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

Abstract

To quickly grasp an excavation state.SOLUTION: A finished shape management device comprises: a design shape data acquisition unit for acquiring design data of a target excavation area; an interpolation point generation unit for generating interpolation points by interpolating between points of the acquired design data in at least one of a first axis direction and a second axis direction perpendicular to the first axis direction; a point cloud data acquisition unit for acquiring point cloud data obtained by scanning laser light over the excavation target area; and a display control unit for superimposing the generated interpolation points and design data on the acquired point cloud data and displaying them on a display screen.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, the technique described in Patent Document 1 above does not allow the excavation state to be quickly grasped. [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 design shape data acquisition unit that acquires design data of an area to be excavated; an interpolation point generating unit that generates an interpolation point by interpolating between each point of the acquired design data in at least one direction of a first axis and a second axis perpendicular to the first axis; a point cloud data acquisition unit that acquires point cloud data obtained by scanning a laser beam over the excavation target area; a display control unit that displays the generated interpolation points and the design data on a display screen, superimposed on the acquired point cloud data; Equipped with:

[0006] In order to achieve the above object, the present invention provides a method for managing completed work, a design shape data acquisition step for acquiring design data of an area to be excavated; an interpolation point generating step of generating an interpolation point by interpolating between each point of the acquired previous design data in at least one direction of a first axis and a second axis perpendicular to the first axis; a point cloud data acquisition step of acquiring point cloud data obtained by scanning a laser beam over the excavation target area; a display control step of superimposing the generated interpolation points and the design data on the acquired point cloud data and displaying them on a display screen; Includes:

[0007] Furthermore, in order to achieve the above object, the completed form management program according to the present invention comprises: a design shape data acquisition step for acquiring design data of an area to be excavated; an interpolation point generating step of generating an interpolation point by interpolating between each point of the acquired design data in at least one direction of a first axis and a second axis perpendicular to the first axis; a point cloud data acquisition step of acquiring point cloud data obtained by scanning a laser beam over the excavation target area; a display control step of superimposing the generated interpolation points and the design data on the acquired point cloud data and displaying them on a display screen; to be executed by the computer. [Effects of the Invention]

[0008] According to the present invention, the excavation state can be quickly grasped. [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 interpolation of design shape data by a finished product management device according to a preferred embodiment of the present invention. FIG. [Figure 2C] 10 is a diagram for explaining a screen displaying a superimposed display of design data and point cloud data in the transverse direction, which is displayed by the finished product management device according to a preferred embodiment of the present invention. FIG. [Figure 2D] 1 is a diagram for explaining a cross-sectional superimposed display screen of design data and point cloud data displayed by a finished product management device according to a preferred embodiment of the present invention. FIG. [Figure 3] 1 is a diagram for explaining an example of an interpolation method table included in 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] [First embodiment] An as-built shape management device 100 according to a first 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, inverts are installed in construction projects such as mountain tunnels by, for example, closing one lane of traffic, excavating the area to be excavated using heavy excavation equipment such as a backhoe, and then constructing an invert at the completed excavation site.

[0013] Here, when installing the invert, construction work is carried out while checking the as-built shape of the excavated area. The as-built shape of the excavated area is checked by setting height standards on the tunnel sidewalls based on the design data and measuring the excavation height of the excavated area using a water line or similar. 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 as-built shape of the excavated area where the invert will be installed is checked.

[0014] As a result, even if the excavation position was slightly off, surveying and measurements had to be redone, making it difficult for the operator to confirm at a glance whether the excavation was proceeding as planned.

[0015] Previously, based on a small amount of design data (coordinate data of 8 points x 10 m pitch), reference points were set on the side walls and surveying was performed using a level line or the like to confirm the excavation height. In contrast, the as-built management device 100 of this embodiment uses the small amount of design data to interpolate data between the design data, thereby increasing the number of design data, and then compares the increased design data with point cloud data from a laser sensor. This makes it possible to perform surveying more simply and accurately.

[0016] Therefore, the as-built management device 100 displays the point cloud data obtained by scanning with the laser light and the design data such as the design drawing created before the excavation work superimposed on the display screen 110. By displaying the superimposed data in this way, the operator can immediately grasp the progress of the excavation.

[0017] The display screen 110 displays point cloud data 130 and design data 140 superimposed on each other. The position reference mirror 150 is a mirror installed to define the area to be excavated. By displaying the design data 140, which is a pre-planned design shape, superimposed on the point cloud data 130, which represents the current topography, in this way, operators of excavating heavy equipment and the like can visually confirm the quality of the excavation.

[0018] 2A and 2B, the configuration of the as-built shape management device 100 will be described. The as-built shape management device 100 has a design shape data acquisition unit 201, an interpolation point generation unit 202, a point cloud data acquisition unit 203, and a display control unit 204.

[0019] The design shape data acquisition unit 201 acquires the coordinates of design data 140 of the excavation target area. The design data 140 is design data that represents the shape of the excavation target area after excavation, and is data that is created in advance using a design support tool such as CAD (Computer Aided Design) before the start of excavation work. The excavation target area is an area surrounded by a position reference mirror 150 such as a reflecting mirror. The position of the position reference mirror 150 is identified using surveying equipment such as a transit or a total station, and the excavation target area is determined thereby.

