System using point group data to inspect construction object for construction

Abstract

To provide a system for measuring inclinations and irregularities of one certain surface of a building.SOLUTION: A system for measuring inclinations and irregularities of one certain surface of a building comprises an investigation device and a measuring object part. The measuring object part includes a reference plate having a horizontal maintenance mechanism serving as a reference of inclination measurement. The investigation device comprises: imaging means for acquiring point group data; inclination angle recording means for measuring and recording an inclination angle being an inclination reference and a direction and angle of an inclination at a specific site; a point group data recording means for recording point group data acquired by the imaging means; and processing means for determining inclination and irregularity relative to a reference horizontal plane being one certain surface of a building. The processing means executes at least either: an inclination inspection mode in which an adjacent point group determines an inclination relative to the reference horizontal plane, by using point group data acquired by the imaging means; or a construction object thickness inspection mode in which thickness and irregularities of a construction object are determined based on a distance of point groups respectively from the reference horizontal plane.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a construction work inspection system that uses point cloud data, and in particular to a system that uses point cloud data as 3D data to process data for inspection at construction sites, thereby enabling the inspection of the spray thickness of construction urethane and the inspection of the slope of floor surfaces, etc. [Background technology]

[0002] When constructing a building, materials must be installed at a thickness that meets construction standards, and the slope must be designed to meet those standards. After construction, skilled engineers generally inspect the slope and the thickness of the urethane spray coating.

[0003] This section explains conventional slope inspections. For example, floors facing the exterior of a building have a gentle slope from the interior to the exterior to allow rainwater to drain without pooling on the floor. Furthermore, drainage drains are installed at locations where they connect to drainage pipes that collect rainwater from the exterior and drain it to the floors below. Ditches are dug to funnel the rainwater into the drains, and the drains are gently sloped toward the drains. Rainwater flows into the drains along the slope of the floor and then into the drains along the slope of the drains. Furthermore, the area near the drains on the floor is funnel-shaped and slopes toward the drains to allow rainwater to flow directly from the floor to the drains. Insufficient slopes or areas with a reverse slope result in poor construction, which can cause rainwater to pool. Therefore, slope inspections of exterior floors are important during construction.

[0004] Methods for inspecting the slope of outdoor floors include measuring the slope at one point using a water bubble level, or using a laser to measure the slope in a straight line from the laser irradiation starting point. When measuring the slope of a floor, it is important to measure the difference in elevation between adjacent points, but when measuring at one point using a level or using the laser irradiation starting point as the height reference, the device's own position is compared with the measurement point, and comparing the difference in elevation between adjacent points requires multiple measurements by changing the device's reference position, which means there is a possibility of human error such as incorrect settings when moving the reference position, and the work procedure is complicated.

[0005] This section explains conventional urethane spray thickness inspections. As another example of inspections to check whether the thickness is too thick or too thin compared to the standard, urethane is sprayed onto exterior-facing building walls and ceilings located below pipes on upper floors as a measure to insulate and waterproof. After the urethane is sprayed, an inspection is required to confirm that the sprayed thickness meets the numerical values ​​set during design without any excess or deficiency. In conventional inspection methods, after the urethane is foamed, a reference pin made of plastic or other material with a standard length is inserted into the urethane surface, and after confirming that there is no excess or deficiency, the thickness is judged visually and, if necessary, by touch around the reference pin. The reference pins are inserted roughly at intervals of 1 to 2 meters, so inspecting the entire sprayed surface requires multiple insertions of the reference pin and visual confirmation. In addition to the large amount of work, since the area around the reference pin is checked visually, the judgment of whether the inspection standard is met is largely dependent on the individual inspection technique.

[0006] Examples of prior art that supports such inspections include the following patent documents: Patent Documents 1, 2, and 3 disclose systems that measure and / or inspect the spray thickness of urethane and the like. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2007-277813 A [Patent Document 2] JP 2010-085131 A [Patent Document 3] Patent No. 6019924 Summary of the Invention [Problem to be solved by the invention]

[0008] One method of measuring the shape of a surface is to use point cloud data acquired by imaging means such as a 3D camera. By using point cloud data acquired by imaging means to measure the slope of a floor surface or the thickness of urethane spray coating, it is possible to detect errors in conventional inspection methods and improve work efficiency.

