construction types including wall base construction using LGS (Light gauge steel), insulation construction, spraying construction, board construction, plastering construction, finishing construction, etc. the wall construction being carried out in the wall construction part photographed in the photographed image P is. The construction detection unit 42 inputs the photographed image P into the learned model 481 for wall construction, and estimates the type of the wall construction in the photographed image P. Based on the output of the learned model 481 for wall construction, the construction detection unit 42 creates a wall construction type estimation record, which is a record in which the wall construction is estimated. As the wall construction type estimation record, for the photographed image P in which some wall construction is detected by the learned model 481 for wall construction, each of the shooting time of the photographed image P, the file name of the photographed image P, and the identification information of the type of the detected wall construction is associated with each other and stored in the construction database 47.

[0044] The learned model 482 for ceiling construction is deep - learned to detect the ceiling construction being carried out in the ceiling construction part when the ceiling construction part is photographed in the photographed image P, and to estimate the type of the detected ceiling construction. Specifically, the learned model 482 for ceiling construction is learned so as to be able to appropriately detect which of a plurality of construction types including ceiling base construction, board construction, equipment construction, fire - resistant coating construction, plastering construction, finishing construction, unconstructed, etc. the ceiling construction being carried out in the ceiling construction part photographed in the photographed image P is. The construction detection unit 42 inputs the photographed image P into the learned model 482 for ceiling construction, and estimates the type of the ceiling construction in the photographed image P. Based on the output of the learned model 482 for ceiling construction, the construction detection unit 42 creates a ceiling construction type estimation record, which is a record in which ceiling construction is estimated. As the ceiling construction type estimation record, for the captured image P in which ceiling construction is detected by the learned model 482 for ceiling construction, each of the shooting time of the captured image P, the file name of the captured image P, and the identification information of the construction type of the detected ceiling construction are associated with each other and stored in the construction database 47.

[0045] Based on the position included in the movement information associated with the captured image P in the output data of the building state recording system 1, that is, the shooting position of the captured image P, for the captured image P in which wall construction and ceiling construction are captured, the construction range estimation unit 43 estimates the position and range where the construction is being carried out. Based on the shooting positions of the captured images P among the plurality of captured images P in which the locations of wall construction and ceiling construction are captured, and the shooting directions thereof, the construction range estimation unit 43 estimates the positions and ranges where wall construction and ceiling construction are being carried out within the construction site G. FIG. 11 is a diagram showing the estimation results of the position and range of wall construction by the construction range estimation unit. In this FIG. 11, on the construction drawing Z of the building, the position and range Wm where the wall construction is being carried out are displayed, for example, by coloring. Also, the position and range Wm where the wall construction is being carried out are colored, for example, to display the construction type of the wall construction. The construction range estimation unit 43 associates the information indicating the estimated position and range where the wall construction is being carried out with the captured image P and stores it in the construction database 47. FIG. 12 is a diagram showing the estimation results of the position and range of ceiling construction by the construction range estimation unit. In this FIG. 12, on the construction drawing Z of the building, the position Cm where the ceiling construction is being carried out is displayed, for example, by coloring. Also, the position Cm where the ceiling construction is being carried out is colored, for example, to display the construction type of the ceiling construction. The construction range estimation unit 43 associates the information indicating the estimated position where the ceiling construction is being carried out with the captured image P and stores it in the construction database 47.

[0046] The information display unit 45 refers to the construction database 47 and, for each floor, overlays the progress status (type of construction work) of the wall construction and ceiling construction on the positions and ranges on the building construction drawing Z corresponding to that floor where the wall construction and ceiling construction estimated by the construction range estimation unit 43 are being carried out, thereby creating display data as shown in FIGS. 11 and 12, and outputs it to the display device 5 as the estimation result of the construction progress information. For example, when the user of the display device 5 designates a floor of the building, the information display unit 45 acquires information indicating the positions and ranges where construction work is being carried out, associated with that floor, and based on this, overlays the construction drawing of the designated floor and the estimation result of the construction progress information within the construction site G to create display data. The display device 5 may be a monitor device or the like provided in the construction progress management system 4, or may be a smartphone, a tablet terminal, or the like. The information display unit 45 transmits the display data to the display device 5 via data transfer or the like via, for example, a communication cable, a wireless LAN such as Wi-Fi, or a mobile phone communication network, and displays it. On the display device 5, based on the display data transmitted from the information display unit 45, the building construction drawing and the construction progress status are overlaid and displayed.