[0020] The interpolation point generation unit 202 generates interpolation points by interpolating between each point of the acquired design data in at least one direction of the first axis direction and the second axis normal direction perpendicular to the first axis direction. In other words, the number of points in the design data is smaller than the number of points in the point cloud data, and no data exists between each point of the design data. Therefore, the interpolation point generation unit 202 generates interpolation points by interpolating between each point in the design data to fill in the gaps between each point. In this way, it is possible to fill in the gaps between each point of the design data of the excavation target area.

[0021] 2B, an example will be described in which the excavation target area exists inside the tunnel 210. When the excavation target area exists inside the tunnel 210, the interpolation point generation unit 202 generates an interpolation point by interpolating between the points (220) in at least one direction of the axial direction of the tunnel 210, with the interpolation point 230 being the first axial direction, and in at least one direction of the cross-sectional direction of the tunnel 210, with the interpolation point 230 being the second axial direction.

[0022] For example, in the construction of an invert inside a tunnel 210, the design data is generated with eight points 220 in the cross-sectional direction at 10 m intervals in the axial direction (see FIG. 2B(a)). As such, the design data does not have a large number of points in the cross-sectional direction. Therefore, connecting the points (220) does not result in the desired shape.

[0023] Therefore, the interpolation point generation unit 202 can more closely approximate the desired shape by adding several interpolation points 230 between each point (220). For example, as shown in FIG. 2B(b), in the cross-sectional direction (transverse direction), the interpolation point generation unit 202 generates the interpolation points 230 by performing a process of interpolating adjacent points (220) in the design data. In this case, the interpolation point generation unit 202 generates the interpolation points by, for example, performing curve interpolation between adjacent points (220) in the cross-sectional direction. The interpolation point generation unit 202 performs this process seven times for eight points (220), thereby interpolating each point of the 3D design data of the excavation target area in the first cross-section of one pitch of the tunnel 210, as shown in FIG. 2B(b). The number of times the interpolation point generation unit 202 performs the process of generating the interpolation points 230 (the number of interpolation points 230 generated) can be determined arbitrarily, but it is preferable to generate the same number of interpolation points 230 as the point cloud data.

[0024] The interpolation process in the transverse direction by the interpolation point generation unit 202 is performed by interpolation using a quadratic curve, interpolation using a spline curve, etc. Note that the interpolation process in the transverse direction performed by the interpolation point generation unit 202 is not limited to the example shown here.

[0025] The interpolation point generation unit 202 then linearly interpolates the generated transverse direction points (220) and interpolation points 230 in the axial direction at intervals of, for example, 10 cm. That is, the interpolation point generation unit 202 generates 100 interpolation points 230 for one span of the design data for the tunnel 210 (FIG. 2B(c)). Note that the linear interpolation interval is not limited to 10 cm.

[0026] The point cloud data acquisition unit 203 acquires point cloud data obtained by scanning a target excavation area with a laser beam. The point cloud data is data obtained by scanning a target excavation area with a laser beam emitted from a laser scanner mounted on an excavation heavy equipment such as a backhoe. Here, the laser scanner is, for example, a LiDAR (Light Detection and Ranging) sensor, a measurement device that uses light. The laser scanner emits pulsed laser beams and measures the distance between the target object and the laser scanner based on the time lag between the beam hitting the target object and bouncing back. By displaying the point cloud data obtained based on the data of reflected laser beams obtained by scanning the target excavation area on the display screen 110, an operator of the excavation heavy equipment or the like can visually confirm the current excavation status.

[0027] The display control unit 204 superimposes the generated interpolation points 230 and design data 140 on the acquired point cloud data and displays them in three dimensions on the display screen 110. The display control unit 204 also changes the viewpoint of the three-dimensional display in which the point cloud data 130, interpolation points 230, and design data 140 are superimposed. That is, as shown in FIGS. 2C and 2D, the display control unit 204 can display an image of the excavation area as viewed from any direction, including a 360° angle. That is, by displaying the design data 140 so that it follows the point cloud data 130, the display screen 110 in the transverse direction of the tunnel, for example, is displayed as shown in FIG. 2C. FIGS. 2C(a) to 2C(e) show how the display screen 110 appears when the viewpoint from which the display screen 110 is viewed is changed in various ways. Similarly, the display screen 110 in the cross-sectional direction of the tunnel is displayed as shown in FIG. 2D. 2D(a) to (d) show how the display screen 110 appears when the viewpoint for viewing the screen is changed in various ways. This allows the operator of the excavation machine or the like to instantly recognize the up-down direction of the excavation surface and visually confirm the difference between the current excavation state and the planned excavation. Furthermore, even when the viewpoint for viewing the screen 110 is changed, the design data 140 moves in tandem with the point cloud data 130, so the operator can recognize the progress of the excavation and the remaining amount until the planned excavation is reached from various angles.

