Topography measuring device, topography measuring system, and method for topography measurement

Abstract

To provide a topography measuring system capable of reducing measurement cost and acquiring topography data in real time.SOLUTION: The topography measuring system includes: a construction machine present in an area serving as a target for generating topography data and equipped with a global navigation satellite system (GNSS) terminal; a topography measuring server; and a management terminal. The topography measuring server acquires measurement data from the GNSS terminal mounted on the construction machine, calculates ground surface height data from the measurement data, and generates topography data indicating the ground surface height on the basis of the calculated ground surface height. The management terminal displays the topography data indicating the ground surface height.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a topographic measurement system, a topographic measurement device, and a topographic measurement method. [Background technology]

[0002] In construction work, soil height management is essential. Conventionally, the current topography was estimated from records of the number of soil transports at the locations where soil was excavated and where it was transported and piled up, as well as data on the actual measured soil height, and a construction plan for soil transportation was then formulated. In recent years, drones equipped with laser scanners have been used to measure the ground surface and obtain detailed topographical data (e.g., Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-76674 Summary of the Invention [Problem to be solved by the invention]

[0004] Measuring topographical data using drones allows for highly accurate measurements of the terrain, but the measurement costs are high. For this reason, drone measurements are only taken at construction sites once every month or two, making it difficult to grasp topographical data in real time.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide a topographic measurement device, a topographic measurement system, and a topographic measurement method that can reduce measurement costs and acquire topographic data in real time. [Means for solving the problem]

[0006] A topography measurement device according to one embodiment of the present invention comprises a measurement data acquisition unit that acquires measurement data from a GNSS terminal mounted on a construction machine, a ground surface height data calculation unit that calculates ground surface height data from the measurement data, and a topography data generation unit that generates topography data indicating the ground surface height based on the calculated ground surface height.

[0007] A topographic measurement system according to one embodiment of the present invention comprises a construction machine equipped with a GNSS terminal located in an area for which topographic data is to be generated, a topographic measurement device that acquires measurement data from the GNSS terminal equipped on the construction machine, calculates ground surface height data from the measurement data, and generates topographic data indicating the ground surface height based on the calculated ground surface height, and a terminal device that displays the topographic data indicating the ground surface height.

[0008] A topography measurement method according to one embodiment of the present invention includes the steps of measuring the current position of a construction machine located in an area for which topography data is to be generated using a GNSS terminal mounted on the construction machine, acquiring measurement data from the GNSS terminal mounted on the construction machine, calculating ground surface height data from the measurement data, and generating topography data indicating the ground surface height based on the calculated ground surface height. [Effects of the Invention]

[0009] According to the present invention, it is possible to reduce measurement costs and obtain topographical data in real time. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing an overview of a topographic measurement system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram based on the functions of a topographic measurement server in the topographic measurement system according to the first embodiment of the present invention. [Figure 3] 10 is a flowchart showing the flow of a process for generating topographical data using measurement data. [Figure 4]FIG. 10 is a diagram illustrating an example of data stored in a database. [Figure 5] FIG. 1 is a diagram used to explain a grid. [Figure 6] FIG. 10 is a diagram used to explain mapping of measurement data. [Figure 7] FIG. 2 is a diagram showing an example of topographical data indicating the height of the ground surface; DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a diagram showing an overview of a topographic measurement system 1 according to a first embodiment of the present invention.

[0012] In Fig. 1, a construction site 10 is a site where construction work or civil engineering work is being carried out. At the construction site 10, construction machines 11a, 11b, 11c, ... are used to carry out the construction work or civil engineering work. The construction machines 11a, 11b, 11c, ... may be any type of construction machine, such as a dump truck, a backhoe, or a bulldozer.

[0013] Each of the construction machines 11a, 11b, 11c, . . . is equipped with a GNSS (Global Navigation Satellite System) terminal 12a, 12b, 12c, .

[0014] The GNSS terminals 12a, 12b, 12c, ... determine their current positions by receiving signals transmitted from the satellite 15. Various positioning methods for GNSS systems have been proposed, including point positioning, relative positioning, RTK (Real Time Kinematic) method, and DGNSS (Differential GNSS) method. Any positioning method may be used in this embodiment. Furthermore, any satellite may be used as the satellite 15, and any number of satellites may be used. Three-dimensional coordinate data XYZ indicating the current position of each of the construction machines 11a, 11b, 11c, ... and data on the measurement time are acquired from the GNSS terminals 12a, 12b, 12c, ....

