Soil volume measurement system, soil volume measurement method, initialization method, and protective structure

Abstract

To provide a soil volume measurement system, soil volume measurement method, initialization method, and protective structure that reduce the burden of surface soil volume measurement.SOLUTION: Three-dimensional measuring devices 21, 22 are capable of acquiring point cloud data of at least a portion of the surface of sediment in a sediment pit 4. At least a first reflective sheet is attached to targets 31-33 disposed above the sediment pit 4. The coordinates and orientation of each of the three-dimensional measuring devices 21, 22 are set based on the coordinates of the targets 31-33. A management device 1 is equipped with a measurement unit 11 that measures the volume of sediment in the sediment pit 4 based on point cloud data of the entire surface of the sediment obtained by integrating the point cloud data acquired by each of the three-dimensional measuring devices 21, 22. The targets 31-33 may be polyhedrons, and the first reflective sheet may be attached to at least one or all of the multiple faces that make up the polyhedron.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an earth volume measurement system, an earth volume measurement method, an initialization method, and a protection structure.

Background Art

[0002] In recent years, there has been active research and development on technologies related to the management of earth and sand in construction work, and related inventions have been published. For example, Patent Document 1 discloses a method and a system for measuring the volume of excavated soil during shield tunneling. In the invention of Patent Document 1, in a method for measuring the volume of excavated soil loaded from the face onto the top surface conveyor and discharged during shield tunneling, a downward three-dimensional shape measuring device is provided above the passage of the conveyor, and the three-dimensional coordinates of the top edge of the empty conveyor and the shape of the soil receiving surface inside thereof are measured by the measuring device. After the excavated soil is loaded, the three-dimensional coordinates of the top edge of the conveyor and the shape of the surface of the loaded soil inside thereof are measured by the measuring device, and the volume of the loaded excavated soil for each conveyor is calculated from the relative three-dimensional coordinates of the soil receiving surface with respect to the top edge and the relative three-dimensional coordinates of the surface of the loaded soil.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There are many known methods for measuring the amount of soil in an earth and sand pit. For example, there is a method in which an operator manually measures the amount of soil using a scale or a laser distance meter, but this requires a great deal of labor. Also, as an automatic soil volume measurement method, a surface soil volume measurement method using a three-dimensional measurement device is known. For example, there is a method of measuring the soil volume by installing a prism on the three-dimensional measurement device and then aiming with a TS (total station) to set the coordinates of the three-dimensional measurement device. However, this method requires pre-surveying the relationship between the three-dimensional measurement device and the prism indoors or the like. Also, large fixtures are required for the surveying. For this reason, there is a problem that a great deal of labor is required for the preparation of the surveying. Also, there is a method of measuring the soil volume by installing reflection sheets at three or more positions visible from the three-dimensional measurement device and then aiming with a TS to set the coordinates of the three-dimensional measurement device. However, this method requires installing and measuring a prism for each three-dimensional measurement device when multiple three-dimensional measurement devices are required for the shape of the earth and sand pit or the like. For this reason, there is a problem that a great deal of time and sufficient space are required. Also, there is the method of Patent Document 1, but it cannot solve the above problems.

[0005] From such a viewpoint, an object of the present invention is to propose a soil volume measurement system, a soil volume measurement method, an initialization method, and a protection structure that reduce the burden of surface soil volume measurement.

Means for Solving the Problems

[0006] The present invention for solving the above problems is a soil volume measurement system including a plurality of three-dimensional measurement devices, three or more targets visible from the three-dimensional measurement devices, and a management device, wherein the three-dimensional measurement devices can acquire point cloud data of at least a part of the surface of the soil in the earth and sand pit, at least one first reflection sheet is attached to the target, and the target is disposed above the earth and sand pit, the coordinates and azimuths of each of the three-dimensional measurement devices are set based on the coordinates of the target, and the management device includes a measurement unit that measures the soil volume in the earth and sand pit based on the point cloud data of the entire surface of the soil obtained by integrating the point cloud data acquired by each of the three-dimensional measurement devices. Further, the present invention provides a method for measuring the volume of earth and sand, comprising steps in which each of a plurality of three-dimensional measurement devices acquires point cloud data of at least a part of the surface of the earth and sand in the earth and sand pit, and a management device measures the volume of the earth and sand in the earth and sand pit based on the acquired point cloud data. At least one first reflection sheet is attached and disposed above the earth and sand pit, and coordinates of three or more targets are set. By measuring the targets with the three-dimensional measurement devices, the coordinates and orientations of each of the three-dimensional measurement devices are set. Thereby, for any of the plurality of three-dimensional measurement devices, coordinates and orientations can be set using the same three or more targets. Thus, the labor required for installing prisms for each three-dimensional measurement device as in the prior art is not necessary. Further, when the target has a polyhedron shape, the three-dimensional measurement device can be disposed at any position and generally faced to the first reflection sheet attached to the target. Thus, the accuracy of the set coordinates and orientations can be improved. Further, since positioning and orientation determination of the plurality of three-dimensional measurement devices may be performed with respect to the target with set coordinates, installation of a jig for the three-dimensional measurement device is easy. After the initial measurement such as positioning and orientation determination of the three-dimensional measurement device is completed, the target may be removed or may be left as long as it does not interfere with the work.