[0009] Therefore, one of the objects of the present invention is to provide a system that supports construction inspections by determining the slope and / or unevenness generated from the point cloud data acquired by the imaging means and the reference plate that is simultaneously imaged within the imaging range by comparing them with a reference horizontal plane, and based on this determination, determining the slope of the floor surface and the thickness of the sprayed urethane, thereby discovering areas that do not conform to the design standards. [Means for solving the problem]

[0010] According to one aspect of the present invention, there is provided a system for measuring the slope and unevenness of a surface of a measurement target portion of a building, the system comprising: a surveying device; a reference plate; and a measurement target portion; the reference plate has a shape that determines one axial direction and another axial direction that serve as a reference for gradient measurement, wherein the one axial direction and the other axial direction are perpendicular to each other; The measurement object portion has a measurement auxiliary reference portion inside the measurement object, The survey equipment includes: an imaging means for acquiring point cloud data; a gradient angle recording means for measuring and recording the gradient angle serving as a gradient reference and the direction and angle of the gradient at a specific portion; a point cloud data recording means for recording the point cloud data acquired by the imaging means; a processing means for determining at least one of a slope and a roughness by comparing the distance between a certain side of the building and a reference horizontal plane that is a determination criterion; Equipped with the processing means uses the point cloud data acquired by the imaging means to generate a reference inclined plane to which a direction and angle inclination are assigned with a reference horizontal plane extending in the one axial direction as a positive direction; A system is provided, characterized in that the distance difference in the other axial direction between the extended surface obtained by extending one surface of the vertical maintenance mechanism of the reference plate in the one axial direction and the measurement auxiliary reference part is obtained as a reference distance, and the distance between each point group of the measurement object and the extended surface of the reference plate is compared with the reference distance. [Effects of the Invention]

[0011] The method of the present invention for determining slope and unevenness using point cloud data makes it possible to inspect slope and unevenness at construction sites using point cloud data acquired with a 3D camera, including reference plates.

[0012] Other objects, features and advantages of the present invention will become apparent from the following description of the preferred embodiments of the present invention taken in conjunction with the accompanying drawings. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 shows an outline of the system of the present invention, and shows an example of a system for measuring the slope and unevenness of one surface of a building. [Figure 2] FIG. 2 shows an example of information processing according to the present invention, and in particular shows an example of information processing in the gradient inspection mode. [Figure 3] FIG. 3 shows an example of information processing according to the present invention, and in particular shows an example of information processing in the construction thickness inspection mode. [Figure 4] FIG. 4 shows an example of a measurement according to an embodiment of the present invention. [Figure 5] FIG. 5 shows a schematic of a system according to another embodiment of the present invention. [Figure 6] FIG. 6 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for generating a floor surface inclination reference model. [Figure 7]FIG. 7 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for combining actual measurement results. [Figure 8] FIG. 8 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for comparing a model with actual measurement results. [Figure 9] FIG. 9 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for evaluation of the vertical direction to a drain. [Figure 10] FIG. 10 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for horizontal assessment of a drainage ditch. [Figure 11] FIG. 11 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for checking the accuracy of the inclination of the exterior corridor using a 3D camera. [Figure 12] FIG. 12 shows an example of a reference machine used in another embodiment of the present invention. [Figure 13] FIG. 13 shows an example of a virtual space in information processing according to another embodiment of the present invention. [Figure 14] FIG. 14 shows an example of the inclination direction of a drainage ditch in information processing according to another embodiment of the present invention. [Figure 15] FIG. 15 shows an image of the correct tilt direction used in information processing according to another embodiment of the present invention. [Figure 16] FIG. 16 shows the relationship between the output of information processing according to another embodiment of the present invention and the actual measurement location. [Figure 17] FIG. 17 is an example of an output screen according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] FIG. 1 shows an outline of a system according to an embodiment of the present invention, and shows an example of a system for measuring unevenness on one surface of a building.

[0015] The system 1000 in FIG. 1 is composed of a survey device 100 and a measurement target unit 200.

[0016] The investigation device 100 comprises a control means 110 , a 3D camera control means 120 , a recording means 130 , an inspection mode execution processing means 140 , and a data output means 150 .