[0015] Here, the position coordinates XY may be latitude and longitude coordinates, or may be a plane rectangular coordinate system or a UTM (Universal Transverse Mercator) coordinate system. The coordinate Z indicates height. The Z coordinate measured by the GNSS terminals 12a, 12b, 12c, etc. includes a height component from the ground surface to the measurement position of the GNSS terminals 12a, 12b, 12c, etc. (hereinafter referred to as the height of the construction machine).

[0016] The communication terminals 13a, 13b, 13c, etc. transmit measurement data acquired by the GNSS terminals 12a, 12b, 12c, etc. to the topography measurement server 30 via the network 20. The network 20 can be, for example, a 4G (LTE: Long Term Evolution) or 5G mobile network. The communication terminals 13a, 13b, 13c, etc. can be dedicated terminals or personal computers (PCs), tablet terminals, mobile terminals, etc. The measurement data can be transferred using, for example, the MQTT (Message Queueing Telemetry Transport) format. MQTT is designed for frequent transmission and reception of short messages and enables bidirectional, one-to-many communication. Therefore, the topography measurement server 30 can simultaneously process measurement data from multiple construction machines 11a, 11b, 11c, etc.

[0017] The network 20 is not limited to a mobile network. Any type of communication terminals 13a, 13b, 13c, ... may be used as long as they can transmit data to the topography measurement server 30 via the network 20. The transfer of measurement data is not limited to the MQTT format, and any type of format may be used as long as measurement data from the construction machines 11a, 11b, 11c, ... can be transferred to the topography measurement server 30.

[0018] The topography measurement server 30 is configured with one or more server devices (for example, cloud servers). The topography measurement server 30 processes measurement data from each of the construction machines 11a, 11b, 11c, ..., generates topography data indicating the height of the ground surface at the construction site 10, and provides the data to the management terminal 40.

[0019] 2 is a block diagram based on the functions of the topography measurement server 30. The topography measurement server 30 includes a database 301, a measurement data acquisition unit 302, a topography height calculation unit 303, and a topography data generation unit 304.

[0020] The database 301 stores measurement data from the construction machines 11a, 11b, 11c, . . .

[0021] The measurement data acquisition unit 302 receives three-dimensional coordinate data XYZ and measurement time information from the GNSS terminals 12a, 12b, 12c, ... of the construction machines 11a, 11b, 11c, ..., and stores the measurement data from the construction machines 11a, 11b, 11c, ... in the database 301. Here, the measurement data acquisition unit 302 acquires measurement data from the GNSS terminals 12a, 12b, 12c, ... of the construction machines 11a, 11b, 11c, ... that are present in the area for which topographical data is to be generated. At this time, the height data Z in the three-dimensional coordinate data XYZ includes a height component that represents the height of the construction machines 11a, 11b, 11c, ... at the positions where they are located on the construction site.

[0022] The terrain height calculation unit 303 subtracts the height of each of the construction machines 11a, 11b, 11c, ... (the height from the ground surface at each of the construction machines 11a, 11b, 11c, ... to the measurement position of the GNSS terminals 12a, 12b, 12c, ...) from the height data Z in the measurement data sent from each of the construction machines 11a, 11b, 11c, .... This makes it possible to obtain data on the height of the ground surface.

[0023] The topographical data generating unit 304 divides the construction site 10 into grids, maps the three-dimensional coordinate data XYZ onto the XY plane as point cloud data, and generates topographical data indicating the height of the ground surface. The generated topographical data indicating the height of the ground surface is stored in the database 301 and can be provided to the management terminal 40 upon request.

[0024] 1, the management terminal 40 is a terminal operated by a construction manager. A PC, a tablet terminal, or a mobile terminal can be used as the management terminal 40. The management terminal 40 acquires the topographical data generated by the topographical measurement server 30 via the network 20. The management terminal 40 then displays the topographical data indicating the height of the ground surface at the construction site 10.

