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

Abstract

To accurately demarcate an excavation target area.SOLUTION: A finished shape management device includes: a reflected light data acquisition section that acquires reflection time data, reflection direction data, and reflection luminance data of reflected light of a laser beam scanned in an excavation target area scheduled to be excavated and around the excavation target area, in which a reflector as a position reference mark is installed, from a laser sensor mounted on an excavation heavy machine in a tunnel pit; a reflector candidate identification section that identifies a reflector candidate on the basis of the reflected light data; a coordinate system setting section that sets a coordinate system using a position of the laser sensor as an origin in the excavation target area; a mathematical expression derivation section that extracts data representing a tunnel side wall and derives a mathematical expression representing the tunnel side wall from the reflected light data; and a determination section that determines a ghost reflector from the reflector candidate.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 was unable to accurately define the area to be excavated. [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 reflected light data acquisition unit that acquires, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light that is scanned by a laser sensor mounted on an excavation heavy machine inside the tunnel, over an excavation area to be excavated and the periphery of the excavation area, where a reflector is installed as a position reference marker; a reflector candidate identifying unit that identifies a reflector candidate that is estimated to be the reflector based on the reflected light data; a coordinate system setting unit that sets a coordinate system in the excavation target area, with the position of the laser sensor as the origin, an axis along the laser light passing through the center of the left and right width of the laser light scanned from the laser sensor as the X axis, and an axis passing through the origin and perpendicular to the X axis as the Y axis; a mathematical expression deriving unit that extracts reflected light data representing a tunnel side wall from the acquired reflected light data and derives a mathematical expression representing the tunnel side wall in an XY coordinate system; a ghost reflector determination unit that derives, from the formula, a Y2 coordinate, which is the Y coordinate of the tunnel side wall relative to an X1 coordinate, which is the X coordinate of the reflector candidate, and compares the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate to determine that the reflector candidate is a ghost reflector; Equipped with The ghost reflector determination unit When the direction from the origin toward the tunnel side wall is defined as the positive direction of the Y axis, If the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector; If the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector.

[0006] In order to achieve the above object, the present invention provides a method for managing completed work, a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light scanned over an excavation target area to be excavated and the periphery of the excavation target area, where a reflector as a position reference marker is installed, from a laser sensor mounted on an excavation heavy machine inside the tunnel; a reflector candidate identifying step of identifying a reflector candidate that is estimated to be the reflector based on the reflected light data; a coordinate system setting step of setting a coordinate system in the excavation target area, with the position of the laser sensor as the origin, an axis along the laser light passing through the center of the left and right width of the laser light scanned from the laser sensor as the X axis, and an axis passing through the origin and perpendicular to the X axis as the Y axis; a mathematical expression deriving step of extracting the reflected light data representing a tunnel side wall from the acquired reflected light data and deriving a mathematical expression representing the tunnel side wall in an XY coordinate system; a ghost reflector determination step of deriving, from the formula, a Y2 coordinate, which is the Y coordinate of the tunnel side wall relative to an X1 coordinate, which is the X coordinate of the reflector candidate, and comparing the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate to determine that the reflector candidate is a ghost reflector; Including, In the ghost reflector determining step, If the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector; If the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector.

[0007] Furthermore, in order to achieve the above object, the completed form management program according to the present invention comprises: a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light scanned over an excavation target area to be excavated and the periphery of the excavation target area, where a reflector as a position reference marker is installed, from a laser sensor mounted on an excavation heavy machine inside the tunnel; a reflector candidate identifying step of identifying a reflector candidate that is estimated to be the reflector based on the reflected light data; a coordinate system setting step of setting a coordinate system in the excavation target area, with the position of the laser sensor as the origin, an axis along the laser light passing through the center of the left and right width of the laser light scanned from the laser sensor as the X axis, and an axis passing through the origin and perpendicular to the X axis as the Y axis; a mathematical expression deriving step of extracting the reflected light data representing a tunnel side wall from the acquired reflected light data and deriving a mathematical expression representing the tunnel side wall in an XY coordinate system; a ghost reflector determination step of deriving, from the formula, a Y2 coordinate, which is the Y coordinate of the tunnel side wall relative to an X1 coordinate, which is the X coordinate of the reflector candidate, and comparing the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate, and determining that the reflector candidate is a ghost reflector if the Y1 coordinate is greater than the Y2 coordinate; on the computer, In the ghost reflector determining step, If the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector; If the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector. [Effects of the Invention]