[0017] The control means 110 controls each internal and external means of the survey device 100, and directly or indirectly controls the transmission and reception of necessary data. The control means 110 may be a general-purpose computer or processor.

[0018] The 3D camera control means 120 is connected to an imaging means 121 such as a 3D camera having a function of acquiring point cloud data, and controls the imaging means 121 such as a 3D camera. Note that the imaging means in this embodiment only needs to have a function of acquiring point cloud data, and for example, a depth camera, a Lidar camera, a 3D laser scanner, or the like may be used depending on the object to be imaged, the accuracy, the purpose, and the environment.

[0019] The recording means 130 records point cloud data acquired by the 3D camera. For example, it records a reference for generating a vertical plane as a reference for measuring thickness and unevenness, a urethane pin inserted into the urethane using an existing method as a reference for determining whether the unevenness is correct, and a point cloud of the urethane surface that is the target of the correctness determination. Here, in this embodiment, the urethane pin is an example of a measurement assistant reference part, and as described below, distance can be determined based on the measurement assistant reference part and a reference plate. Note that in this embodiment, one axial direction is described as an example of the vertical direction, and the other axial direction perpendicular to the one axial direction is described as an example of the horizontal direction.

[0020] The test mode execution processing means 140 executes one or more test modes.

[0021] The data output means 150 outputs any data generated by this system.

[0022] The measurement target portion 200 has a (gradient) reference plate 210 disposed inside the measurement target portion.

[0023] The reference plate 210 has a horizontal maintenance mechanism that serves as the reference for gradient measurement. An example of a horizontal maintenance mechanism is a gimbal. When the urethane surface to be measured is a wall surface, the gimbal controls the reference plate so that it is perpendicular to the earth's axis. When the urethane surface to be measured is a ceiling surface, the gimbal controls the reference plate so that it is horizontal to the earth's axis. In inspection mode, a reference horizontal plane is generated from the point cloud information of the reference plate within the acquired point cloud. The distance difference between this plane and the point cloud of the urethane pin (measurement assistant reference unit 220), which is considered correct using existing methods, is calculated as the correct distance. The distance difference between the point cloud of the urethane surface to be judged as correct and the reference plate is used as the correct distance to be compared with the correct distance. If the correct distance is shorter than the correct distance, the urethane surface is deemed thicker than the urethane pin. If the correct distance is longer than the correct distance, the urethane surface is deemed to be insufficiently thick, i.e., not thick enough to fit the urethane pin. When judging whether the thickness is excessive or unexpected, a permissible distance difference is subtracted from the comparison.

[0024] FIG. 2 shows an example of information processing according to an embodiment of the present invention, and in particular, shows an example of information processing in the gradient inspection mode.

[0025] In S210, the point cloud data of the reference plate acquired by the 3D camera is extended to generate a reference horizontal plane. At this time, the end coordinates of the extension are coordinates obtained by raising the point cloud coordinates of the end of the measurement target surface to the depth direction coordinates of the point cloud data of the reference plate. After generating the reference horizontal plane, the reference horizontal plane is used to generate a reference inclined plane in virtual space. Here, the reference inclined plane is a reference inclined plane that is given a gradient angle and direction specified on the construction site design drawing with respect to the reference horizontal plane.

[0026] In S220, data captured by the 3D camera is acquired via the 3D camera control means 120, and point cloud data is calculated.

[0027] In S230, the inclination of the real space is detected in the virtual space by calculating the difference in elevation between the reference horizontal plane, the reference inclined plane, and the point cloud data in the virtual space.

[0028] In S240, a drainage drain reference model having information on the drainage drain and the fan-shaped slope around the drainage drain at a position corresponding to the drainage drain position on the point cloud data on the reference horizontal plane is used to generate a drainage ditch model connected to the drainage drain model in virtual space using the direction, distance, and angle of the drainage ditch from the drainage drain model based on the site design plan information. The drainage ditch reference model and the drainage drain reference model are then overlaid on the reference slope plane, and the height coordinates are overwritten in the order of the reference slope plane, the drainage ditch reference model, and the drainage drain reference model, thereby generating the drainage standard gradient specified in the construction site design plan in virtual space, enabling measurement of whether the slope angle of a non-flat surface conforms to the construction standard (S250). Here, the drainage drain reference model may be stored in advance in any storage device as predetermined reference data based on the construction site design plan.