[0047] FIG. 13 is a flowchart showing the flow of the building status recording method executed using the building status recording system 1 of the present embodiment. As shown in FIG. 13, in order to implement the building status recording method with the building status recording system 1 in the present embodiment, the identification tag M is installed in advance within the construction site G (step S11). After installing the identification tag M, information regarding the identification tag M is registered in the database 27 of the autonomous navigation device 2 (step S12). Specifically, as described above, in the database 27, the identification information of each identification tag M, the horizontal position (absolute position in the coordinate system represented on the design drawing data) and height position information within the construction site G where the identification tag M is installed, and the orientation (azimuth or angle) of posting the identification tag M are stored in association with each other. The above step S12 only needs to be performed once in the construction site G following the installation of the identification tag M in step S11.

[0048] In step S13, on-site worker Q carries the autonomous navigation device 2 and the photographing and recording device 3 attached to the support rod 100, walks and patrols inside the construction site G, and takes pictures inside the construction site G. In step S14, when on-site worker Q walks and moves inside the construction site G and takes pictures inside the construction site G in step S13, the autonomous navigation device 2 generates movement information of on-site worker Q based on the detection data from the sensor 20. Thus, the autonomous navigation device 2 acquires the movement information of on-site worker Q inside the construction site G by the sensor 20 and the movement information calculation unit 21, associates it with the time information, and stores it in the database 27. As the movement information, at a preset time interval, for example, the time information and the relative coordinate values of the position of on-site worker Q at that time are recorded. Also, in the photographing and recording device 3, the construction site G around the movement path of on-site worker Q is photographed, and the photographed image P is stored in the database 27 in a state associated with the photographing time, which is the time when the photographed image P is photographed. Also, if the identification tag M is located in front of the photographing and recording device 3, the identification tag M is photographed by the photographing and recording device 3. In step S14, the information integration unit 23 associates the position included in the movement information of the on-site worker acquired by the autonomous navigation device 2 and stored in the database 27 with the photographed image P by the photographing and recording device 3 according to time.

[0049] The detection unit 22 determines whether the identification tag M is detected from the photographed images P sequentially photographed by the photographing and recording device 3 (step S15). If the identification tag M is not detected, the process returns to step S13, and at regular time intervals, the recording of the position (relative position) of on-site worker Q and the storage of the photographed image P in the database 27 are continued.

[0050] On the other hand, in step S15, if the identification tag M is detected from the photographed images P sequentially photographed by the photographing and recording device 3, the absolute position of on-site worker Q is acquired and the movement path is corrected (step S16). Specifically, the detection unit 22 refers to the database 27 and acquires the identification information recorded in association with the identification ticket M based on the two-dimensional barcode, AR marker, etc. described on the identification ticket M. Based on the acquired identification information, the detection unit 22 acquires the horizontal position (absolute position) and height position (floor) within the construction site G where the identification ticket M is installed, and the orientation (azimuth or angle) in which the identification ticket M is posted, which are recorded in the database 27 in association with the identification information. Thereby, the detection unit 22 specifies the floor on which the captured image P in which the identification ticket M is detected is captured within the construction site G, and the position of the detected identification ticket M on that floor. Furthermore, the detection unit 22 detects the coordinates of the corner Mc of the identification ticket M in the captured image P. Based on the position of the corner Mc, the detection unit 22 calculates, as the posture of the identification ticket M, the angle at which the captured image P is captured from the front position of the identification ticket M. Furthermore, the detection unit 22 calculates the size of the identification ticket M in the captured image P.