[0008] The present invention allows for precise definition of the area to be excavated. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram for explaining an overview of a completed shape management device according to a first embodiment of the present invention. [Figure 2A] 1 is a block diagram for explaining the configuration of a completed shape management device according to a first embodiment of the present invention. [Figure 2B] 3 is a diagram for explaining determination of a ghost reflector by the finished product management device according to the first embodiment of the present invention. FIG. [Figure 3] 3 is a diagram for explaining an example of a reflection intensity table included in the finished product management device according to the first embodiment of the present invention. FIG. [Figure 4] 1 is a diagram for explaining a hardware configuration of a completed form management device according to a first embodiment of the present invention. [Figure 5] 3 is a flowchart for explaining a processing procedure of the finished product management device according to the first 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, 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 sensor 120 placed near the area to be excavated. The laser sensor 120 may be installed on the ground or mounted on a heavy excavation machine such as a backhoe.

[0015] In this way, the completed shape of the excavation target area is measured, but before measuring the completed shape of the excavation target area, the excavation target area for which the completed shape is to be measured must be determined. To determine (define) the excavation target area, first, reflectors 130 for reflecting laser light irradiated from laser sensor 120 are placed in positions surrounding the excavation target area.

[0016] The position of the reflector 130 is determined by irradiating the placed reflector 130 with laser light from the laser sensor 120. However, if an area to be excavated exists inside the tunnel, the reflector 130 is placed near the tunnel sidewall 111. In such a case, a ghost reflector 131 may be detected as if the reflector 130 were present outside the tunnel sidewall 111, where the reflector 130 should not actually exist (FIG. 1(a)).

[0017] 1(b), normally, when the laser light and the reflected light pass through path L1, the position of the reflector 130 can be accurately detected. However, when the laser light and the reflected light pass through path L2, that is, when the laser light irradiated from the laser sensor 120 satisfies certain conditions, a ghost reflector 131, which is a reflector 130 that does not actually exist, is detected.

[0018] That is, when the laser light reflected by the tunnel side wall 111 reaches the reflector 130, and the reflected light from the reflector 130 is reflected again by the tunnel side wall 111 and returns to the laser sensor 120, the reflected light is determined to have arrived from an extension of the path L2 (dotted line) as viewed from the laser sensor 120. That is, if the distance (solid line) from the reflection point 112 on the tunnel side wall 111 to the reflector 130 is the same as the distance (dotted line) from the reflection point 112 to the ghost reflector 131, the laser sensor 120 determines that the reflected light arrived from the position of the ghost reflector 131.

[0019] As a result, when the laser light passes through path L1, reflector 130 is detected, and when the laser light passes through path L2, ghost reflector 131 is detected. In this way, depending on the path taken by the reflected laser light, a situation may occur where a reflector is erroneously detected as being present at a position where no reflector actually exists.

[0020] Therefore, the finished product management device 100 is configured to be able to distinguish and detect the reflector 130 and the ghost reflector 131 so as to prevent such erroneous detection from occurring.

[0021] Next, the configuration of the finished product management device 100 will be described with reference to Fig. 2. The finished product management device 100 includes a reflected light data acquisition unit 201, a reflector candidate identification unit 202, a coordinate system setting unit 203, a mathematical formula derivation unit 204, and a ghost reflector determination unit 205.

[0022] The reflected light data acquisition unit 201 acquires, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of the reflected light of laser light scanned over the excavation area to be excavated and the periphery of the excavation area, where a reflector 130 is installed as a position reference marker, from a laser sensor mounted on an excavation heavy machine inside the tunnel.

[0023] Here, the laser sensor 120 is, for example, a LiDAR (Light Detection and Ranging) sensor, which is a measurement device that uses light. The laser sensor 120 irradiates pulsed laser light and measures the distance between the target and the laser sensor 120 based on the time difference between the light hitting the target and bouncing back.

[0024] The distance between the laser sensor 120 and the reflector 130 can be calculated from the acquired reflection time data. The direction in which the reflector 130 is located can be determined from the acquired reflection direction data, and by combining this with the reflection time data, the position of the reflector 130 can be identified. The reflection brightness data can be used to distinguish the reflector 130 from other objects (the ground or subsurface to be excavated). The reflector 130 may be located on the boundary line of the area to be excavated, or may be located outside or inside the boundary line.