[0029] Details of this embodiment will be described with reference to FIG.

[0030] FIG. 3 shows an example of information processing according to an embodiment of the present invention, and in particular shows an example of information processing in a construction thickness inspection mode.

[0031] In S310, the difference in distance between the reference horizontal plane and the point cloud data is calculated in virtual space.

[0032] In S320, the thickness of a construction material such as urethane applied in real space is detected in virtual space. Details of this embodiment will be explained with reference to FIG. 5 and subsequent figures. [Example]

[0033] FIG. 4 shows an example of a measurement according to an embodiment of the present invention.

[0034] This example describes a method for measuring the thickness of urethane sprayed onto a wall. In this example, the thickness of the urethane is determined only after application (before and after spraying), rather than comparing the thickness before and after spraying.

[0035] If urethane is sprayed onto a wall or other surface while measuring equipment is still installed, there is a risk of it breaking down due to scattering, and it may not be possible to install the measuring equipment in the same position before and after construction.

[0036] The measurement in this embodiment will be described below.

[0037] In S410, a 3D camera is used to insert or place a measurement object, including a reference plate, into the wall onto which urethane has been sprayed, and the reference plate is maintained vertically by the reference plate's vertical maintenance mechanism. The 3D camera then captures both the urethane and the reference plate together to acquire point cloud data. An example of a vertical maintenance mechanism is the vertical side of the reference plate. As a specific example, the 3D camera first captures images of the reference plate and the urethane surface within the same angle of view. Then, it captures images of the surrounding urethane surface, excluding the reference plate, within the imaging range. Point cloud data is acquired by measuring the distance between these.

[0038] In S420, a reference horizontal plane is created by extending the top surface of the reference plate in virtual space as the starting point, and the distance obtained by subtracting the thickness of the top surface portion from the top surface of the urethane pins that check the urethane thickness on the urethane surface point cloud using existing methods is used as the urethane thickness reference.The distance between the reference horizontal plane and the urethane thickness reference is used as the reference distance for urethane thickness pass / fail judgment, and the distance from each urethane surface point cloud to the reference horizontal plane is compared with the reference distance for pass / fail judgment to determine whether the urethane thickness is excessive or insufficient. Note that the reference distance in this embodiment is just an example, and the thickness including the top surfaces of the urethane pins may also be used.

[0039] To determine whether the thickness is excessive or insufficient, the difference in distance between the coordinates of each point group on the urethane surface is calculated using the coordinates of the reference horizontal plane as a reference. If the difference in distance between the coordinates of each point group on the urethane surface is within a predetermined range defined in the construction site design drawing, the urethane spray thickness at that coordinate is determined to be acceptable. On the other hand, if the difference in distance between the coordinates of each point group on the urethane surface is outside the predetermined range, the urethane spray thickness is determined to be unacceptable. For example, if the difference in distance between the coordinates of each point group on the urethane surface is outside the range in the positive direction, the urethane spray thickness is too thick, and a message may be displayed on the output screen (not shown) of the scanning terminal, indicating that the urethane at that coordinate should be removed. On the other hand, if the difference in distance between the coordinates of each point group on the urethane surface is outside the range in the negative direction, the urethane spray thickness is too thin, indicating that additional urethane should be sprayed at that coordinate.

[0040] On the output screen (not shown) of the operation terminal, point cloud data information corresponding to each coordinate on the horizontal and vertical directions of the virtual plane is linked and displayed on the output screen. As a specific example, for each coordinate on the virtual plane, information on the urethane thickness and information on the treatment for that urethane thickness (additional urethane spraying or cutting) are displayed using text, color information, etc.

[0041] In this embodiment, the inspection of urethane thickness by comparing a virtual plane with a point cloud has been described, but as another embodiment, it can also be used to inspect unevenness and cracks on the floor, and details will be provided later. [Example]

[0042] 5 shows a schematic diagram of a system according to another embodiment of the present invention, which detects whether the floor has a drainage slope that is insufficient or reversed, that is, a slope of the floor surface that slopes toward the drain.

[0043] <Measurement preparation> A slope reference plate is installed on the floor to create a reference horizontal plane.