[0051] Furthermore, the movement information correction unit 24 corrects the position included in the movement information of the on-site worker Q based on the position of the detected identification ticket M. When the identification ticket M is detected from the captured image P, the movement information correction unit 24 corrects the position of the on-site worker Q where the captured image P is captured based on the captured state of the identification ticket M, such as the posture and size of the identification ticket M in the captured image P. The movement information correction unit 24 corrects each of the positions included in the movement information from the immediately previous absolute position of the on-site worker Q calculated at the time when the identification ticket M was most recently detected to the time when the captured image P was most recently captured, based on the relationship between the latest position included in the movement information and the current absolute position at the time when the captured image P was most recently captured. In this way, every time the identification tag M is detected from the latest captured image P by the movement information correction unit 24, the absolute position of the on-site worker Q is obtained, and each of the positions included in the movement information from the absolute position immediately before the on-site worker Q to the time when the image P was captured latest is corrected, so that the photographing positions of each captured image P in the construction site G captured by the photographing recording device 3 from the absolute position immediately before the on-site worker Q to the time when the image P was captured latest can be accurately grasped.

[0052] In this way, the on-site worker Q carries the self-navigating device 2 and the photographing recording device 3 attached to the support rod 100, walks and moves inside the construction site G, and performs photographing inside the construction site G. When the photographing (patrol) inside the construction site G is completed, the photographing by the photographing recording device 3 and the acquisition of movement information by the self-navigating device 2 are terminated (step S17).

[0053] After finishing the patrol inside the construction site G, the on-site worker Q performs a predetermined operation on the self-navigating device 2, so that the correspondence between the plurality of captured images P captured by the photographing recording device 3 during the patrol inside the construction site G stored in the database 27 of the self-navigating device 2 and the positions included in the movement information at which the captured images P were captured is transferred as output data to the outside, in this embodiment, to the construction progress management system 4 (step S18).

[0054] FIG. 14 is a flowchart showing the flow of the construction progress management method in the construction progress management system 4. As shown in this FIG. 14, in the construction progress management system 4, when the data input reception unit 41 receives the input of the data output from the self-navigating device 2, the construction detection unit 42 detects the construction including wall construction and ceiling construction from the plurality of captured images P captured by the photographing recording device 3 on each floor inside the construction site G (step S21). For this purpose, the construction detection unit 42 determines and detects whether wall construction or ceiling construction is captured in each captured image P captured by the imaging recording device 3. When wall construction or ceiling construction is captured in the captured image P, the construction detection unit 42 estimates the progress status of the construction. The construction detection unit 42 estimates which of a plurality of construction types is being carried out as the progress status.

[0055] Next, based on the positions included in the movement information of the on-site worker Q associated with the captured image P, the construction range estimation unit 43 estimates the position and range where the construction is being carried out. Based on the shooting positions and shooting directions of the captured images P in which the implementation locations of wall construction and ceiling construction are captured among the plurality of captured images P, the construction range estimation unit 43 estimates the position and range where wall construction and ceiling construction are being carried out within the construction site G. The construction range estimation unit 43 stores, in the construction database 47, the information indicating the estimated position and range where the wall construction is being carried out, the height position (floor), and the construction type of the wall construction in association with each other.

[0056] After that, when the user accesses the construction progress management system 4 and requests the display of information indicating the progress status of the construction within the construction site G in the database 27, the information display unit 45 creates display data of information indicating the construction progress information based on various data necessary for the display of the information (step S22). The information display unit 45 refers to the database 27 and, for each floor, overlays the progress status (construction type) of the wall construction and ceiling construction on the positions and ranges where the wall construction and ceiling construction estimated by the construction range estimation unit 43 are located on the construction drawing Z of the building corresponding to the floor, thereby creating display data as shown in FIGS. 11 and 12 and outputting it to the display device 5 as the estimation result of the construction progress information (step S23).