[0025] The reflector candidate identifying unit 202 identifies a reflector candidate that is estimated to be the reflector 130 based on the reflected light data. The reflector candidate identifying unit 202 identifies a reflector candidate based on data such as the reflection brightness of the reflected light of the laser beam. The number of reflectors 130 arranged in the excavation target area may be one or more.

[0026] The coordinate system setting unit 203 sets a coordinate system in the excavation target area with the position of the laser sensor 120 as the origin, the axis along the laser light scanning from the laser sensor 120 passing through the center of the left-right width of the laser light as the X axis, and the axis passing through the origin and perpendicular to the X axis as the Y axis. The Y axis is set, for example, with the direction toward the tunnel side wall 111 as the positive direction.

[0027] The mathematical formula deriving unit 204 extracts reflected light data representing the tunnel side wall 111 from the acquired reflected light data, and derives a mathematical formula representing the tunnel side wall 111 in the XY coordinate system.

[0028] Here, the determination of the ghost reflector 131 will be described in detail with reference to Fig. 2B. Fig. 2B(a) shows an example in which the tunnel side wall 111 is on the left side of the positive direction of the X axis (tunnel axis direction), and Fig. 2B(b) shows an example in which the tunnel side wall 111 is on the right side of the positive direction of the X axis.

[0029] Then, by regarding the tunnel side wall 111 as a straight line, the mathematical formula representing the tunnel side wall 111 can be defined as Y=αX+β in the example of Fig. 2B(a), and as Y=-γX+δ in the example of Fig. 2B(b). In this way, the mathematical formula deriving unit 204 derives the mathematical formula for the tunnel side wall 111.

[0030] The ghost reflector determination unit 205 derives the Y2 coordinate, which is the Y coordinate of the tunnel side wall 111 relative to the X1 coordinate, which is the X coordinate of the reflector candidate, from a mathematical formula, and compares the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate to determine that the reflector candidate is a ghost reflector 131.

[0031] Then, assuming that the direction from the origin toward the tunnel side wall 111 is the positive direction of the Y axis, if the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the ghost reflector determination unit 205 determines that the reflector candidate is a ghost reflector 131, and if the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate, the ghost reflector determination unit 205 determines that the reflector candidate is a ghost reflector 131. Furthermore, if the positional relationship between the reflector candidate and the tunnel side wall 111 does not satisfy the above-mentioned conditions, the reflector candidate is determined not to be a ghost reflector.

[0032] First, the determination of the ghost reflector 131a will be described with reference to Fig. 2B(a). The reflector candidate identifying unit 202 identifies the ghost reflector 131a as a reflector candidate based on the reflected light data of the laser light irradiated from the laser sensor 120. In this way, the reflector candidate identifying unit 202 identifies the reflector candidate from the reflection time, reflection direction, etc. of the reflected light of the laser light, but does not consider the positional relationship between the reflector candidate and the tunnel side wall 111. Therefore, the reflector candidate identifying unit 202 identifies the reflector candidate as a reflector candidate even if it is located in a position where it should not be located (outside the tunnel side wall 111).

[0033] Then, the ghost reflector determination unit 205 determines whether the identified reflector candidate is a ghost reflector or not.

[0034] First, the ghost reflector determination unit 205 derives the Y2 coordinate, which is the Y coordinate of the tunnel side wall 111 relative to the X1 coordinate, which is the X coordinate of the reflector candidate (131a), from the formula (Y=αX+β). That is, Y2 of the reflector candidate (131a) is the value (αX1+β) obtained by substituting X1 into the formula for the tunnel side wall 111.

[0035] The ghost reflector determination unit 205 then compares the Y1 coordinate, which is the Y coordinate of the reflector candidate (131a), with the Y2 coordinate derived from the formula. In the case of the reflector candidate (131a), first, the coordinate value (Y1) of the Y1 coordinate is a positive Y coordinate value, and Y1>Y2, i.e., Y1 is greater than Y2. In other words, the Y coordinate of the tunnel side wall 111 corresponding to the position of X1 is Y2, and the Y1 of the reflector candidate (131a), which has a larger Y coordinate value, is located outside the tunnel side wall 111 (outside the tunnel). As a result, the reflector candidate (131a) is located in a position where a reflector should not actually be located, and the ghost reflector determination unit 205 determines that the reflector candidate (131a) is the ghost reflector 131a.