[0007] Further, in the earth and sand volume measurement system, it is preferable that the management device further includes a determination unit that determines the position of each of the three-dimensional measurement devices based on the measured position of a second reflection sheet disposed at the periphery of the earth and sand pit when each of the three-dimensional measurement devices measures the position of the second reflection sheet. Further, in the method for measuring the volume of earth and sand, preferably, the method further includes steps in which each of the three-dimensional measurement devices measures the position of a second reflection sheet disposed at the periphery of the earth and sand pit, the management device determines the position of each of the three-dimensional measurement devices based on the measured position of the second reflection sheet, and the management device gives a warning when the determined position exceeds a predetermined threshold value. As a result, the second reflection sheet can be used as a tool for tracing the cause when an abnormal value in soil volume measurement is output. That is, it is possible to determine the positional deviation of the three-dimensional measurement device with respect to the second reflection sheet. If there is a positional deviation, it can be notified to the administrator.

[0008] Further, in the soil volume measurement system, it further includes a three-dimensional measurement device for dumping that acquires point cloud data of the surface of the soil and sand in the cargo bed of the dump truck, and the management device is based on the point cloud data acquired by the three-dimensional measurement device for dumping. It is preferable to further include a soil management unit that manages the inflow and outflow of soil volume to and from the soil and sand pit by measuring the soil volume of the soil and sand in the cargo bed of the dump truck. Further, in the soil volume measurement method, a step in which a three-dimensional measurement device for dumping acquires point cloud data of the surface of the soil and sand in the cargo bed of the dump truck, and the management device is based on the point cloud data acquired by the three-dimensional measurement device for dumping. A step of measuring the soil volume of the soil and sand in the cargo bed of the dump truck, and a step of measuring the density of the soil and sand in the cargo bed of the dump truck based on the weight data acquired from a weighing scale that measures the weight of the dump truck. It is preferable to further include. As a result, the total amount of soil volume carried in and out of the construction site can be managed. In addition, the balance of the soil and sand in the soil and sand pit can be managed. As a result, overloading of the dump truck can be prevented. In addition, the specific gravity of the soil and sand can be managed, which contributes to the property management of the soil and sand.

[0009] Further, in the soil volume measurement system, when each of the three-dimensional measurement devices measures the position of the second reflection sheet disposed at the periphery of the soil and sand pit, the management device is based on the measured position of the second reflection sheet. It is preferable to further include a designation unit that designates a soil volume measurement range. Further, in the soil volume measurement method, a step in which each of the three-dimensional measurement devices measures the position of the second reflection sheet disposed at the periphery of the soil and sand pit, and the management device is based on the measured position of the second reflection sheet. It is preferable to further include a step of designating a soil volume measurement range. This makes it possible to improve the accuracy of earth and sand measurement.

[0010] In addition, in the earth volume measurement system, it is preferable that the target has a polyhedron shape, and the first reflective sheet is attached to at least one or all of the plurality of faces constituting the polyhedron. In addition, in the earth volume measurement system, it is preferable that the target is a regular hexahedron or a regular octahedron. This makes it possible to surely face the first reflective sheet attached to the target regardless of the position where the three-dimensional measuring device is arranged.

[0011] In addition, the present invention includes a step of measuring, by each of a plurality of three-dimensional measuring devices, the position of at least one first reflective sheet attached to three or more targets disposed above an earth and sand pit and having coordinates set, and a step of a management device setting the position and orientation of each of the three-dimensional measuring devices based on the measured position of the first reflective sheet. This is an initial coordinate measurement. This reduces the number of targets to be installed and facilitates measurement, and can surely ensure the alignment between the three-dimensional measuring device and the first reflective sheet.

[0012] In addition, the present invention is a protection structure for a three-dimensional measuring device in which at least one first reflective sheet is attached, the three-dimensional measuring device is disposed above an earth and sand pit, and the coordinates and orientation are set by three or more targets having coordinates set. The protection structure includes a housing that surrounds the main body of the three-dimensional measuring device, a window that optically opens the irradiation unit of the three-dimensional measuring device, a drain hole that discharges water that has entered the housing, and a spacer that disposes the main body portion inside the housing at a distance from the bottom of the housing. This makes it possible to take measures against rain, dew, and dust for the three-dimensional measuring device. As a result, even if the environment at the construction site where the three-dimensional measuring device is disposed is poor, it does not interfere with the surveying environment, and a decrease in the accuracy of earth volume measurement can be avoided.

Effects of the Invention

[0013] According to the present invention, the burden of surface earth and sand measurement can be reduced.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0015] Hereinafter, modes for carrying out the present invention will be described in detail with appropriate reference to the drawings. Each figure is only schematically shown to the extent that the present invention can be sufficiently understood. Therefore, the present invention is not limited only to the illustrated examples. In each figure, common components and similar components are denoted by the same reference numerals, and redundant descriptions thereof are omitted.

[0016] [Configuration] FIG. 1 is a functional configuration diagram of the soil volume measurement system according to the present embodiment. The soil volume measurement system 100 is a system that measures the volume of earth and sand carried in and out of a construction site (see the lower part of FIG. 1). The soil volume measurement system 100 includes three-dimensional measurement devices 21 to 23 (hereinafter, when the three-dimensional measurement devices 21 to 23 are not distinguished, they will be described as the three-dimensional measurement device 2), three targets 31 to 33 visible from the three-dimensional measurement device 2, and a management device 1. In the construction site of FIG. 1, for example, in addition to the three-dimensional measurement device 2 and the targets 31 to 33, earth and sand pits 4, 4 are arranged, and a dump truck 5 and an excavator 6 move or operate. The management device 1 is arranged, for example, in an office (not shown) away from the construction site. The management device 1 and the three-dimensional measurement device 2 are communicably connected via a network (e.g., the Internet) or an access point. For convenience of explanation, two rectangular earth and sand pits 4, 4 in plan view are collectively treated as the earth and sand pit 4. Further, a reflection sheet 41 (second reflection sheet) that can be used for coordinate determination of the three-dimensional measurement devices 21, 22 is arranged on the periphery of the earth and sand pit 4. For example, the reflection sheet 41 is preferably arranged above the corners of the earth and sand pit 4, but is not limited thereto.