[0044] The gradient reference plate is fixed horizontally even on uneven or sloped floors thanks to the automatic leveling mechanism at the bottom.

[0045] <Measurement> The floor surface of the target for gradient measurement is captured with a 3D camera. At this time, the user walks across the target floor surface while holding the 3D camera facing straight down, and floor point cloud data of the area is recorded by any means for processing the point cloud data.

[0046] During imaging with the 3D camera, one image including the gradient reference plate is acquired as a reference image.

[0047] <Generation of floor slope reference model> FIG. 6 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for generating a floor surface inclination reference model.

[0048] In S610, the point cloud data of the gradient reference plate in the acquired reference image is expanded in the front, back, left, and right directions of the horizontal plane to generate point cloud data of the reference horizontal plane. At this time, the end coordinates of the expansion of the point cloud data of the gradient reference plate are set to the coordinates obtained by raising the point cloud coordinates of the end of the measurement target surface to the coordinates in the depth direction of the point cloud data of the reference plate, and attribute information indicating the position of the gradient reference plate is assigned to the point cloud of the gradient reference plate part.

[0049] In S620, the reference horizontal plane generated in S610 is duplicated and given the gradient direction and reference angle (generally based on specified building standards such as 1 / 50, 1 / 100, etc.) of the construction site design drawing, and a reference slope plane inclined by the reference angle toward the drainage ditch is generated as point cloud data.

[0050] In S630, the reference inclined plane and the point cloud data captured by the 3D camera are superimposed. The reference position for superimposition is determined by the attribute information assigned to the point cloud of the gradient reference plate when the reference horizontal plane was generated.

[0051] In S640, the center position of the drainage drain in the floor point cloud data is specified on the reference slope surface, the length, width, and depth of the drainage drain are generated using point cloud data based on the construction site design drawing, and a drainage drain reference model with a fan-shaped slope starting from the drainage drain center position is generated and superimposed on the reference slope surface. Here, the drainage drain reference model may be stored in advance in any storage means as slope reference data based on predetermined construction site design drawing information.

[0052] In S650, the drainage drain center position on the reference slope plane is used as the starting point, and the slope angle, drainage ditch width, and drainage ditch length of the construction site design drawing are given to generate a drainage ditch reference model leading to the drainage drain.

[0053] In S660, the inspection reference angle floor model, the drainage ditch reference model, and the drainage drain gradient model are superimposed in this order to generate an inspection reference floor model for the floor to be inspected.

[0054] <Combining measurement results: Combining point cloud data captured multiple times> FIG. 7 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for combining actual measurement results.

[0055] In S710, the measurement target surface is imaged multiple times using a 3D camera. At this time, the image is captured so that the image capture range includes the same point as the end of the previous image capture range. Here, the 3D camera may be moved vertically or horizontally to capture the measurement target surface multiple times.

[0056] In S720, images captured by a 3D camera are joined. In this case, consecutive images are joined using the same point included in the end portion of the previous image and the beginning portion of the following image as a joining point. Note that consecutive images may be joined using known feature points as a joining criterion instead of joining at the same point.

[0057] <Comparison of model and actual measurement results> FIG. 8 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for comparing a model with actual measurement results.

[0058] In S810, the reference inclined plane is superimposed on the point cloud data combined in S720. At this time, the superimposition is performed using point clouds having attributes indicating the position of the gradient reference plate within the point clouds of the gradient reference plate and the point cloud data as a reference.

[0059] In this case, the height position of the reference inclined plane is the position of the gradient reference plate installed on the floor surface, and therefore is higher than the point cloud data.

[0060] In S820, the horizontal reference plane is placed at a position higher than the highest point of the reference inclined plane.

[0061] In S830, the distances between the reference inclined plane and the same points in the point cloud data combined in S720 are compared and recorded to generate an overall distance map.

[0062] <Gradient evaluation from the inside to the outside of the drain> FIG. 9 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for evaluation of the vertical direction to a drain.

[0063] In S910, the horizontal plane, the reference horizontal plane and the point cloud data of two adjacent point clouds are compared from the inside (the side opposite the drainage ditch) to the outside (the side on the drainage ditch side) as follows to determine whether the slope is acceptable.

[0064] In S920, the side with a larger difference in distance between the horizontal plane and the reference horizontal plane is determined as downstream, and the side with a smaller difference in distance is determined as upstream.