[0036] The reflector candidate 131b can also be determined in a similar manner. The difference between the reflector candidate 131a and the reflector candidate 131b is that the Y2 coordinate of the reflector candidate 131b is a negative value on the Y coordinate.

[0037] First, the ghost reflector determination unit 205 derives the Y2 coordinate, which is the Y coordinate of the tunnel side wall 111 relative to the X1 coordinate, which is the X coordinate of the reflector candidate (131b), from the formula (Y=αX+β). Y2 of the reflector candidate (131b) is the value (αX1+β) obtained by substituting X1 into the formula for the tunnel side wall 111.

[0038] The ghost reflector determination unit 205 then compares the Y1 coordinate, which is the Y coordinate of the reflector candidate (131b), with the Y2 coordinate derived from the formula. For the reflector candidate (131b), the coordinate value (Y1) of the Y1 coordinate is a negative value of the Y coordinate, and on the Y coordinate, Y1 > Y2, meaning that Y1 is greater than Y2. In other words, the Y coordinate of the tunnel side wall 111 corresponding to the position of X1 is Y2, and the Y1 of the reflector candidate (131b), which has a larger Y coordinate value, is located outside the tunnel side wall 111 (outside the tunnel). As a result, the reflector candidate (131b) is located in a position where a reflector should not actually be located, and the ghost reflector determination unit 205 determines that the reflector candidate (131b) is the ghost reflector 131b.

[0039] Next, we will explain the example shown in Figure 2B(b). In Figure 2B(b), the tunnel sidewall 111 is located on the right side of the tunnel axis direction. The ghost reflector determination unit 205 derives the Y2 coordinate, which is the Y coordinate of the tunnel sidewall 111 relative to the X1 coordinate, which is the X coordinate of the reflector candidate (131c), using the formula (Y = -γX + δ). Y2 of the reflector candidate (131c) is the value (-γX1 + δ) obtained by substituting X1 into the formula for the tunnel sidewall 111.

[0040] The ghost reflector determination unit 205 then compares the Y1 coordinate, which is the Y coordinate of the reflector candidate (131c), with the Y2 coordinate derived from the formula. For the reflector candidate (131c), the coordinate value (Y1) of the Y1 coordinate is a positive Y coordinate value, and on the Y coordinate, Y1>Y2 holds, with Y1 being greater than Y2. In other words, the Y coordinate of the tunnel side wall 111 corresponding to the position of X1 is Y2, and the Y1 of the reflector candidate (131c), which has a larger Y coordinate value, is located outside the tunnel side wall 111 (outside the tunnel). As a result, the reflector candidate (131c) is located in a position where a reflector should not actually be located, and the ghost reflector determination unit 205 determines that the reflector candidate (131c) is the ghost reflector 131c.

[0041] The reflector candidate (131d) can also be determined using a similar method. The ghost reflector determination unit 205 derives the Y2 coordinate, which is the Y coordinate of the tunnel side wall 111 relative to the X1 coordinate, which is the X coordinate of the reflector candidate (131d), from the formula (Y=-γX+δ). Y2 of the reflector candidate (131d) is the value (-γX1+δ) obtained by substituting X1 into the formula for the tunnel side wall 111.

[0042] The ghost reflector determination unit 205 then compares the Y1 coordinate, which is the Y coordinate of the reflector candidate (131d), with the Y2 coordinate derived from the formula. For the reflector candidate (131d), the coordinate value (Y1) of the Y1 coordinate is a negative value of the Y coordinate, and on the Y coordinate, Y1 > Y2, meaning that Y1 is greater than Y2. In other words, the Y coordinate of the tunnel side wall 111 corresponding to the position of X1 is Y2, and the Y1 of the reflector candidate (131d), which has a larger Y coordinate value, is located outside the tunnel side wall 111 (outside the tunnel). As a result, the reflector candidate (131d) is located in a position where a reflector should not actually be located, and the ghost reflector determination unit 205 determines that the reflector candidate (131d) is the ghost reflector 131d.