[0017] The management device 1 includes hardware such as an input unit, an output unit, a control unit, and a storage unit. For example, when the control unit is composed of a CPU (Central Processing Unit), information processing by a computer including the control unit is realized by program execution processing by the CPU. The storage unit included in the computer stores various programs for realizing the functions of the computer according to instructions from the CPU. Thereby, cooperation between software and hardware is realized. The program can be provided by being recorded on a recording medium or via a network. The storage unit may also be implemented as a cloud. A console can be communicably connected to the management device 1, and the console can display the processing content of the management device 1. For example, the console can display image data generated by image processing of the management device 1 on the screen.

[0018] The three-dimensional measurement device 2 is a device for measuring the three-dimensional shape of an object. The three-dimensional measurement device 2 can be, for example, but not limited to, a LiDAR (Light Detection and Ranging) that measures scattered light with respect to laser irradiation. The three-dimensional measurement devices 21 and 22 can acquire point cloud data of at least a part of the surface of the earth and sand in the earth and sand pit 4. The three-dimensional measurement device 23 (dump three-dimensional measurement device) can acquire point cloud data of the surface of the earth and sand in the cargo bed of the dump truck 5. The targets 31 to 33 are measurement points that are sighted by a TS or the like and whose coordinates are set. A reflection sheet 34 is attached to the targets 31 to 33 (see FIG. 2).

[0019] The management device 1 includes a measurement unit 11, a determination unit 12, an earth and sand management unit 13, a designation unit 14, and a warning unit 15. The measurement unit 11 measures the amount of earth and sand in the earth and sand pit 4 based on the point cloud data acquired by the three-dimensional measurement devices 21 and 22. In addition, the measurement unit 11 measures the amount of earth and sand in the cargo bed of the dump truck 5 based on the point cloud data acquired by the three-dimensional measurement device 23. When the three-dimensional measurement devices 21 and 22 measure the position of the reflection sheet 41 disposed at the periphery of the earth and sand pit 4, the determination unit 12 determines the position of the three-dimensional measurement devices 21 and 22 based on the measured position of the reflection sheet 41. The earth and sand management unit 13 manages the loading and unloading of the amount of earth and sand with respect to the earth and sand pit 4 by measuring the amount of earth and sand in the cargo bed of the dump truck 5 based on the point cloud data acquired by the three-dimensional measurement device 23. When the three-dimensional measurement devices 21 and 22 measure the position of the reflection sheet 41 disposed at the periphery of the earth and sand pit 4, the designation unit 14 designates (clips) the earth and sand measurement range based on the measured position of the second reflection sheet. The warning unit 15 gives a warning when the position of the three-dimensional measurement devices 21 and 22 determined by the determination unit 12 exceeds a predetermined threshold value. The predetermined threshold value can be stored in the storage unit of the management device 1. The warning can be, for example, but not limited to, a method by screen display, sound, or light.

[0020] [Arrangement of the three-dimensional measuring device] When the entire area of the earth and sand pit 4 does not fall within the measurement range of a single three-dimensional measuring device 2, a plurality of three-dimensional measuring devices 2 are prepared. Further, a plurality of three-dimensional measuring devices 2 are arranged above the periphery of the earth and sand pit 4 so that the entire measurement range of each of the three-dimensional measuring devices 2 covers the entire area of the earth and sand pit 4. In FIG. 1, the three-dimensional measuring devices 21 and 22 are arranged above the periphery of the earth and sand pit 4 so that the entire area of the earth and sand pit 4 is covered by the measurement range 211 of the three-dimensional measuring device 21 and the measurement range 221 of the three-dimensional measuring device 22. Further, since a dead angle is generated in the measurement of the earth and sand pit 4 due to the wall plate of the earth and sand pit 4, a part of the measurement ranges 211 and 221 is overlapped to eliminate the unmeasured area for the earth and sand pit 4. Further, for example, the three-dimensional measuring devices 21 and 22 can be fixedly arranged so as to face the earth and sand pit 4 by a single pipe (not shown) arranged at the construction site.

[0021] Also, as shown in FIG. 1, the three-dimensional measuring device 23 is arranged above the periphery of the dump truck 5 that is in a fixed position. The measurement range of the three-dimensional measuring device 23 includes the entire loading platform of the dump truck 5, and there is no unmeasured area of the three-dimensional measuring device 23 with respect to the loading platform of the dump truck 5. Further, for example, the three-dimensional measuring device 23 can be fixedly arranged so as to face the loading platform of the dump truck 5 by a single pipe (not shown) arranged at the construction site.

[0022] [Details of the target] The targets 31 to 33 are arranged at positions where they can be visually recognized from the three-dimensional measuring devices 21 and 22. In the present embodiment, as shown in FIG. 1, they are arranged in the overlapping range of the measurement ranges 211 and 221. Further, for example, the targets 31 to 33 can be arranged above the earth and sand pit 4 by a jig (not shown) arranged at the construction site.

[0023] By the way, in order to set three-dimensional coordinates in the three-dimensional measuring devices 21 and 22, it is necessary for the three-dimensional measuring devices 21 and 22 to capture a virtual surface on which geometric information (inclination, more specifically, normal line) has been clarified in a predetermined three-dimensional coordinate system. In the present embodiment, for example, a virtual surface passing through three points of the centroid coordinates of each of the targets 31 to 33 can be provided. The centroid coordinates of the targets 31 to 33 can be obtained, for example, by aiming at the reflection sheets 34 (first reflection sheets) (see FIG. 2) attached to the targets 31 to 33 with the TS (details will be described later). Note that if a virtual surface can be provided, there may be four or more targets. Also, instead of the centroid coordinates of the targets 31 to 33, the barycentric coordinates of the targets 31 to 33 may be used.

