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

Abstract

To quickly manage a finished shape.SOLUTION: A finished shape management device manages a finished shape by measuring a three-dimensional shape of an excavation target area on the basis of point group data obtained by scanning the excavation target area with a laser beam from a laser sensor mounted on an excavation heavy machine. The finished shape management device includes: a demarcated excavation target area generation section that generates a demarcated excavation target area demarcated on the basis of arrangement positions with respect to a surveying reference point of surveying mirrors sequentially or simultaneously arranged at arbitrary four points surrounding the excavation target area; a first axis generation section that generates a straight line connecting two points close to the excavation heavy machine among the arrangement positions of the four points of the surveying mirrors as a first axis; and a measurement target area generation section that generates a measurement target area as an excavation target area whose finished shape is to be measured by correcting the demarcated excavation target area so that the first axis faces the excavation heavy machine.SELECTED DRAWING: Figure 2A

Description

[Technical Field]

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

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

[0014] to

[0030] , etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-151963 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, coordinates are calculated from all of the acquired point cloud data, so it is not possible to perform rapid as-built management. [Means for solving the problem]

[0005] In order to achieve the above object, the completed product management device according to the present invention comprises: A completed shape management device that measures the three-dimensional shape of an area to be excavated based on point cloud data obtained by scanning a laser beam from a laser sensor mounted on an excavation heavy machine to the area to be excavated and manages the completed shape, a defined excavation target area generating unit that generates a defined excavation target area based on the positions of survey mirrors that are sequentially or simultaneously placed at any four points surrounding the excavation target area relative to a survey reference point; a first axis generating unit that generates a straight line connecting two of the four placement positions of the surveying mirror that are closest to the excavation heavy machine as a first axis; A measurement target area generation unit that corrects the defined excavation target area so that the first axis faces the excavation heavy machine and generates a measurement target area as an excavation target area whose completed shape is to be measured; Equipped with.

[0006] In order to achieve the above object, the present invention provides a method for managing completed work, A method for managing the finished shape by measuring the three-dimensional shape of an area to be excavated based on point cloud data obtained by scanning a laser beam from a laser sensor mounted on an excavation heavy machine to the area to be excavated, a defined excavation target area generating step for generating a defined excavation target area based on the positions of survey mirrors, which are sequentially or simultaneously placed at any four points surrounding the excavation target area, relative to a survey reference point; a first axis generating step of generating a straight line connecting two of the four placement positions of the surveying mirror that are closest to the excavation heavy machine as a first axis; A measurement target area generation step of correcting the defined excavation target area so that the first axis faces the excavation heavy machine and generating a measurement target area as an excavation target area whose completed shape is to be measured; Includes:

[0007] Furthermore, in order to achieve the above object, the completed form management program according to the present invention comprises: A completed shape management program that measures the three-dimensional shape of an area to be excavated based on point cloud data obtained by scanning a laser beam from a laser sensor mounted on an excavation heavy machine to the area to be excavated and manages the completed shape, a defined excavation target area generating step for generating a defined excavation target area based on the positions of survey mirrors, which are sequentially or simultaneously placed at any four points surrounding the excavation target area, relative to a survey reference point; a first axis generating step of generating a straight line connecting two of the four placement positions of the surveying mirror that are closest to the excavation heavy machine as a first axis; A measurement target area generation step of correcting the defined excavation target area so that the first axis faces the excavation heavy machine and generating a measurement target area as an excavation target area whose completed shape is to be measured; to be executed by the computer. [Effects of the Invention]

[0008] According to the present invention, it is possible to quickly manage the completed work. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram for explaining an overview of a finished product management device according to a preferred embodiment of the present invention; [Figure 2A] 1 is a block diagram for explaining the configuration of a completed form management device according to a preferred embodiment of the present invention. [Figure 2B] 1 is a block diagram for explaining details of processing by a completed form management device according to a preferred embodiment of the present invention. [Figure 3] 1 is a diagram for explaining an example of an extended judgment table possessed by a finished product management device according to a preferred embodiment of the present invention. FIG. [Figure 4] 1 is a diagram for explaining the hardware configuration of a completed form management device according to a preferred embodiment of the present invention. [Figure 5] 1 is a flowchart illustrating a processing procedure of a completed form management device according to a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail by way of example with reference to the drawings. However, the configurations, numerical values, processing flows, functional elements, etc. described in the following embodiments are merely examples, and are open to modification and alteration, and are not intended to limit the technical scope of the present invention to the following description.