[0025] Although only one management terminal 40 is shown here, there may be multiple management terminals 40. The management terminal 40 may be located anywhere, such as an office that manages the construction or civil engineering work site near the site, or an office that remotely oversees the construction or civil engineering work. If a tablet or mobile terminal is used as the management terminal 40, the management terminal 40 can also be taken outside and used.

[0026] The topographical data estimated in the above manner can be utilized for the following purposes, for example. · Construction managers will use it to plan soil transportation by dump truck. · Construction managers use it to manage soil height. · The construction manager will compare past topographical data with current topographical data to calculate the total amount of soil to be transported and grasp the progress of construction.

[0027] The process of generating topographic data in the topographic measurement server 30 will be further described below. FIG. 3 is a flowchart showing the flow of a process for generating topographical data using measurement data acquired from the GNSS terminals 12a, 12b, 12c, . . .

[0028] (Step S1) Each of the construction machines 11a, 11b, 11c, . . . measures its current position using the GNSS terminals 12a, 12b, 12c, .

[0029] (Step S2) The topography measurement server 30 receives measurement data from the construction machines 11a, 11b, 11c, ... and stores this measurement data in the database 301. FIG. 4 is a diagram showing an example of data stored in the database 301. As shown in FIG. 4, the database 301 stores the equipment names, measurement times, X coordinates (latitude), Y coordinates (longitude), and Z coordinates (height) of the construction machines 11a, 11b, 11c, ... in association with each other. The database 301 also stores the height h of each construction machine.

[0030] (Step S3) The topography measurement server 30 determines the range in which the ground surface is to be measured, and creates a grid that corresponds to the range, as shown in Fig. 5. The grid pitch P is determined by an arbitrary parameter, such as 0.25 m or 0.5 m. The grid pitch P may also be adjusted to match the grid pitch used when measuring the ground surface with a drone equipped with a laser scanner.

[0031] (Step S4) The terrain measurement server 30 subtracts the height (h) of the construction machines 11a, 11b, 11c, ... from the height data (Z) of the measurement data stored in the database 301, and calculates height data of the ground surface at the locations where the construction machines 11a, 11b, 11c, ... were staying. For example, as shown in FIG. 4, it is assumed that the height h of the construction machine 11a (dump truck) is (h = 2.2 m). It is also assumed that the height (Z) of the three-dimensional position data measured by the construction machine 11a is (Z = 8.0 m). In this case, the terrain measurement server 30 subtracts the height (h) of the construction machine from the height (Z) of the three-dimensional position data, and calculates the height of the ground surface as (8.0 - 2.2 = 5.8) m.

[0032] (Step S5) The topographic measurement server 30 calculates the position of the X and Y coordinates of the measurement data on the grid generated in step S3, and processes the measurement data as point cloud data. That is, as shown in Fig. 6, the X and Y coordinates (latitude, longitude) of the measurement data are mapped onto XaYa coordinates on the grid, and the measurement data is processed as point cloud data having the height Za of the earth's surface as a value.

[0033] (Step S5) The management terminal 40 receives the grid map indicating the horizon height from the topography measurement server 30, processes this grid map, and displays it.

[0034] Fig. 7 is a diagram showing an example of topographical data indicating the height of the ground surface. In the example of Fig. 7, point cloud data obtained from measurement data is mapped onto a grid map plane (XaYa plane), and the value (ground surface height Za) of each point cloud data is displayed in three dimensions. This allows the height of the ground plane at each position to be recognized from the three-dimensional image showing the ground surface height.

[0035] Furthermore, the point cloud data may be mapped on a grid map, and the value (ground surface height Za) of each point cloud data may be displayed in correspondence with brightness. This allows the user to recognize the height of the ground plane at each location based on the brightness on the grid map.

[0036] Alternatively, the point cloud data may be mapped on a grid map, and the value (ground surface height Za) of each point cloud data may be displayed in correspondence with a hue. This allows the user to recognize the height of the ground plane at each location based on the color on the grid map.

[0037] Also, instead of displaying the absolute value of the height of the ground plane, the difference between the height and the design value of the ground plane may be displayed.