[0024] [Initialization (Initial coordinate measurement)] When highly accurate soil volume measurement is performed using a plurality of three-dimensional measuring devices, it is necessary to convert and integrate the point cloud data acquired by each of the three-dimensional measuring devices into three-dimensional coordinates. In order to improve the accuracy of the three-dimensional coordinates, it is preferable to direct the reflection sheet disposed within the measurement range (more preferably, near the center of the measurement range) of the three-dimensional measuring device toward the three-dimensional measuring device. Considering that the three-dimensional measuring devices 21 and 22 are disposed above, it is preferable that the targets 31 to 33 have a polyhedron shape.

[0025] FIG. 2 is an explanatory diagram of an example of a target of a regular hexahedron in (a), an explanatory diagram of an example of a target of a regular octahedron in (b), and an explanatory diagram of a reflection sheet in (c). As shown in FIG. 2(a), when the targets 31 to 33 are regular hexahedrons, no matter where the three-dimensional measuring devices 21 and 22 are disposed, at least one side surface of the targets 31 to 33 disposed in the overlapping range of the measurement ranges 211 and 221 faces the three-dimensional measuring devices 21 and 22. Therefore, by attaching one or more reflection sheets 34 to the side surfaces of the targets 31 to 33, the reflection sheet 34 can be surely directed toward the three-dimensional measuring devices 21 and 22. Note that the reflection sheet 34 may be attached to the upper surface or the lower surface of the regular hexahedron targets 31 to 33.

[0026] When sighting the reflecting sheet 34 shown in Fig. 2(c) with the TS, the three-dimensional coordinates of the center of the circle drawn on the reflecting sheet 34 attached to one surface of the hexahedral targets 31 to 33 can be obtained. Since the relative positional relationship between the center of the circle of the reflecting sheet 34 and the centroid coordinates of the hexahedron is fixed, the three-dimensional centroid coordinates of the hexahedral targets 31 to 33 can be geometrically obtained from the three-dimensional coordinates of the center of the circle. As a result, as described above, a temporary plane passing through the three-dimensional centroid coordinates of the targets 31 to 33 can be provided. By having the three-dimensional measuring devices 21 and 22 capture the temporary plane, three-dimensional coordinates can be set for each of the three-dimensional measuring devices 21 and 22.

[0027] Also, as shown in Fig. 2(b), when the targets 31 to 33 are octahedrons, no matter where the three-dimensional measuring devices 21 and 22 are arranged, at least one of the upper four surfaces of the targets 31 to 33 arranged in the overlapping range of the measurement ranges 211 and 221 faces the three-dimensional measuring devices 21 and 22 (when the three-dimensional measuring devices 21 and 22 are arranged above the targets 31 to 33). Therefore, by attaching one or more reflecting sheets 34 to the upper four surfaces of the targets 31 to 33, the reflecting sheet 34 can be surely made to face the three-dimensional measuring devices 21 and 22. Note that the reflecting sheet 34 may be attached to the lower four surfaces of the octahedral targets 31 to 33.

[0028] In the same manner as in the case of the hexahedron, even in the case of an octahedron, the three-dimensional centroid coordinates of the targets 31 to 33 can be geometrically obtained. As a result, as described above, a temporary plane passing through the three-dimensional centroid coordinates of the targets 31 to 33 can be provided. By having the three-dimensional measuring devices 21 and 22 capture the temporary plane, three-dimensional coordinates can be set for each of the three-dimensional measuring devices 21 and 22.

[0029] [Measurement of the amount of soil in the earth and sand pit] By setting three-dimensional coordinates for the three-dimensional measuring devices 21 and 22, the positions (initial values) of the three-dimensional measuring devices 21 and 22 can be set. Also, since the postures of the three-dimensional measuring devices 21 and 22 are fixed, based on the design information of the three-dimensional measuring devices 21 and 22, the orientations (initial values) of the three-dimensional measuring devices 21 and 22 can be set. Note that the targets 31 to 33 are required for initial measurements such as positioning and orientation determination of the three-dimensional measuring device. Therefore, after setting the position and orientation for the three-dimensional measuring devices 21 and 22, the targets 31 to 33 may remain arranged, or may be removed for the convenience of earth and sand loading and unloading.

[0030] The three-dimensional measuring devices 21 and 22 with their positions and orientations set acquire point cloud data of the empty earth and sand pit 4. The measuring unit 11 of the management device 1 integrates the point cloud data acquired by each of the three-dimensional measuring devices 21 and 22. The integrated point cloud data is point cloud data representing the entire inner surface of the earth and sand pit 4 itself, and serves as the initial value of the point cloud data. The measuring unit 11 converts the integrated point cloud data into three-dimensional coordinates. Note that if it is not possible to acquire the point cloud data of the empty earth and sand pit 4 due to circumstances at the construction site or the like, for example, the CAD data of the earth and sand pit 4 may be used to process and assign three-dimensional coordinates to the point cloud data of the empty earth and sand pit 4.