[0011] An as-built shape management device 100 according to a preferred embodiment of the present invention will be described with reference to Figures 1 to 5. Figure 1 is a diagram for explaining an overview of as-built shape management by the as-built shape management device 100 according to this embodiment.

[0012] First, in the construction of mountain tunnels and the like, an invert is installed by, for example, closing one lane of traffic, excavating the area to be excavated with heavy excavation equipment such as a backhoe 110, and once the excavation is complete, constructing an invert at the excavated area.

[0013] Here, when installing the invert, construction work is carried out while checking the finished shape of the excavated area. The finished shape of the excavated area is checked by setting height standards on the tunnel sidewalls and measuring the height of the excavated area using a ruler. The measured value is then compared with the design value to determine whether or not there is a hit, and if there is a hit, re-excavation is carried out to bring it closer to the design value. Using this construction method, the finished shape of the excavated area where the invert will be installed is checked.

[0014] Then, to check the finished shape of the area to be excavated, the area to be excavated is scanned with laser light emitted from a laser scanner 111 mounted on a heavy excavation machine such as a backhoe 110. Here, the laser scanner 111 is, for example, a LiDAR (Light Detection and Ranging) sensor, which is a measurement device that uses light. The laser scanner 111 emits pulsed laser light and measures the distance between the object and the laser scanner 111 based on the time difference between the light hitting the object and bouncing back, etc.

[0015] The completed form management device 100 acquires point cloud data 120, which is the measurement values at each point, using laser light emitted from a laser scanner 111 mounted on a backhoe 110. By comparing the height data at each point obtained from the acquired point cloud data with the design data, it becomes possible to check whether there is a hit or not.

[0016] As shown in the figure, even if the point cloud data 120 is displayed on a display device such as a monitor, it is difficult for the operator to confirm the excavation position or determine whether the excavation amount is correct if the displayed point cloud data 120 is not directly facing the backhoe 110. In response to this, the as-built management device 100 generates an excavation target area 130, which is the area where the as-built should be measured, and displays it on a monitor or the like while facing the backhoe 110, thereby assisting the operator in checking the data.

[0017] Furthermore, the point cloud data 120 is measured as reflected light of laser light emitted from the laser scanner 111 mounted on the backhoe 110, and therefore is position data of each measurement point with the laser scanner 111 as the origin. In other words, if the backhoe 110 moves (if the position of the laser scanner 111 moves), a shift will occur in the origin of measurement.

[0018] In contrast to this, the design data is data that is created regardless of the position of the laser scanner 111 mounted on the backhoe 110, and is data that is created based on the absolute coordinates of the area to be excavated.

[0019] Next, the configuration of the as-built form management device 100 will be described with reference to Figures 2A and 2B. The as-built form management device 100 is a device that measures the three-dimensional shape of an area to be excavated based on point cloud data obtained by scanning the area to be excavated with a laser beam from a laser sensor mounted on an excavation heavy machine, and manages the as-built form. The as-built form management device 100 includes a defined excavation target area generation unit 201, a first axis generation unit 202, a second axis generation unit 203, a corrected measurement target area generation unit 204, a measurement target area generation unit 205, a mesh generation unit 206, and an as-built form measurement unit 207.

[0020] The defined excavation target area generation unit 201 generates a defined excavation target area 230 based on the positions of survey mirrors 220 placed sequentially or simultaneously at any four points surrounding the excavation target area relative to the survey reference point.