[0065] In S930, the above comparison is performed from the inside to the outside to the end of the point cloud data, and the following relationship with adjacent point clouds is recorded as information in the point cloud.

[0066] In addition, when implementing, if (1) does not exist until the end, there is no problem in including (2) in (3).

[0067] (1) If the difference between the reference horizontal plane and the point cloud data is larger upstream, it is considered to be "reverse gradient or flat."

[0068] (2) If the difference between the reference horizontal plane and the point cloud data is larger downstream, it is considered to be "a slope greater than the reference without a reverse gradient."

[0069] (3) If the difference between the reference horizontal plane and the point cloud data is equal upstream and downstream, it is considered to be “as per the reference.”

[0070] In S940, the above comparison is performed up to the end of the point cloud data in the direction parallel to the drainage ditch, and the point cloud is recorded as a gradient map from the inside to the outside.

[0071] <Gradient evaluation in the direction parallel to the drainage ditch> 10 shows an example of information processing according to another embodiment of the present invention, particularly an example of information processing for gradient evaluation in a direction parallel to the drainage ditch. Note that the repair location determination can be satisfied by joining the results of the gradient evaluation from the inside to the outside in a direction parallel to the drainage ditch, so the information processing of this embodiment may be an additional configuration.

[0072] In S1010, as in S910, the horizontal plane, the reference horizontal plane, and the point cloud data of the two adjacent point clouds are compared as follows to determine whether the tilt is acceptable. Note that, taking into consideration the accuracy of the point clouds and the area per point, the vertical and horizontal sums may be added together to determine the tilt of the drain in the diagonal direction.

[0073] In S1020, one of the two ends in the direction parallel to the drainage ditch is determined as the upstream side, and the other side is determined as the downstream side.

[0074] In S1030, similar to S930, the point cloud information is recorded.

[0075] In S1040, similar to S940, a gradient map is recorded.

[0076] The results of the information processing in Fig. 9 and the results of the information processing in Fig. 10 are marked on the point cloud, and are recorded and output as the inspection results and the areas requiring repair. An example of a method for determining areas requiring repair will be described with reference to Fig. 11.

[0077] <Checking the accuracy of the exterior corridor inclination using a 3D camera> FIG. 11 shows an example of information processing according to another embodiment of the present invention, and in particular shows an example of information processing for checking the accuracy of the inclination of the exterior corridor using a 3D camera.

[0078] In S1110, point cloud data of the floor surface is acquired using a 3D camera.

[0079] At the measurement start point, a measurement target portion is installed that maintains a gradient to create a reference horizontal plane in S1120 below, and is imaged together with the floor surface by a 3D camera. An example of the measurement target portion used in this example is shown in FIG. 12. In the measurement target portion in FIG. 12, a reference plate is installed as a top plate on a support mechanism such as a gimbal. The reference plate is a flat plate that is maintained at a designed inclination (1 / 50 or 1 / 100) from the inside to the outside. By setting such an inclination, the reference plate can be maintained horizontal to the ground.

[0080] In S1120, a virtual space that serves as a measurement reference is created in the virtual space based on the point cloud data of the reference aircraft ceiling captured in S1110. An example of the virtual space in this embodiment is shown in Fig. 13. Fig. 13 shows that by expanding the reference plate in the virtual space to the same area as the end of the point cloud data, it is possible to recognize in the data that the height of the outside of the building is low and the height of the inside is high.

[0081] Here, as shown in Figure 14, the virtual space and floor point cloud data are overlaid, the center position of the drain in the floor point cloud is copied onto the virtual space, the drain groove extending outward from the center position of the drain is overlaid onto the virtual space, the drain is overlaid to match the center position of the drain, and a gradient is applied radially from the drain, completing a virtual space with the desired gradient. The virtual space shown in Figure 14 represents a higher vertical height on the inside of the building and a lower one on the outside. The drain groove is also represented as being higher in vertical height the farther it is from the drain. The area around the drain is also represented as being higher (vertical height) the further it is from the center of the drain, but the gradient gradually becomes gentler and approaches the gradient angle of the floor surface.

[0082] In S1130, the distance between the imaginary plane in S1110 and the same point in the point cloud data in S1120 is obtained for each point.