[0031] Also, the three-dimensional measuring devices 21 and 22 acquire point cloud data of the earth and sand pit 4 with earth and sand deposited. The point cloud data acquired by the three-dimensional measuring devices 21 and 22 becomes point cloud data of at least a part of the surface of the earth and sand in the earth and sand pit 4. The measuring unit 11 of the management device 1 integrates the point cloud data acquired by each of the three-dimensional measuring devices 21 and 22. The integrated point cloud data is point cloud data representing the entire surface of the deposited earth and sand. The measuring unit 11 converts the integrated point cloud data into three-dimensional coordinates. Also, the measuring unit 11 measures the earth volume of the earth and sand in the earth and sand pit 4 based on the difference between the point cloud data representing the entire surface of the deposited earth and sand and the point cloud data of the empty earth and sand pit 4. Since a part of the measurement ranges 211 and 221 overlap and the unmeasured area for the earth and sand pit 4 is eliminated, the accuracy of earth volume measurement can be extremely improved.

[0032] [Position Deviation Judgment] The three-dimensional measuring devices 21 and 22 with their positions and orientations set can measure the position of the reflection sheet 41. The reflection sheet 41 can be the same as the reflection sheet 34 (see Fig. 2(c)). The position measurement of the reflection sheet 41 is performed before the soil volume measurement and continuously or periodically during the operation of the three-dimensional measuring devices 21 and 22. The determination unit 12 determines the positions of the three-dimensional measuring devices 21 and 22 based on the measured position of the reflection sheet 41. When the determined position exceeds a predetermined threshold, the warning unit 15 can notify the administrator (for example, the person using the console communicably connected to the management device 1) of the position deviation of the three-dimensional measuring devices 21 and 22 to give a warning. In this way, the reflection sheet 41 can be used as a tool for tracing the cause when abnormal values are output in the soil volume measurement.

[0033] [Specification of Soil Volume Measurement Range] In order to improve the accuracy of the soil volume measurement, it is important to accurately specify the soil volume measurement range in advance. The soil volume measurement range is the range specified as the range within the measurement ranges 211 and 221 of the three-dimensional measuring devices 21 and 22 where the soil volume measurement is to be performed. Therefore, the soil and sand within the measurement ranges 211 and 221 but outside the soil volume measurement range are not subject to the soil volume measurement.

[0034] In light of the purpose of the soil volume measurement, it is preferable to match the soil volume measurement range with the inside of the frame of the soil and sand pit 4. Then, it is useful to use the reflection sheet 41 arranged on the periphery of the soil and sand pit 4 for the soil volume measurement range. The specifying unit 14 can specify the soil volume measurement range based on the measured position of the reflection sheet 41. By using the reflection sheet 41, the accuracy of the soil volume measurement can be improved.

[0035] For example, with respect to the photographed image of the construction site (including the measurement ranges 211 and 221) that the three-dimensional measurement devices 21 and 22 face, the designation unit 14 may be able to automatically designate the soil volume measurement range by connecting the reflection sheets 41 at the corners to draw a rectangular area. In this case, at least three reflection sheets 41 are required. When the photographed image is an image of the earthwork pit 4 photographed obliquely, the management device 1 can rotate the photographed image around the vertical axis to make the periphery of the earthwork pit 4 vertical and horizontal. Since the soil volume measurement range can be designated by aligning the rectangular area with the earthwork pit 4 whose periphery extends vertically and horizontally, the designation of the soil volume measurement range can be easily realized. Also, regardless of the orientation of the earthwork pit 4 in the photographed image, the administrator may connect the reflection sheets 41 in the photographed image to draw a rectangular area and designate the soil volume measurement range.

[0036] [Measurement of the soil volume in the dump truck bed] As shown in FIG. 1, different from the case of the earthwork pit 4, the entire area of the dump truck 5 bed fits within the measurement range 231 of a single three-dimensional measurement device 23. Therefore, unlike the three-dimensional measurement devices 21 and 22 that require setting three-dimensional coordinates to integrate the point cloud data, there is no need to set three-dimensional coordinates for the three-dimensional measurement device 23. The three-dimensional measurement device 23 fixedly arranged at a predetermined position in a predetermined orientation acquires the point cloud data of the empty bed of the dump truck 5 parked within the measurement range 231. Also, the three-dimensional measurement device 23 acquires the point cloud data of the entire surface of the soil deposited on the bed after being transferred from the earthwork pit 4 by the backhoe 6.

[0037] The earth and sand management unit 13 converts the point cloud data of the earth and sand deposited on the loading platform and the point cloud data of the empty loading platform into three-dimensional coordinates. These two types of point cloud data do not have absolute three-dimensional coordinates set like in the case of the earth and sand pit 4, but only have three-dimensional coordinates relatively set in the unique three-dimensional coordinate system of the three-dimensional measuring device 23. The earth and sand management unit 13 measures the amount of earth and sand in the loading platform of the dump truck 5 based on the difference between the point cloud data of the earth and sand deposited on the loading platform and the point cloud data of the empty loading platform. Note that the measuring unit 11 may measure the earth and sand in the loading platform, and the earth and sand management unit 13 may control the measurement of the measuring unit 11.

[0038] For example, the operator of the backhoe 6 may operate a switch (not shown) inside the backhoe 6, that is, mainly on the backhoe 6 side, to start the earth and sand measurement by the three-dimensional measuring device 23. The measurement starts after the dump truck 5 stops within the measurement range 231. When the measurement starts, the rotating light 71 lights up to indicate that. For example, the rotating light 71 normally lights up green and lights up yellow during the measurement. The operator of the backhoe 6 and the driver of the dump truck 5 confirm the yellow lighting, and during the measurement, they stop the dump truck 5 and adjust so that the bucket of the backhoe 6 does not enter the measurement range 231. When the measurement is completed, the rotating light 71 lights up green. The operator of the backhoe 6 and the driver of the dump truck 5 confirm the green lighting and move the dump truck 5.