[0021] 2B(b) and (c), the survey mirrors 220 are placed at four points (A, B, C, D) surrounding the area to be excavated. The survey mirrors 220 may be placed at the four points simultaneously or sequentially. When the survey mirrors 220 are placed at the four points sequentially, they are placed in the order of A → B → C → D, for example, but the order of placement is not limited to this.

[0022] After the surveying mirror 220 is placed, the position of the surveying mirror 220 is measured using the surveying instrument 210. The position of the surveying mirror 220 is measured using the surveying instrument 210 as a surveying reference point. The surveying instrument 210 is, for example, a transit, a theodolite, a total station, or the like.

[0023] The first axis generating unit 202 generates, as the first axis, a straight line connecting two of the four positions of the surveying mirror 220 that are closest to the excavation heavy equipment. With reference to Figures 2B(b) and (c), of the positions (A, B, C, D) where the surveying mirror 220 is placed, the two points closest to the backhoe 110 (excavation heavy equipment) are points A and B. Therefore, the first axis generating unit 202 generates the first axis 250 by connecting these two points (A, B).

[0024] The second axis generating unit 203 generates a second axis 260 that is perpendicular to the first axis 250. In the example shown in FIGS. 2B(b) and (c), the second axis 260 is generated with point A as the origin. That is, the first axis 250 and the second axis 260 form a two-dimensional coordinate system with point A as the origin. Note that in the following description, for convenience, the first axis 250 may be referred to as the X-axis and the second axis 260 as the Y-axis.

[0025] The corrected measurement target area generating unit 204 calculates the coordinate values (X A ,X B ) is the coordinate of the point (A) on the side with the smaller A ,Y A ). The corrected measurement target area generating unit 204 also sets the point (B) on the side with the larger coordinate value on the first axis 250 as the second coordinate (X B ,Y B )

[0026] Next, the corrected measurement target region generating unit 204 calculates the coordinate values (X C ,X D ) is the coordinate of the point (C) on the larger side, C ,Y C ) and the corrected measurement target area generating unit 204 calculates the coordinate value (X C ,X D ) is the coordinate of the point (D) on the side with the smaller value, and the fourth coordinate (X D ,Y D )

[0027] Furthermore, based on the relationship between the coordinate values of the first coordinate, the coordinate values of the second coordinate, the coordinate values of the third coordinate, and the coordinate values of the fourth coordinate, the corrected measurement target area generating unit 204 corrects the measurement target area to generate the corrected measurement target area 231. Specifically, the corrected measurement target area generating unit 204 corrects the measurement target area as follows to generate the corrected measurement target area 231.

[0028] The corrected measurement target region generating unit 204 calculates the coordinate value of the first coordinate (A) (XA ) and the fourth coordinate (D) (X D ) and the coordinate value (X D ) is the coordinate value of the smaller coordinate (X A ) and move it parallel to the first axis (D´).

[0029] This will be explained using the example shown in FIG. 2B(b). When the first coordinate (A) and the fourth coordinate (D) are compared, the coordinate value of the fourth coordinate is larger in the first axis direction (X axis direction). D >X A ). Therefore, the coordinate value of the fourth coordinate (X D ) is the coordinate value of the first coordinate (X A ) and the same value (X D´ ) and move point D parallel to the first axis (X axis) (D´).

[0030] Similarly, for example, an example shown in FIG. 2B(c) will be described. When the first coordinate (A) and the fourth coordinate (D) are compared, the coordinate value of the first coordinate is larger in the first axis direction (X axis direction). A >X D ). Therefore, the coordinate value of the first coordinate (X A ) is the coordinate value of the fourth coordinate (X D ) and the same value (X A´ ), point A is translated along the first axis 250 (A').

[0031] Next, the corrected measurement target area generation unit 204 compares the coordinate value of the second coordinate (B) with the coordinate value of the third coordinate (C) for the coordinate value in the first axis direction, and moves them parallel to the first axis until the coordinate value of the coordinate with the smaller coordinate value becomes the same as the coordinate value of the coordinate with the larger coordinate value.