[0057] The building condition recording system 1 as described above is a building condition recording system 1 that records the condition inside a building, and includes an identification tag M arranged at different positions inside the building, an autonomous navigation device 2 carried by a field worker Q and equipped with a sensor 20 for acquiring movement information including the position of the field worker Q, a photographing and recording device 3 carried by the field worker Q for photographing inside the building, a detection unit 22 for detecting the identification tag M from a photographed image P captured by the photographing and recording device 3, an information integration unit 23 for associating the position included in the movement information of the field worker Q, the photographed image P captured by the photographing and recording device 3, with respect to time, a movement information correction unit 24 for correcting the position included in the movement information of the field worker Q based on the position of the detected identification tag M, a display unit 26, and a movement information display data creation unit 25 for creating movement information display data in which the movement information of the field worker Q is superimposed on a drawing (design drawing data) K of the building and causing the display unit 26 to display it. The autonomous navigation device 2 and the photographing and recording device 3 are integrally connected and supported by a support rod 100. According to the above configuration, the movement information including the position of the field worker Q is acquired at any time by the sensor 20 of the autonomous navigation device 2 carried by the field worker Q. Further, the inside of the building is photographed at any time by the photographing and recording device 3 carried by the field worker Q. Since the position included in the movement information of the field worker Q and the photographed image P thus acquired are associated with respect to time, each photographed image P is recorded together with the movement information, that is, the position where the photographed image P was taken. Here, a plurality of identification tags M are arranged at different positions inside the building. When the identification tag M is detected from the photographed image P captured by the photographing and recording device 3, the position where the photographed image P was taken can be accurately estimated from the position of the detected identification tag M. Therefore, by correcting the movement information of the field worker Q based on the position of the detected identification tag M, it is possible to further improve the accuracy of the movement information, that is, the position where the photographed image P was taken. As described above, the autonomous navigation device 2 and the photographing and recording device 3 are integrally connected and supported by the support rod 100. In a state where the autonomous navigation device 2 and the photographing and recording device 3 are integrally connected and supported by the support rod 100, the on-site worker Q can carry the autonomous navigation device 2 and the photographing and recording device 3 by holding the support rod 100 with one hand. By doing so, one hand of the on-site worker Q becomes free, so that when using the building condition recording system 1, it is possible to suppress the loss of safety. Further, since the autonomous navigation device 2 is fixed to the support rod 100, for example, when the autonomous navigation device 2 is stored in a chest pocket and moved inside the building, a reduction in the measurement accuracy of movement information that may occur is suppressed. In this way, when the on-site worker Q patrols inside the building, photographs the inside of the building with the photographing and recording device 3, and records the photographed image P together with the position, it is possible to provide the building condition recording system 1 that can suppress a reduction in the detection accuracy of the position and enhance safety without blocking both hands.

[0058] Particularly in this embodiment, the autonomous navigation device 2 includes a display unit 26, and movement information display data in which the movement information of the on-site worker Q is superimposed on the design drawing data K of the building is displayed on the display unit 26 of the autonomous navigation device 2. With such a configuration, the on-site worker Q can always confirm his / her own position while moving inside the building.

[0059] Also, in this embodiment, in addition to the sensor 20 and the display unit 26, the autonomous navigation device 2 is also configured to include a movement information calculation unit 21, a detection unit 22, an information integration unit 23, a movement information correction unit 24, a movement information display data creation unit 25, and a database 27. With such a configuration, the building condition recording system 1 can be configured only by the autonomous navigation device 2 and the photographing and recording device 3. Therefore, when the on-site worker Q patrols to photograph inside the building, communication with the outside becomes unnecessary.