[0039] [Earth and Sand Management] The earthwork management unit 13 can manage the earthwork inflow and outflow to and from the earthwork pit 4. For example, the earthwork management unit 13 can grasp the amount of earthwork carried into the earthwork pit 4 and the amount of earthwork carried out of the construction site by measuring the amount of earthwork for the earthwork pit 4 and the amount of earthwork for the dump truck 5. Therefore, a distribution plan for the dump truck 5 can be established based on the grasped earthwork inflow and outflow amounts. In addition, the management device 1 is communicably connected to a camera 72 that photographs the dump truck 5 parked at a fixed position for receiving the earthwork transferred by the backhoe 6. The earthwork management unit 13 can perform specific gravity management and property management of the earthwork by analyzing the video data from the camera 72 that photographs the state of the earthwork reflected on the loading platform of the dump truck 5. Further, the earthwork management unit 13 can display, on a console communicably connected to the management device 1, for example, a three-dimensional display of the point cloud data of the earthwork in the earthwork pit 4 and a three-dimensional display of the point cloud data of the earthwork in the loading platform of the dump truck 5, which are acquired by the three-dimensional measuring devices 21 to 23. For example, the three-dimensional display can be a display that assigns a color according to the loading height of the earthwork to the point cloud. For example, the user using the console can grasp the amount of earthwork by referring to the color assigned to the point cloud of the earthwork in the earthwork pit 4 or the loading platform of the dump truck 5, and can perform specific gravity management.

[0040] Regarding the specific gravity management of the earthwork, for example, the earthwork management unit 13 measures the volume of the earthwork in the loading platform of the dump truck 5 based on the point cloud data acquired by the three-dimensional measuring device 23. In addition, the weighing scale 73 placed at a fixed position measures the weight of the dump truck 5 when the loading platform is empty and the weight when the earthwork is deposited on the loading platform, thereby measuring the weight of the earthwork in the loading platform of the dump truck 5. The earthwork management unit 13 measures the density of the earthwork in the loading platform of the dump truck 5 using the weight data indicating the weight measured by the weighing scale 73 and the volume data indicating the measured volume. By the specific gravity management of the earthwork, overloading of the earthwork can be prevented in advance.

[0041] Regarding the property management of the earth and sand, for example, the earth and sand management unit 13 can determine the color and taste of the earth and sand in the loading platform inside the dump truck 5 based on the video data acquired by the camera 72. Further, the earth and sand management unit 13 can determine the material and usage amount of the additive (e.g., solidifying agent) added to the earth and sand in the loading platform inside the dump truck 5 based on the determined color and taste. By managing the properties of the earth and sand, the matching of the additive can be managed.

[0042] [Protective Structure] FIG. 3 is an explanatory diagram of an example of the protective structure of the three-dimensional measurement device. The three-dimensional measurement device 2 is fixed to a single pipe (not shown) disposed at the construction site. The fixed three-dimensional measurement device 2 is directed upward toward the earth and sand pit 4 and the loading platform of the dump truck 5 (parked at a fixed position). As shown in FIG. 3, the protective structure of the three-dimensional measurement device 2 includes a housing 81, a window 82, a discharge hole 83, and four spacers 84.

[0043] The housing 81 is a box body that surrounds the main body portion 85 of the three-dimensional measurement device 2. The housing 81 serves to protect the main body portion 85 from rain, dew, and dust. The window 82 optically opens the irradiation portion 86 of the three-dimensional measurement device 2. The irradiation portion 86 is a portion that irradiates laser light and is attached in front of the main body portion 85. The window 82 is, for example, a transparent plate material and constitutes a part of the front surface of the housing 81. The discharge hole 83 discharges the water that has entered the housing 81. The discharge hole 83 is formed at the bottom (bottom surface) of the housing 81. The spacer 84 disposes the main body portion 85 (and the irradiation portion 86) in the housing 81 at a distance from the bottom of the housing 81 (raised floor type). The spacer 84 serves to prevent the main body portion 85 (and the irradiation portion 86) from being wetted by the water that has entered the housing 81.

[0044] [Processing] The processing of the earth volume measurement system 100 will be described. Figure 4 is a flowchart of the initialization method of this embodiment. When starting the processing of the initialization method, targets 31 to 33 are arranged above the earth pit 4 and within the overlapping range of the measurement ranges 211 and 221. First, by aiming at the reflection sheets 34 attached to the targets 31 to 33 with TS, coordinates are set for the targets 31 to 33 (step A1). Next, each of the three-dimensional measurement devices 21 and 22 measures the positions of the reflection sheets 34 of the targets 31 to 33 (step A2). Next, the management device 1 sets the position and orientation of each of the three-dimensional measurement devices 21 and 22 (step A3). The set position and orientation of each of the three-dimensional measurement devices 21 and 22 are based on the coordinates of the targets 31 to 33. Thus, the processing of the initialization method ends.

[0045] Figure 5 is a flowchart of the earth volume measurement method of this embodiment. The processing of the earth volume measurement method starts after the completion of the processing of the initialization method. First, each of the three-dimensional measurement devices 21 and 22 measures the position of the reflection sheet 41 on the periphery of the earth pit 4 (step B1). Next, the determination unit 12 of the management device 1 performs a position deviation determination process (step B2). Specifically, the determination unit 12 determines the positions of the three-dimensional measurement devices 21 and 22 based on the measured positions of the reflection sheet 41. When the determined position exceeds a predetermined threshold, the warning unit 15 gives a warning. Next, the designation unit 14 of the management device 1 performs an earth volume measurement range designation process (step B3). Specifically, an earth volume measurement range is designated inside the measurement ranges 211 and 221 of the three-dimensional measurement devices 21 and 22. The earth volume measurement range may coincide with the periphery of the earth pit 4.