[0032] An example shown in FIG. 2B(b) will be described. When comparing the second coordinate (B) and the third coordinate (C), the coordinate value of the second coordinate (B) in the first axis direction (X axis) is smaller than that of the third coordinate (C). B <X C Therefore, the corrected measurement target region generating unit 204 calculates the coordinate value of the second coordinate (XB ) is the coordinate value of the third coordinate (X C ) and the same value (X B Point B is translated along the first axis (X axis) until point B becomes (B´).

[0033] In the example shown in FIG. 2B(c), similarly to the example shown in FIG. 2B(b), the corrected measurement target region generating unit 204 calculates the coordinate value of the second coordinate (X B ) is the coordinate value of the third coordinate (X C ) and the same value (X B Point B is translated along the first axis (X axis) until point B becomes (B´).

[0034] Then, the corrected measurement target area generating unit 204 compares the coordinate value of the third coordinate (C) with the coordinate value of the fourth coordinate (D) for the coordinate value in the second axis direction (Y axis direction), and moves them parallel to the direction of the second axis 260 until the coordinate value of the coordinate with the smaller coordinate value becomes the same as the coordinate value of the coordinate with the larger coordinate value.

[0035] This will be explained using the example shown in FIG. 2B(b). The corrected measurement target area generating unit 204 calculates the coordinate value in the second axis direction (Y axis direction) by subtracting the coordinate value (Y C ) and the fourth coordinate (D) (Y D Then, the corrected measurement target area generating unit 204 compares the coordinate value (Y) of the coordinate (D) with the smaller coordinate value. D ) is the coordinate value (Y C ) is translated along the second axis 260 (D').

[0036] Similarly, the example shown in FIG. 2B(c) will be described. The corrected measurement target area generating unit 204 calculates the coordinate value in the second axis direction (Y axis direction) by calculating the coordinate value (Y C ) and the fourth coordinate (D) (Y D Then, the corrected measurement target area generating unit 204 compares the coordinate value (Y C ) is the coordinate value (Y) of the larger coordinate value (D). D) is translated along the second axis 260 (C').

[0037] By performing the above-described processing, the corrected measurement target area generation unit 204 generates an expanded defined excavation target area (expanded portion 242) by expanding the defined excavation target area 230. The expanded defined excavation target area (expanded portion 242) is (A, B', C, D') in the example shown in FIG. 2B(b), and (A', B', C', D) in the example shown in FIG. 2B(c). In this way, by expanding the defined excavation target area 230, it is possible to collect more point cloud data without omission.

[0038] The measurement target area generation unit 205 corrects the expanded defined excavation target area (expanded portion 242) so that the first axis 250 faces the excavation heavy machine, and generates the measurement target area 240 as the excavation target area for which the finished shape is to be measured based on the first axis. That is, as shown in Figure 2B(a), the measurement target area generation unit 205 corrects the expanded defined excavation target area (expanded portion 242) shown in Figures 2B(b) and (c) so that it faces the backhoe 110 (excavation heavy machine), and generates the measurement target area 240.

[0039] The mesh generation unit 206 generates a mesh 241 by dividing the corrected measurement target region 231 at equal intervals in the first axis direction and the second axis direction. As shown in Fig. 2B(a), the mesh generation unit 206 generates a plurality of line segments orthogonal to the first axis 250 and the second axis 260, thereby generating the mesh 241 that divides the corrected measurement target region 231 into a plurality of sections. Note that, here, each line segment constituting the mesh 241 is a line segment orthogonal to the first axis 250 and the second axis 260, but each line segment may be a line segment that intersects with the first axis 250 and the second axis 260 at any angle.

[0040] The intervals between the line segments constituting the mesh 241 may be determined arbitrarily. For example, the intervals between the line segments (intervals between the meshes 241) may be several centimeters to several meters, or may be a multiple (40 cm, 60 cm, etc.) of a predetermined interval (for example, 20 cm). Furthermore, the length and width of the mesh 241 may be the same or different. That is, the shape of the mesh 241 may be square or rectangular.