[0038] In this embodiment, by using the latest measurement data from the GNSS terminals 12a, 12b, 12c, ... of the construction machines 11a, 11b, 11c, ..., it is possible to acquire topographical data of the construction site 10 in real time. Also, in this embodiment, it is possible to generate topographical data indicating the height of the ground surface without using a drone, which reduces costs.

[0039] In the above-described embodiment, the terrain data indicating the height of the ground surface is generated using only the measurement data of the GNSS terminals 12a, 12b, 12c, ... mounted on the construction machines 11a, 11b, 11c, ..., but it is also possible to measure the terrain data using a drone equipped with a laser scanner in addition to measuring the terrain data according to this embodiment. By measuring the terrain data according to this embodiment and measuring the terrain data using a drone equipped with a laser scanner and combining the results of both measurements, it is possible to compensate for parts that could not be measured.

[0040] Furthermore, for example, once every month or two months, a drone equipped with a laser scanner may be used to measure topographical data, and the latest topographical data may be updated based on the point cloud data measured by the drone and the point cloud data obtained by the measurements according to this embodiment. This allows the height of the ground surface to be measured daily, making it possible to measure the amount of soil moved each day, making it easier to understand the progress of construction and to formulate construction plans.

[0041] The Sustainable Development Goals (SDGs) are 17 international goals adopted at the United Nations Summit in September 2015. The topographic measurement system, topographic measurement device, and topographic measurement method according to this embodiment can contribute to achieving one of the 17 SDGs, for example, goal 9, "Build resilient infrastructure, promote inclusive and sustainable industrialization, and foster innovation."

[0042] All or part of the topographic measurement system 1 in the above-described embodiment may be implemented by a computer. In this case, a program for implementing the functions may be recorded on a computer-readable recording medium, and the program may be loaded into a computer system and executed. Note that the term "computer system" as used herein includes hardware such as an OS and peripheral devices. Furthermore, the term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. Furthermore, the term "computer-readable recording medium" may also include devices that dynamically store programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or telephone lines, or devices that store programs for a fixed period of time, such as volatile memory within a computer system that serves as a server or client. The program may also be designed to implement some of the functions described above, or may be capable of implementing the functions in combination with a program already stored in the computer system, or may be implemented using a programmable logic device such as an FPGA.

[0043] Although an embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs within the scope of the gist of the present invention. [Explanation of symbols]

[0044] 11a, 11b, 11c...construction machinery, 12a, 12b, 12c...GNSS terminal, 30...topographic measurement server, 40...management terminal

Claims

1. a measurement data acquisition unit that acquires measurement data from a GNSS terminal mounted on a construction machine present in an area for which topographical data is to be generated; a ground surface height data calculation unit that calculates ground surface height data from the measurement data; a topographical data generating unit that generates topographical data indicating the height of the ground surface based on the calculated height of the ground surface; A topographical measurement device equipped with a

2. 2. The topography measuring device according to claim 1, wherein the ground surface height data calculation unit calculates the height of the ground surface by subtracting the height from the ground surface of the construction machine to the measurement position of the GNSS terminal from the Z-axis data of the measurement data.

3. 2. The topographical measuring device according to claim 1, wherein the topographical data generating unit maps the measurement data onto a grid plane and processes the data as point cloud data having the height of the ground surface as a value.

4. A construction machine equipped with a GNSS terminal that is present in an area for which topographical data is to be generated; a topography measurement device that acquires measurement data from a GNSS terminal mounted on the construction machine, calculates ground surface height data from the measurement data, and generates topography data indicating the ground surface height based on the calculated ground surface height; a terminal device that displays topographical data indicating the height of the ground surface; A topographical measurement system equipped with

5. The topography measurement system of claim 4 further comprises measuring topography data using a drone equipped with a laser scanner, and combining the measurement values ​​of the topography data measured by the drone equipped with the laser scanner with the topography data measured by the topography measurement device to generate topography data indicating the height of the earth's surface.

6. a step of measuring the current position of a construction machine using a GNSS terminal mounted on the construction machine that is present in an area for which topographical data is to be generated; acquiring measurement data from a GNSS terminal mounted on the construction machine; calculating height data of the ground surface from the measurement data; generating topographical data indicating the height of the ground surface based on the calculated height of the ground surface; Topographic measurement methods including:

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