[0043] As described above, the ghost reflector determination unit 205 determines whether a reflector candidate is a ghost reflector by comparing the Y coordinate value (Y2) of the tunnel side wall 111 with the Y coordinate value (Y1) of the reflector candidate. The determination result by the ghost reflector determination unit 205 may be notified by a predetermined method, for example, to the operator of the excavation heavy equipment or to workers working in the area to be excavated.

[0044] Next, an example of the reflection intensity table 301 of the finished product management device 100 will be described with reference to Fig. 3. The reflection intensity table 301 stores reflection intensities 312 in association with objects 311. The objects 311 are objects onto which laser light is irradiated from the laser sensor 120. The reflection intensity 312 indicates the intensity of reflected light of the laser light irradiated onto the object, and is a value determined in advance for each object. Then, the reflector candidate identification unit 202 identifies reflector candidates by, for example, referring to the reflection intensity table 301.

[0045] 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.

[0046] The RAM 440 is a random access memory used by the CPU 410 as a work area for temporary storage. The RAM 440 has a storage area reserved for storing data necessary for implementing this embodiment. The reflected light data 441 is data related to the reflected light of the laser light emitted from the laser sensor 120. The reflector candidate data 442 is data related to reflector candidates that are estimated to be reflectors from the reflected light data. The coordinate system data 443 is data related to a coordinate system set in the excavation target area. The mathematical formula data 444 is data related to a mathematical formula that represents the tunnel side wall 111 in the set coordinate system. The ghost reflector data 445 is data related to a reflector that has been determined to be a ghost reflector 131.

[0047] 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.

[0048] The storage 450 stores a database, various parameters, or the following data or programs required to implement this embodiment. The storage 450 stores a reflection intensity table 301. The reflection intensity table 301 is a table that manages the relationship between the object 311 and the reflection intensity 312 shown in FIG. 3.

[0049] The storage 450 further stores a reflected light data acquisition module 451, a reflector candidate identification module 452, a coordinate system setting module 453, a mathematical formula derivation module 454, and a ghost reflector determination module 455.

[0050] The reflected light data acquisition module 451 is a module that acquires reflected light data of laser light from the laser sensor 120, which is irradiated and scanned on the excavation target area and the periphery of the excavation target area where a reflector is installed. The reflector candidate identification module 452 is a module that identifies reflector candidates that are estimated to be reflectors based on the reflected light data. The coordinate system setting module 453 is a module that sets an orthogonal coordinate system centered on the position of the laser sensor 120 in the excavation target area. The mathematical formula derivation module 454 is a module that extracts reflected light data representing the tunnel side wall 111 and derives a mathematical formula that represents the tunnel side wall 111 in the set orthogonal coordinate system. The ghost reflector determination module 455 is a module that identifies ghost reflectors based on the positional relationship between the position of the tunnel side wall 111 and the reflector candidates. These modules 451 to 455 are read into the application execution area 447 of the RAM 440 by the CPU 410 and executed. The control program 456 is a program for controlling the completed form management device 100 as a whole.

[0051] 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.

[0052] 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.

[0053] In step S501, the reflected light data acquisition unit 201 acquires reflected light data of the reflected light of the laser light emitted and scanned by the laser sensor 120 in the excavation area to be excavated and the periphery of the excavation area, where reflectors are installed as position reference markers. In step S503, the reflector candidate identification unit 202 identifies reflector candidates that are estimated to be reflectors based on the acquired reflected light data. In step S505, the coordinate system setting unit 203 sets an axis along the laser light passing through the center of the left-right width of the laser light and an axis perpendicular to the axis in the excavation area to establish an XY Cartesian coordinate system with the position of the laser sensor 120 as the origin. In step S507, in the set Cartesian coordinate system, a mathematical formula representing the tunnel side wall 111 is derived from the reflected light data representing the tunnel side wall 111. In step S509, the ghost reflector determination unit 205 identifies a ghost reflector 131 from the reflector candidates based on the positional relationship between the reflector candidates and the tunnel side wall 111. The as-built management device 100 repeats these steps for all identified reflector candidates to identify ghost reflectors.

[0054] According to this embodiment, it is determined whether or not the measured reflector is a ghost reflector, so that the area to be excavated can be accurately defined.

[0055] 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.