[0041] When the length of the terminal mesh 241 in the first axis direction or the second axis direction exists outside the corrected measurement target region 231 by a predetermined percentage, the mesh generation unit 206 expands the corrected measurement target region 231 in the positive direction of the first axis 250 or the positive direction of the second axis 260. In other words, when the mesh 241 protrudes outside the corrected measurement target region 231, the mesh generation unit 206 expands the corrected measurement target region 231.

[0042] First, the mesh generation unit 206 determines whether the end of the generated mesh 241 (the side of the mesh 241 opposite to the first axis 250 and the second axis 260) is outside or inside the corrected measurement target region 231. If it is determined that the end of the mesh 241 is outside the corrected measurement target region 231, the corrected measurement target region 231 is expanded in the positive direction of the first axis or the positive direction of the second axis.

[0043] 2B(a), for example, consider a case where the end (side) of the mesh 241 in the first axis direction is outside the corrected measurement target region 231 and the end (side) in the second axis direction is inside the corrected measurement target region 231. In this case, since the end of the mesh 241 in the first axis direction is outside the corrected measurement target region 231, the mesh generation unit 206 expands the corrected measurement target region 231 in the first axis direction to generate the expanded corrected measurement target region 231. As a result, an expanded portion 242 (two-dot chain line) of the corrected measurement target region 231 is generated outside the corrected measurement target region 231. In this way, by expanding the corrected measurement target region 231 in at least one of the first axis direction and the second axis direction based on the positional relationship between the corrected measurement target region 231 and the mesh 241, it becomes possible to extract all point cloud data included in the excavation target region 130.

[0044] The completed form measurement unit 207 acquires point cloud data within the range of the corrected measurement target area 231 and measures the completed form of the excavation target area 130. The completed form measurement unit 207 measures the completed form of the corrected measurement target area 231, but if an extension portion 242 exists, it measures the completed form of the extension portion 242 and the corrected measurement target area 231.

[0045] By performing the above processing, when the operator of the backhoe 110 operates the backhoe 110, a screen in which the backhoe 110 and the measurement target area 240 are directly facing each other is displayed on the monitor in the driver's seat of the backhoe 110 (FIG. 2B(a)). With the backhoe 110, which is a heavy excavation machine, facing the measurement target area 240 directly, the completed shape of the measurement target area 240 can be measured, allowing the operator to perform accurate excavation work.

[0046] Next, an example of the extension determination table 301 of the finished shape management device 100 will be described with reference to FIG. 3 . The extension determination table 301 stores an extension necessity 312 in association with a protrusion amount 311. The protrusion amount 311 indicates, as a percentage of length, how much of the length of the mesh 241 in the first axis direction or the second axis direction exists outside the corrected measurement target region 231. The extension necessity 312 indicates whether the corrected measurement target region 231 should be extended. Then, by referring to the extension determination table 301, the mesh generation unit 206 extends the corrected measurement target region 231 when the protrusion amount 311 is, for example, approximately 20 to 25% of the length of the mesh 241 in the first axis direction or the second axis direction. Note that, if a protrusion portion exists only in the first axis direction or only in the second axis direction, the mesh generation unit 206 extends the corrected measurement target region 231 only in the axis direction in which the protrusion portion exists.

[0047] The hardware configuration of the completed shape management device 100 will be described with reference to FIG. 4. The CPU (Central Processing Unit) 410 is a processor for arithmetic and control, and executes programs to realize the various functional components of the completed shape management device 100 shown in FIG. 2. The CPU 410 may have multiple processors and execute different programs, modules, tasks, threads, etc. in parallel. The ROM (Read Only Memory) 420 stores fixed data such as initial data and programs, as well as other programs. The network interface 430 communicates with other devices via a network. The CPU 410 is not limited to a single CPU, but may include multiple CPUs or a GPU (Graphics Processing Unit) for image processing. The network interface 430 preferably has a CPU independent of the CPU 410 and writes and reads transmitted and received data to and from a random access memory (RAM) 440. It is also preferable to provide a direct memory access controller (DMAC) (not shown) for transferring data between the RAM 440 and the storage 450. The CPU 410 recognizes that data has been received or transferred to the RAM 440 and processes the data accordingly. The CPU 410 also prepares the processing results in the RAM 440, and leaves the subsequent transmission or transfer to the network interface 430 or DMAC.