[0060] In addition, in the building condition recording system 1, when the identification tag M is detected from the latest captured image P, the movement information correction unit 24 calculates the current absolute position of the on-site worker Q based on the shooting mode of the identification tag M in the latest captured image P, and from the previous absolute position of the on-site worker Q calculated at the time when the identification tag M was detected immediately before, each of the positions included in the movement information from the time when the captured image P was captured latest until the time when the captured image P was captured latest is corrected based on the relationship between the latest position included in the movement information and the current absolute position at the time when the captured image P was captured latest. According to such a configuration, when the identification tag M is detected from the latest captured image P, for example, based on the shooting mode of the identification tag M such as the size and posture of the identification tag M in the captured image P, the current absolute position of the on-site worker Q is calculated. Also, at the time when the identification tag M was detected immediately before, the absolute position of the on-site worker Q at that time is similarly calculated as the previous absolute position of the on-site worker Q. Here, since the movement information acquired by the sensor 20 of the autonomous navigation device 2 from the previous absolute position of the on-site worker Q until the time when the captured image P was captured latest is acquired as the relative position from the previous absolute position of the on-site worker Q, it may contain a lot of errors. This error appears as a relationship such as, for example, the distance and the direction in which the error occurred, between the current absolute position of the on-site worker Q and the latest position included in the movement information at the time when the captured image P was captured latest. Therefore, based on this relationship, it is possible to estimate and correct the exact position of each of the positions included in the movement information acquired as the relative position from the previous absolute position of the on-site worker Q until the time when the captured image P was captured latest. In this way, by correcting the movement information of the on-site worker Q after the time when the identification tag M was detected immediately before, based on the shooting mode of the identification tag M included in the latest captured image P, the detection accuracy of the position can be improved.

[0061] Further, the movement information correction unit 24 rotates the path formed by each of the positions included in the movement information from the immediately previous absolute position to the latest position (relative position) included in the movement information so that the latest position (relative position) included in the movement information is located on the straight line connecting the immediately previous absolute position and the current absolute position with the immediately previous absolute position as the center. Then, the entire path is expanded and contracted so that the latest position (relative position) included in the movement information coincides with the current absolute position, thereby correcting each of the positions included in the movement information. According to such a configuration, it is possible to appropriately correct the movement information of the on-site worker Q after the time when the identification tag M was detected immediately before. Therefore, the detection accuracy of the position can be improved.

[0062] The construction progress management system 4 of the present invention is a construction progress management system 4 that manages the progress status of wall construction and ceiling construction in the construction site G using the building state recording system 1 as described above. The construction progress management system 4 includes a construction detection unit 42 that detects a construction including wall construction and ceiling construction from the photographed image P by the photographing recording device 3 and estimates the progress status thereof, and a construction range estimation unit 43 that estimates the position and range where the construction is being carried out based on the position included in the movement information of the on-site worker Q associated with the photographed image P. The construction progress management system 4 further includes an information display unit 45 that creates display data by superimposing the progress status of the construction on the position and range of the construction estimated by the construction range estimation unit 43 on the construction drawing of the building, and displays the display data on the display device 5. According to such a configuration, the construction detection unit 42 estimates the progress status of the construction including wall construction and ceiling construction detected from the photographed image P by the photographing recording device 3. The construction range estimation unit 43 estimates the position and range where the construction including wall construction and ceiling construction is being carried out based on the position included in the movement information of the on-site worker Q associated with the photographed image P. Then, the information display unit 45 causes the display device 5 to display the display data created by superimposing the progress status of the construction on the position and range of the construction estimated by the construction range estimation unit 43. As a result, since the position and range of the construction being carried out at the construction site and the progress status of the construction are displayed in association with each other, it becomes possible to easily grasp the progress status of the construction.

[0063] (First Modification of the Embodiment) The construction progress monitoring system of the present invention is not limited to the above-described embodiment explained with reference to the drawings, and various modifications are conceivable within the technical scope. For example, in the above embodiment, the output data of the building condition recording system 1 is used by the construction progress management system 4, but this is not limiting. FIG. 15 is a diagram showing the configuration of a building condition recording system according to a first modified example of the above embodiment. 15, the output data of the building condition recording system 1, i.e., the correspondence between the captured image P and the position included in the movement information where the captured image P was captured, is output to the external server 6, not to the construction progress management system 4. Furthermore, the information display unit 45 of the external server 6 causes the display device 5 to display a drawing of the building, and when a position on the drawing is selected, calculates the position closest to the selected position from among the positions included in the movement information, and displays the captured image P associated with this closest position on the display device 5.

[0064] In the configuration of this modified example, the external server 6 is used so that the data acquired by the building condition recording system 1 can be viewed at any time from outside the building. Therefore, the status of the inside of the building can be confirmed while being outside the building. Furthermore, by having multiple people access the external server 6, the multiple people can share their understanding of the situation inside the building. Furthermore, by configuring it as described above, the building condition recording system 1 can be used for the purpose of recording and understanding the condition of a building after it has been completed and is in operation, or of a building under construction.