[0046] Next, each of the three-dimensional measurement devices 21 and 22 acquires point cloud data of at least a part of the surface of the earth in the earth pit 4 (step B4). Next, the management device 1 integrates the point cloud data acquired by each of the three-dimensional measurement devices 21 and 22 (step B5). Thereby, point cloud data of the entire surface of the earth in the earth pit 4 is obtained. Next, the measurement unit 11 of the management device 1 measures the earth volume in the earth pit 4 (step B6).

[0047] Next, the three-dimensional measuring device 23 acquires point cloud data of the surface of the earth and sand in the cargo bed of the dump truck 5 (step B7). Next, the measuring unit 11 of the management device 1 measures the amount of earth and sand in the cargo bed of the dump truck 5 (step B8). Next, the earth and sand management unit 13 of the management device 1 performs earth and sand management processing (step B9). Specifically, it performs management of the loading and unloading of the amount of earth and sand to and from the earth and sand pit 4, creation of data for formulating distribution plans, etc., and management of the specific gravity and properties of the earth and sand in cooperation with the camera 72 and the weighing scale 73. Thus, the processing of the earth and sand measurement method is completed.

[0048] [Effect] According to the present embodiment, the burden of surface earth and sand measurement can be reduced. More specifically, for any of the plurality of three-dimensional measuring devices 21 and 22, the coordinates and orientation can be set using the same three targets 31 to 33. Therefore, the labor required for installing a prism for each three-dimensional measuring device as in the prior art is not required. Further, since the targets 31 to 33 have a polyhedron shape, the three-dimensional measuring devices 21 and 22 can be generally aligned with the reflection sheets 34 attached to the targets 31 to 33 regardless of their positions. Therefore, the accuracy of the set coordinates and orientation can be improved. In addition, since the positioning and orientation of the plurality of three-dimensional measuring devices 21 and 22 only need to be performed with respect to the targets 31 to 33 for which the coordinates are set, the installation of jigs for the three-dimensional measuring devices 21 and 22 is easy. After the initial measurement such as the positioning and orientation of the three-dimensional measuring device is completed, the target may be removed, or may be left as long as it does not interfere with the work.

[0049] In addition, the reflection sheet 41 can be used as a tool for tracing the cause when an abnormal value of the earth and sand measurement is output. That is, the displacement of the three-dimensional measuring devices 21 and 22 with respect to the reflection sheet 41 can be determined. If there is a displacement, it can be notified to the administrator. In addition, the total amount of earth and sand carried in and out of the construction site can be managed. Also, the balance of the earth and sand in the earth and sand pit 4 can be managed. As a result, overloading of the dump truck 5 can be prevented. Also, the specific gravity of the earth and sand can be managed, which contributes to the management of the properties of the earth and sand. Furthermore, by specifying the soil volume measurement range, the accuracy of soil measurement can be improved. Furthermore, by making the targets 31 to 33 polyhedrons and affixing a reflective sheet 34 to at least one or all of the multiple faces constituting the polyhedrons, it is possible to reliably face the reflective sheet 34 affixed to the targets 31 to 33 no matter where the three-dimensional measuring devices 21 and 22 are placed. In particular, by making the targets 31 to 33 regular hexahedrons or regular octahedrons, it is possible to reliably face the reflective sheet 34 affixed to the targets 31 to 33 no matter where the three-dimensional measuring devices 21 and 22 are placed. Furthermore, according to the initialization method of this embodiment, the number of targets 31 to 33 to be installed can be reduced to facilitate measurement, and the three-dimensional measuring devices 21 and 22 and the reflecting sheet 34 can be reliably positioned facing each other. Furthermore, the protective structure of this embodiment can provide protection against rain and dew and dust for the three-dimensional measuring device 2. As a result, even if the environment of the construction site where the three-dimensional measuring device 2 is installed is poor, the surveying environment is not impaired, and a decrease in the accuracy of soil volume measurement can be avoided.

[0050] [others] (a): When applying the reflective sheet 34 to any surface of the polyhedral targets 31 to 33, the reflective sheet 34 may be applied to any region of the surface to which it is to be applied. In other words, it is not necessary to apply the reflective sheet 34 so that its circular center (see FIG. 2(c)) is aligned with the center or center of gravity of the surface to which it is to be applied. Once applied, the relative positional relationship between the circular center of the reflective sheet 34 and the centroid coordinates of the targets 31 to 33 is determined, so that the three-dimensional centroid coordinates of the targets 31 to 33 can be geometrically determined. As a result, a virtual plane passing through the three-dimensional centroid coordinates of the targets 31 to 33 can be provided. (b): A load bed reflective sheet similar to the reflective sheet 41 disposed at the periphery of the earth and sand pit 4 may be disposed at a predetermined position with respect to the load bed of the dump truck 5. For example, the load bed reflective sheet may be disposed above or substantially above the corner of the load bed of the dump truck 5 parked at a fixed position for receiving the earth and sand from the backhoe 6 into the earth and sand pit 4, and at a position higher than the load bed. Further, the load bed reflective sheet may be disposed at the corner of the measurement range 231 of the three-dimensional measurement device 23. By using the load bed reflective sheet, the position deviation determination of the three-dimensional measurement device 23 by the determination unit 12 can be performed. Also, the range of the load bed of the dump truck 5 becomes clear, and the earth volume measurement range can be specified by the specifying unit 14. (c): The shapes of the targets 31 to 33 are not limited to polyhedrons. For example, the surfaces of the targets 31 to 33 may be non-planar, spherical, or may have curved surfaces. It is possible to attach the reflective sheet to a non-planar surface.