[0048] The RAM 440 is a random access memory used by the CPU 410 as a temporary storage work area. The RAM 440 has a storage area reserved for storing data necessary for implementing this embodiment. The mirror position data 441 is data on the position of the survey mirror arranged to surround the excavation target area 130 relative to a reference point. The axis data 442 is data related to the first axis and the second axis. The reflected light data 443 is data related to the reflected light of the laser light irradiated onto the excavation target area 130. The point cloud data 444 is data generated from the reflected light of each of the laser light irradiated onto and scanned by the excavation target area 130. The three-dimensional shape data 445 is data representing the finished shape (three-dimensional) of the excavation target area 130 generated from the point cloud data.

[0049] The transmitted / received data 446 is data transmitted and received via the network interface 430. The RAM 440 also has an application execution area 447 for executing various application modules.

[0050] The storage 450 stores a database, various parameters, or the following data or programs required to implement this embodiment. The storage 450 stores an extension determination table 301. The extension determination table 301 is a table that manages the relationship between the overflow amount 311 and the necessity for extension 312 shown in FIG. 3.

[0051] The storage 450 further stores a defined excavation target area generation module 451, a first axis generation module 452, a second axis generation module 453, a corrected measurement target area generation module 454, a measurement target area generation module 455, a mesh generation module 456, and a finished shape measurement module 457.

[0052] The demarcated excavation target area generation module 451 is a module that generates a demarcated excavation target area based on the positions of survey mirrors, which are placed sequentially or simultaneously at any four points surrounding the excavation target area 130, relative to the survey reference point. The first axis generation module 452 is a module that generates a first axis, a line connecting two of the four survey mirror placement positions that are closest to the excavation heavy equipment. The second axis generation module 453 is a module that generates a second axis 260 that is perpendicular to the first axis 250. The corrected measurement target area generation module 454 is a module that corrects the demarcated excavation target area 230 as the excavation target area 130 whose completed shape is to be measured, based on the relationship between the coordinate values of the first coordinate, the coordinate values of the second coordinate, the coordinate values of the third coordinate, and the coordinate values of the fourth coordinate, to generate a corrected measurement target area. The measurement target area generation module 455 is a module that corrects the demarcated excavation target area so that the first axis 250 is directly facing the excavation heavy equipment, thereby generating a measurement target area. The mesh generation module 456 is a module that generates a mesh by dividing the corrected measurement target area at equal intervals in the first axis direction and the second axis direction. The completed form measurement module 457 is a module that acquires point cloud data within the corrected measurement target area and measures the completed form of the measurement target area. These modules 451 to 457 are read into the application execution area 447 of the RAM 440 by the CPU 410 and executed. The control program 458 is a program for controlling the entire completed form management device 100.

[0053] The input / output interface 460 interfaces input / output data with input / output devices. A display unit 461 and an operation unit 462 are connected to the input / output interface 460. A storage medium 464 may also be connected to the input / output interface 460. A speaker 463 serving as an audio output unit, a microphone (not shown) serving as an audio input unit, or a GPS position determination unit may also be connected. Note that the RAM 440 and storage 450 shown in FIG. 4 do not include programs or data relating to the general-purpose functions of the finished product management device 100 or other feasible functions.

[0054] Next, a processing procedure of the finished product management device 100 will be described with reference to the flowchart shown in Fig. 5. This flowchart is executed by the CPU 410 in Fig. 4 using the RAM 440, and realizes each functional configuration of the finished product management device 100 in Fig. 2.