[0028] Next, an example of the interpolation method table 301 of the as-built management device 100 will be described with reference to FIG. 3. The interpolation method table 301 stores an interpolation method 312 and a generation pitch 313 in association with a design point direction 311. The design point direction 311 is the direction in which a row of design points for which interpolation points need to be generated is arranged. The interpolation method 312 is the interpolation method to be applied, and includes methods such as linear interpolation and curved interpolation. The generation pitch 313 is the pitch at which interpolation points are generated, and indicates how many interpolation points are generated between two design points. The as-built management device 100 then generates interpolation points by referring to the interpolation method table 301.

[0029] 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.

[0030] 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 design shape data 441 is data that defines the shape of the excavation target area after excavation, and is data designed using CAD or the like before excavation. The interpolation point data 442 is data on generated interpolation points, and includes data on the position of each interpolation point. The reflected light data 443 is data on the reflected light of the laser light irradiated onto the excavation target area. The point cloud data 444 is data generated from the reflected light of each laser light irradiated onto and scanned by the excavation target area. The display data 445 is data representing the finished shape (3D) of the excavation target area, generated from the point cloud data.

[0031] 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.

[0032] The storage 450 stores a database, various parameters, or the following data or programs required to implement this embodiment. The storage 450 stores an interpolation method table 301. The interpolation method table 301 is a table that manages the relationship between the design point direction 311, the interpolation method 312, and the like, as shown in FIG. 3.

[0033] The storage 450 further stores a design shape data acquisition module 451 , an interpolation point generation module 452 , a point cloud data acquisition module 453 , and a display control module 454 .

[0034] The design shape data acquisition module 451 is a module that acquires design data of the excavation target area. The interpolation point generation module 452 is a module that generates interpolation points by interpolating between each point of the acquired design data in at least one direction of a first axis direction and a second axis direction perpendicular to the first axis direction. The point cloud data acquisition module 453 is a module that acquires point cloud data obtained by scanning a laser beam over the excavation target area. The display control module 454 is a module that superimposes the generated interpolation points and design data on the acquired point cloud data and displays them in three dimensions on the display screen. These modules 451 to 454 are read into the application execution area 447 of the RAM 440 by the CPU 410 and executed. The control program 455 is a program for controlling the entire as-built management device 100.

[0035] 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.

[0036] Next, a processing procedure of the finished product shape 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 shape management device 100 in Fig. 2A.

[0037] In step S501, the design shape data acquisition unit 201 acquires design data of the area to be excavated. In step S503, the interpolation point generation unit 202 generates interpolation points by interpolating between each point of the acquired design data in at least one direction of a first axis and a second axis direction perpendicular to the first axis direction. In step S5050, the point cloud data acquisition unit 203 acquires point cloud data obtained by scanning the area to be excavated with a laser beam. In step S507, the display control unit 204 displays the generated interpolation points and design data superimposed on the acquired point cloud data on the display screen.

[0038] According to this embodiment, the point cloud data, interpolation points, and design data are displayed in a superimposed manner, so that the operator of the excavation machine can quickly grasp the excavation status.

[0039] 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.

[0040] 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 design shape data acquisition unit that acquires design data of an area to be excavated; an interpolation point generating unit that generates an interpolation point by interpolating between each point of the acquired design data in at least one direction of a first axis and a second axis perpendicular to the first axis; a point cloud data acquisition unit that acquires point cloud data obtained by scanning a laser beam over the excavation target area; a display control unit that displays the generated interpolation points and the design data on a display screen, superimposed on the acquired point cloud data; A finished product management device equipped with the above.

2. The interpolation point generation unit generates the interpolation points by interpolating between the points in at least one direction, the axial direction of the tunnel as the first axis direction and the cross-sectional direction of the tunnel as the second axis direction, when the excavation target area is located inside a tunnel.

3. The finished product management device according to claim 2 , wherein the interpolation point generation unit generates the interpolation points by performing linear interpolation in the axial direction and curvilinear interpolation in the cross-sectional direction.

4. The display control unit is a finished product management device described in any one of claims 1 to 3, which changes the viewpoint of the three-dimensional display in which the point cloud data, the interpolation points, and the design data are superimposed.

5. a design shape data acquisition step for acquiring design data of an area to be excavated; an interpolation point generating step of generating an interpolation point by interpolating between each point of the acquired design data in at least one direction of a first axis and a second axis perpendicular to the first axis; a point cloud data acquisition step of acquiring point cloud data obtained by scanning a laser beam over the excavation target area; a display control step of superimposing the generated interpolation points and the design data on the acquired point cloud data and displaying them on a display screen; A method of managing work-in-progress, including:

6. a design shape data acquisition step for acquiring design data of an area to be excavated; an interpolation point generating step of generating an interpolation point by interpolating between each point of the acquired design data in at least one direction of a first axis and a second axis perpendicular to the first axis; a point cloud data acquisition step of acquiring point cloud data obtained by scanning a laser beam over the excavation target area; a display control step of superimposing the generated interpolation points and the design data on the acquired point cloud data and displaying them on a display screen; A completed work management program that causes a computer to execute the above.

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