[0065] In particular, after a building has been completed and is in operation, it is expected that various equipment and fixtures will be installed inside the building, so it is desirable to install identification tag M as high up as possible inside the building, such as above a wall or pillar or on the ceiling, so that it will not be hidden by these.

[0066] (Second Modification of the Embodiment) In the above embodiment, the autonomous navigation device 2 and the imaging recording device 3 are integrally connected and supported by the support rod 100, but it is not limited to this. FIG. 16 is a perspective view showing an example in which the imaging recording device and the autonomous navigation device are mounted on a helmet in a building state recording system according to the second modification of the above embodiment. For example, as shown in FIG. 16, both the autonomous navigation device 2 and the imaging recording device 3 may be mounted on the helmet 300. More specifically, the imaging recording device 3 is provided at the top of the helmet 300. In addition, a support portion 301 is provided on the front side of the helmet 300 so as to protrude downward and forward, and the autonomous navigation device 2 is provided at the tip of the support portion 301. In this way, in this modification, the autonomous navigation device 2 realized by a smartphone or a tablet terminal is fixed to the helmet 300 at a position separated from the helmet 300 so that the display portion 26 is located in front of the eyes of the field worker Q.

[0067] In this way, when the autonomous navigation device 2 and the imaging recording device 3 are mounted on the helmet 300, the field worker Q can carry the autonomous navigation device 2 and the imaging recording device 3 by putting on the helmet 300 on the head. Therefore, since both hands of the field worker Q are free, it is possible to suppress the loss of safety when using the building state recording system 1. In addition, since the autonomous navigation device 2 is fixed to the helmet 300, for example, a reduction in the measurement accuracy of movement information, which may occur when the autonomous navigation device 2 is stored in a chest pocket and moved inside a building, is suppressed. In this way, it is possible to provide the building state recording system 1 that can suppress a reduction in the detection accuracy of the position while increasing the safety without blocking both hands when the field worker Q patrols inside the building, captures the inside of the building with the imaging recording device 3, and records the captured image P together with the position.

[0068] (Another modified example of the embodiment) In addition to the above-described modifications, various other modifications of the building condition recording system 1 of the present invention are possible. For example, in the second modified example, the autonomous navigation device 2 is supported via the support unit 301 at a position separated from the helmet 300 so that the display unit 26 is located in front of the eyes of the field worker Q. Alternatively, the autonomous navigation device may be directly attached to the helmet without the support unit 301, and the display unit may be configured as, for example, a projector, and the image displayed by the display unit may be projected onto glasses worn by the field worker Q. Furthermore, in the above embodiment, components such as the detection unit 22, information integration unit 23, movement information correction unit 24, and movement information display data creation unit 25 were realized inside the autonomous navigation device 2 realized by a smartphone or tablet terminal, but this is not limited to this, and some of the components may be realized, for example, by an external server, and each process of the building condition recording system may be executed while the autonomous navigation device 2 and the external server communicate with each other.

[0069] Furthermore, in the above embodiment, the identification tag M is realized as, for example, a two-dimensional barcode, an AR marker, or the like, but is not limited to these. The identification tag M may be of any type as long as the location where the photographed image P was taken can be identified by analyzing the photographed image P and identifying the photographed identification tag M. For example, the identification tag M may be a picture with a unique pattern. Alternatively, the identification tag M may be a number indicating the floor number provided on each floor of a building. From the above perspective, equipment or installations with unique shapes, such as distribution boards or elevators, may be used as the identification tag M. In other words, in this case, the building condition recording system may be configured to determine the locations of the distribution boards or elevators in advance, and when the distribution boards or elevators are photographed, identify the location where the photographed image P was taken based on the locations of the distribution boards or elevators. However, because distribution boards or elevators are installed on each floor of a building, even if the distribution boards or elevators are detected from the photographed image P and the horizontal position where the photographed image P was taken can be identified, it is not possible to identify the floor on which the photographed image P was taken. Therefore, in such a case, in addition to using the distribution boards or elevators as the identification tag M, it is possible to identify the floor on which the photographed image P was taken by separately providing a two-dimensional barcode, an AR marker, or a number indicating the floor number on each floor of the building. Furthermore, in the construction progress management system of the above embodiment, the construction progress status within the construction site is managed using a building condition recording system for wall construction and ceiling construction within the construction site, but it is also possible to manage the construction progress status for each construction project within the construction site, without being limited to wall construction and ceiling construction.