[0055] In step S501, the demarcated excavation target area generation unit 201 generates a demarcated excavation target area 230 based on the placement position of the survey mirror. In step S503, the first axis generation unit 202 generates a first axis, which is a line connecting two of the placement positions of the survey mirror that are closest to the excavation heavy equipment. The second axis generation unit 203 generates a second axis that is perpendicular to the first axis. In step S505, the corrected measurement target area generation unit 204 sets first, second, third, and fourth coordinates according to the placement positions of the four points, and corrects the demarcated excavation target area 230 based on the relationship between the coordinate values of each coordinate to generate a corrected measurement target area. In step S507, the measurement target area generation unit 205 corrects the demarcated excavation target area 230 so that the first axis 250 of the corrected measurement target area 231 is directly facing the excavation heavy equipment, thereby generating a measurement target area. In step S509, the mesh generation unit 206 generates meshes 241 by dividing the measurement target area at equal intervals in the first axis direction and the second axis direction. The mesh generation unit 206 further expands the corrected measurement target area in at least one of the first axis direction and the second axis direction, depending on the positional relationship between the end of the mesh 241 and the corrected measurement target area 231. In step S511, the as-built measurement unit 207 acquires point cloud data within the range of the corrected measurement target area 231 and measures the as-built shape of the measurement target area.

[0056] This embodiment allows for quick as-built management. Furthermore, since the area to be measured faces the excavation machine, it is easy for the operator to work. Furthermore, depending on the arrangement of the four survey mirrors, the shape of the area to be surveyed may be distorted. By correcting this in the manner described above, it is possible to easily and quickly transform the area to be surveyed into a quadrangle (square).

[0057] Furthermore, when surveying using a laser sensor mounted on an excavation machine, if there are obstacles around the excavation machine, the placement position and orientation of the excavation machine are restricted. Even in such cases, the measurement area based on the first axis can be displayed fixed at any position on the display screen, so the orientation of the measurement area (rectangular area) can be determined by the two points in front without being affected by the surveying direction of the laser sensor, making it possible to manage the surveying direction. Furthermore, because the surveying direction can be managed, the measurement area (excavation area) to be managed can be displayed independently of the surveying direction.

[0058] Furthermore, regardless of the shape of the area to be measured, such as when the width of the two measurement points closest to the surveying machine is narrow and the width of the two measurement points farthest from the excavating machine is wide, the maximum area formed by the four specified points and axis can be displayed on the screen as the measurement object.In addition, since the direction of the measurement area to be displayed on the screen can be specified based on the two points closest to the surveying machine, the direction on the screen can be specified while watching the construction site.

[0059] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-described embodiments and can be modified as appropriate. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. Furthermore, systems or devices that combine separate features included in each embodiment in any manner are also included in the scope of the present invention.

[0060] The present invention may also be applied to a system consisting of multiple devices or to a single device. Furthermore, the present invention may also be applied when an information processing program that realizes the functions of the embodiments is supplied to a system or device and executed by a built-in processor. Therefore, the technical scope of the present invention also includes a program installed on a computer to realize the functions of the present invention, a medium storing the program, a WWW (World Wide Web) server from which the program is downloaded, and a processor that executes the program. In particular, the technical scope of the present invention also includes a non-transitory computer-readable medium storing a program that causes a computer to execute at least the processing steps included in the above-described embodiments.

Claims

1. A work-in-progress management device that measures the three-dimensional shape of an area to be excavated and manages the work-in-progress based on point cloud data obtained by scanning a laser beam from a laser sensor mounted on an excavation heavy machine to the area to be excavated, a defined excavation target area generating unit that generates a defined excavation target area based on the positions of survey mirrors that are sequentially or simultaneously placed at any four points surrounding the excavation target area relative to a survey reference point; a first axis generating unit that generates a straight line connecting two of the four placement positions of the surveying mirror that are closest to the excavation heavy machine as a first axis; A measurement target area generation unit that corrects the defined excavation target area so that the first axis faces the excavation heavy machine and generates a measurement target area as an excavation target area whose completed shape is to be measured; A finished product management device equipped with the above.