[0051] (d): It is also possible to realize a technique in which various techniques described in this embodiment are appropriately combined. (e): The software described in this embodiment can be realized as hardware, and the hardware can also be realized as software. (f): In addition, regarding the components of the present invention, appropriate changes can be made without departing from the gist of the present invention.

Explanation of Reference Numerals

[0052] 100 Earth volume measurement system 1 Management device 11 Measurement unit 12 Determination unit 13 Earth and sand management unit 14 Specifying unit 15 Warning unit 2, 21, 22 Three-dimensional measurement device 2, 23 Three-dimensional measurement device (dump three-dimensional measurement device) 211, 221, 231 Measurement range 31 to 33 Targets 34 Reflective sheet (first reflective sheet) 4 Earth and sand pit 41 Reflective sheet (second reflective sheet) 5 Dump truck 6 Backhoe 71 Rotating light 72 Camera 73 Weighing scale 81 Housing 82 Window 83 Drain hole 84 Spacer 85 Body part 86 Irradiation part

Claims

1. A soil volume measurement system comprising a plurality of three-dimensional measurement devices, three or more targets visible from the three-dimensional measurement devices, and a management device, wherein the three-dimensional measurement device is capable of acquiring point cloud data of at least a part of the surface of the soil and sand in the soil and sand pit, wherein at least one first reflection sheet is attached to the target, and the target is disposed above the soil and sand pit, wherein the coordinates and orientations of each of the three-dimensional measurement devices are set with reference to the coordinates of the target, wherein the management device, comprises a measurement unit that measures the soil volume of the soil and sand in the soil and sand pit based on the point cloud data of the entire surface of the soil and sand obtained by integrating the point cloud data acquired by each of the three-dimensional measurement devices. A soil volume measurement system.

2. The management device, when each of the three-dimensional measurement devices measures the position of a second reflection sheet disposed on the periphery of the soil and sand pit, based on the measured position of the second reflection sheet, determines the position of each of the three-dimensional measurement devices. The soil volume measurement system according to claim 1, further comprising a determination unit.

3. further comprising a three-dimensional measurement device for dumping that acquires point cloud data of the surface of the soil and sand in the loading platform of the dump truck, wherein the management device, further comprises a soil and sand management unit that manages the loading and unloading of soil volume to and from the soil and sand pit by measuring the soil volume of the soil and sand in the loading platform of the dump truck based on the point cloud data acquired by the three-dimensional measurement device for dumping. The soil volume measurement system according to claim 1.

4. The management device, when each of the three-dimensional measurement devices measures the position of a second reflection sheet disposed on the periphery of the soil and sand pit, based on the measured position of the second reflection sheet, further comprises a designation unit that designates a soil volume measurement range. The soil volume measurement system according to claim 1.

5. The target has a polyhedron shape, and the first reflection sheet is attached to at least one or all of the plurality of surfaces constituting the polyhedron. The soil volume measurement system according to any one of claims 1 to 4.

6. The soil volume measurement system according to any one of claims 1 to 4, wherein the target is a regular hexahedron or a regular octahedron.

7. each of the plurality of three-dimensional measurement devices acquires point cloud data of at least a part of the surface of the soil and sand in the soil and sand pit, and The management device includes a step of measuring the volume of earth and sand in the earth and sand pit based on the acquired point cloud data. A method for measuring the volume of earth and sand, wherein at least one first reflection sheet is attached, disposed above the earth and sand pit, and three or more targets with set coordinates are measured by the three-dimensional measuring device, thereby setting the coordinates and orientations of the respective three-dimensional measuring devices.

8. Each of the three-dimensional measuring devices measures the position of a second reflection sheet disposed on the periphery of the earth and sand pit. The management device determines the position of each of the three-dimensional measuring devices based on the measured position of the second reflection sheet. The method for measuring the volume of earth and sand according to claim 7, further comprising a step in which the management device gives a warning when the determined position exceeds a predetermined threshold value.

9. The three-dimensional measuring device for dumping acquires point cloud data of the surface of the earth and sand in the cargo bed of the dump truck. The management device measures the volume of earth and sand in the cargo bed of the dump truck based on the point cloud data acquired by the three-dimensional measuring device for dumping. The method for measuring the volume of earth and sand according to claim 7, further comprising a step in which the management device measures the density of the earth and sand in the cargo bed of the dump truck based on weight data acquired from a weighing scale that measures the weight of the dump truck.

10. Each of the three-dimensional measuring devices measures the position of a second reflection sheet disposed on the periphery of the earth and sand pit. The method for measuring the volume of earth and sand according to claim 7, further comprising a step in which the management device designates a volume measurement range based on the measured position of the second reflection sheet.

11. A step in which each of a plurality of three-dimensional measuring devices measures the position of at least one first reflection sheet attached to three or more targets disposed above the earth and sand pit and having set coordinates. An initialization method, comprising a step in which the management device sets the position and orientation of each of the three-dimensional measuring devices based on the measured position of the first reflection sheet.

12. A protective structure for a three-dimensional measuring device, wherein at least one first reflection sheet is attached, disposed above the earth and sand pit, and the coordinates and orientation are set by three or more targets with set coordinates. A housing that surrounds the main body of the three-dimensional measuring device. A window that optically opens the irradiation unit of the three-dimensional measuring device. A drain hole for draining water that has entered the housing, A spacer that disposes the main body portion away from the bottom of the housing within the housing, a protective structure.

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