[0070] In the above embodiment, CAD data or BIM data is used as the drawing data, but the present invention is not limited to this. For example, image data can also be used as the drawing data. Here, CAD data and BIM data contain information related to dimensions inside. By comparing these dimensions with the relative positions (such as movement distances) in the movement information, a series of processes as described in the above embodiments become possible, for example, constructing a coordinate system on the drawing data, calculating each position of the movement information on the drawing data, or overlapping and displaying the drawing data and the movement information. On the other hand, when using image data, since information related to dimensions is not included inside the image data, the above-described processes cannot be performed. Therefore, when using image data as drawing data, for example, by adding line segments that do not actually exist in the building to the figure representing the building and drawing them inside the image data, and inputting in advance the length corresponding to the line segments, it is conceivable to give information related to dimensions to the image data. Alternatively, for example, the actual length corresponding to the vertical and horizontal sizes of the image data itself may be input in advance.

[0071] In addition to this, as long as the gist of the present invention is not deviated from, it is possible to make selections from the configurations listed in the above embodiments or appropriately change them to other configurations.

Explanation of Reference Numerals

[0072] 1 Building state recording system 42 Construction detection unit 2 Autonomous navigation device 43 Construction range estimation unit 3 Photographing and recording device 45 Information display unit 4 Construction progress management system 100 Support rod 5 Display device 300 Helmet 20 Sensor G Construction site 22 Detection unit K Design drawing data (drawing) 23 Information integration unit M Identification tag 24 Movement information correction unit P Photographed image 25 Movement information display data creation unit Q On-site worker 26 Display unit

Claims

1. A building condition recording system for recording the conditions inside a building, comprising: identification tags arranged at different positions inside the building; an autonomous navigation device carried by a field worker and equipped with a sensor for acquiring movement information including the position of the field worker; a photographing recording device carried by the field worker for photographing inside the building; a detection unit for detecting the identification tag from the photographed image obtained by the photographing recording device; an information integration unit for associating the position included in the movement information of the field worker and the photographed image obtained by the photographing recording device with respect to time; a movement information correction unit for correcting the position included in the movement information of the field worker based on the position of the detected identification tag; a display unit; a movement information display data creation unit for creating movement information display data in which the movement information of the field worker is superimposed on the drawing of the building and causing the display unit to display the data; and the autonomous navigation device and the photographing recording device are integrally connected and supported by a support rod, or both are mounted on a helmet. A building condition recording system characterized by the above.

2. When the identification tag is detected from the most recently photographed photographed image, the movement information correction unit calculates the current absolute position of the field worker based on the photographing mode of the identification tag in the most recently photographed photographed image, and corrects each of the positions included in the movement information from the immediately previous absolute position of the field worker calculated at the time when the identification tag was detected immediately before to the time when the photographed image was most recently photographed based on the relationship between the latest position included in the movement information and the current absolute position at the time when the photographed image was most recently photographed. The building condition recording system according to claim 1, characterized by the above.

3. A construction progress management system for managing the progress of wall construction and ceiling construction at a construction site, using the building condition recording system according to claim 1 or 2, comprising: a construction detection unit for detecting the construction including the wall construction and the ceiling construction from the photographed image obtained by the photographing recording device and estimating the progress of these constructions; a construction range estimation unit for estimating the position and range where the construction is being carried out based on the position included in the movement information of the field worker associated with the photographed image. An information display unit that creates display data by superimposing the progress status of the construction on the position and the range of the construction estimated by the construction range estimation unit on the construction drawing of the building, and displays the display data on a display device; A construction progress management system characterized by comprising the above.

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