2. a second axis generating unit that generates a second axis that is perpendicular to the first axis; Regarding the arrangement positions of the two points on the first axis, The coordinates of the point on the first axis having the smaller coordinate value are defined as first coordinates, The coordinates of the point on the first axis having the larger coordinate value are set as second coordinates, Regarding the arrangement positions of the two points not on the first axis, The coordinates of the point on the first axis that has the larger coordinate value are set as third coordinates, The coordinate of the point on the first axis having the smaller coordinate value is set as the fourth coordinate, a corrected measurement target area generating unit that corrects the measurement target area to generate a corrected measurement target area based on a relationship between the coordinate values of the first coordinates, the coordinate values of the second coordinates, the coordinate values of the third coordinates, and the coordinate values of the fourth coordinates; The completed form management device according to claim 1, further comprising:

3. The corrected measurement target area generation unit With respect to the coordinate values in the first axis direction, the coordinate value of the first coordinate and the coordinate value of the fourth coordinate are compared, and the coordinate value of the larger coordinate value is moved parallel to the first axis until the coordinate value of the coordinate with the smaller coordinate value is equal to the coordinate value of the coordinate with the smaller coordinate value; With respect to the coordinate values in the first axis direction, the coordinate value of the second coordinate and the coordinate value of the third coordinate are compared, and the coordinate values are moved parallel to the first axis until the coordinate value of the coordinate with the smaller coordinate value becomes equal to the coordinate value of the coordinate with the larger coordinate value; The coordinate value of the third coordinate and the coordinate value of the fourth coordinate are compared for the coordinate value in the second axis direction, and the coordinate value of the coordinate with the smaller coordinate value is moved parallel to the second axis until it becomes the same as the coordinate value of the coordinate with the larger coordinate value, thereby generating the corrected measurement target area.

4. a mesh generation unit that generates meshes by dividing the measurement target region at equal intervals in the first axis direction and the second axis direction, The corrected measurement target area generation unit If a mesh at the end of the generated mesh in the positive direction of the first axis exists outside the corrected measurement target region, the corrected measurement target region is expanded in the positive direction of the first axis; A finished product management device as described in any one of claims 1 to 3, wherein if the end mesh of the generated mesh in the positive direction of the second axis is outside the corrected measurement target area, the corrected measurement target area is expanded in the positive direction of the second axis.

5. The mesh generation unit expands the correction measurement target area in the positive direction of the first axis or the positive direction of the second axis when the length of the terminal mesh in the first axis direction or the second axis direction is outside the correction measurement target area by a predetermined percentage.

6. The as-built management device according to claim 1, further comprising an as-built measurement unit that acquires point cloud data within the range of the corrected measurement target area and measures the as-built of the measurement target area.

7. A method for managing the finished shape by measuring the three-dimensional shape of an area to be excavated based on point cloud data obtained by scanning a laser beam from a laser sensor mounted on an excavation heavy machine to the area to be excavated, a defined excavation target area generating step for generating a defined excavation target area based on the positions of survey mirrors, which are sequentially or simultaneously placed at any four points surrounding the excavation target area, relative to a survey reference point; a first axis generating step of generating a straight line connecting two of the four placement positions of the surveying mirror that are closest to the excavation heavy machine as a first axis; A measurement target area generation step of correcting the defined excavation target area so that the first axis faces the excavation heavy machine and generating a measurement target area as an excavation target area whose completed shape is to be measured; A method of managing work-in-progress, including:

8. A completed shape management program that measures the three-dimensional shape of an area to be excavated based on point cloud data obtained by scanning a laser beam from a laser sensor mounted on an excavation heavy machine to the area to be excavated and manages the completed shape, a defined excavation target area generating step for generating a defined excavation target area based on the positions of survey mirrors, which are sequentially or simultaneously placed at any four points surrounding the excavation target area, relative to a survey reference point; a first axis generating step of generating a straight line connecting two of the four placement positions of the surveying mirror that are closest to the excavation heavy machine as a first axis; A measurement target area generation step of correcting the defined excavation target area so that the first axis faces the excavation heavy machine and generating a measurement target area as an excavation target area whose completed shape is to be measured; A completed work management program that causes a computer to execute the above.

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