[0056] 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 reflected light data acquisition unit that acquires, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light that is scanned by a laser sensor mounted on an excavation heavy machine inside the tunnel, over an excavation area to be excavated and the periphery of the excavation area, where a reflector is installed as a position reference marker; a reflector candidate identifying unit that identifies a reflector candidate that is estimated to be the reflector based on the reflected light data; a coordinate system setting unit that sets a coordinate system in the excavation target area, with the position of the laser sensor as the origin, an axis along the laser light passing through the center of the left and right width of the laser light scanned from the laser sensor as the X axis, and an axis passing through the origin and perpendicular to the X axis as the Y axis; a mathematical expression deriving unit that extracts reflected light data representing a tunnel side wall from the acquired reflected light data and derives a mathematical expression representing the tunnel side wall in an XY coordinate system; a ghost reflector determination unit that derives a Y2 coordinate, which is a Y coordinate of the tunnel side wall relative to an X1 coordinate, which is an X coordinate of the reflector candidate, from the formula, and compares the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate to determine that the reflector candidate is a ghost reflector; Equipped with The ghost reflector determination unit When the direction from the origin toward the tunnel side wall is defined as the positive direction of the Y axis, If the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector; A finished product management device that determines the reflector candidate to be a ghost reflector when the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate.

2. The finished product management device according to claim 1 , wherein the ghost reflector determination unit repeatedly determines whether or not each of the identified reflector candidates is a ghost reflector.

3. a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light scanned over an excavation target area to be excavated and the periphery of the excavation target area, where a reflector as a position reference marker is installed, from a laser sensor mounted on an excavation heavy machine inside the tunnel; a reflector candidate identifying step of identifying a reflector candidate that is estimated to be the reflector based on the reflected light data; a coordinate system setting step of setting a coordinate system in the excavation target area, with the position of the laser sensor as the origin, an axis along the laser light passing through the center of the left and right width of the laser light scanned from the laser sensor as the X axis, and an axis passing through the origin and perpendicular to the X axis as the Y axis; a mathematical expression deriving step of extracting the reflected light data representing a tunnel side wall from the acquired reflected light data and deriving a mathematical expression representing the tunnel side wall in an XY coordinate system; a ghost reflector determination step of deriving, from the formula, a Y2 coordinate, which is the Y coordinate of the tunnel side wall relative to an X1 coordinate, which is the X coordinate of the reflector candidate, and comparing the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate to determine that the reflector candidate is a ghost reflector; Including, In the ghost reflector determining step, If the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector; A finished product management method in which the reflector candidate is determined to be a ghost reflector if the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate.

4. a reflected light data acquisition step of acquiring, as reflected light data, reflection time data, reflection direction data, and reflection brightness data of reflected light of laser light scanned over an excavation target area to be excavated and the periphery of the excavation target area, where a reflector as a position reference marker is installed, from a laser sensor mounted on an excavation heavy machine inside the tunnel; a reflector candidate identifying step of identifying a reflector candidate that is estimated to be the reflector based on the reflected light data; a coordinate system setting step of setting a coordinate system in the excavation target area, with the position of the laser sensor as the origin, an axis along the laser light passing through the center of the left and right width of the laser light scanned from the laser sensor as the X axis, and an axis passing through the origin and perpendicular to the X axis as the Y axis; a mathematical expression deriving step of extracting the reflected light data representing a tunnel side wall from the acquired reflected light data and deriving a mathematical expression representing the tunnel side wall in an XY coordinate system; a ghost reflector determination step of deriving, from the formula, a Y2 coordinate, which is the Y coordinate of the tunnel side wall relative to an X1 coordinate, which is the X coordinate of the reflector candidate, and comparing the Y1 coordinate, which is the Y coordinate of the reflector candidate, with the derived Y2 coordinate, and determining that the reflector candidate is a ghost reflector if the Y1 coordinate is greater than the Y2 coordinate; on the computer, In the ghost reflector determining step, If the coordinate value of the Y1 coordinate is a positive coordinate value and is greater than the coordinate value of the Y2 coordinate, the reflector candidate is determined to be a ghost reflector; A finished product management program that determines the reflector candidate to be a ghost reflector when the coordinate value of the Y1 coordinate is a negative coordinate value and is greater than the coordinate value of the Y2 coordinate.

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