[0083] In S1140, the distances acquired in S1130 between adjacent points are compared. If the inside of the building is less than the outside, the necessary gradient for drainage is ensured and the test is deemed to have passed. On the other hand, if the inside is greater than or equal to the outside, the test is deemed to have failed because the slope is reversed or there is no slope between the points, making the area flat and not providing the necessary gradient for drainage. The reason for this determination is that the higher side of the drain area is less than the lower side. Figure 15 shows an image of the correct slope direction used in this example. Figure 15 shows that drainage flows in the direction of the arrows. Around the drainage ditch away from the drainage ditch, drainage flows from the inside of the building toward the gutter. The drainage that flows into the ditch flows into the drainage ditch. Around the drainage ditch, a radial gradient is configured to direct the drainage ditch directly to the drainage ditch rather than the ditch.

[0084] In S1150, the results are output by coloring the areas determined to be unacceptable in an image of the point cloud map. The colored areas indicate areas requiring repair. The relationship between the output of the information processing in this embodiment and the actual measurement locations is shown in Figure 16. In Figure 16, the distance between point clouds at the same position in virtual space and real space is obtained and compared with the coordinates of adjacent point clouds. In Figure 16, the distance between the point clouds marked with stars is 15 mm, which, when compared to the distance (10 mm) between the adjacent point clouds (square and circle), shows an inverse gradient, and therefore can be determined to be NG.

[0085] FIG. 17 shows an example of an output screen according to this embodiment. In this output screen, each point cloud data is represented by a grid surrounded by vertical and horizontal lines. For each point in the point cloud data, the position information of the measured object and information on whether or not correction is possible are associated and output. Examples of output include storing the information in any storage device or outputting it to an output screen. The position information may be, for example, a reference distance. In addition to planar coordinates, it may also include information on the perpendicular distance (height, depth, etc.) from the reference plane to the surface of the measured object, or information on the angle and direction of inclination calculated from the difference between the distance of a point and the distance of an adjacent point. Information on areas requiring repair may be information determined based on, for example, the inclination or distance. Furthermore, for each piece of point cloud data, associated common information may be displayed by connecting lines, or the area formed by the connecting lines may be colored to indicate areas requiring repair. In this embodiment, the difference from the reference distance is associated with the grid, and areas requiring repair are indicated by drawing diagonal lines on grids that do not meet the reference distance and horizontal lines on grids that exceed the reference distance.

[0086] Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations are possible for those skilled in the art based on the above description, and the present invention includes the various alternatives, modifications, and variations described above within the scope of the present invention.

Claims

1. A system for measuring the slope and unevenness of a surface of a measurement target part of a building, the system comprising: a surveying device, a reference plate, and a measurement target part; the reference plate has a maintaining mechanism having a shape that determines one axial direction and another axial direction that serve as a reference for gradient measurement, wherein the one axial direction and the other axial direction are perpendicular to each other; The measurement object portion has a measurement auxiliary reference portion inside the measurement object, The survey equipment includes: an imaging means for acquiring point cloud data; a gradient angle recording means for measuring and recording the gradient angle serving as a gradient reference and the direction and angle of the gradient at a specific portion; a point cloud data recording means for recording the point cloud data acquired by the imaging means; a processing means for determining at least one of a slope and a roughness by comparing the distance between a certain side of the building and a reference horizontal plane that is a determination criterion; Equipped with the processing means uses the point cloud data acquired by the imaging means to generate a reference inclined plane to which a direction and angle of inclination is assigned with respect to a reference horizontal plane extending in the one axial direction as a correct solution; a distance difference between an expanded surface obtained by expanding one surface of the maintaining mechanism of the reference plate in the one axial direction and the measurement assistant reference part in the other axial direction is acquired as a reference distance, and a distance between each point group of the measurement object and the expanded surface of the reference plate is compared with the reference distance; A system characterized in that information on areas requiring repair is generated based on the reference distance of each point cloud data and the reference distance adjacent to the point cloud data, and the position information and information on areas requiring repair are associated with the point cloud data and output.

2. The system has a gradient inspection mode in which a difference in distance between adjacent point clouds and a gradient reference horizontal plane determines a gradient with respect to the gradient reference plane, In the gradient inspection mode generating a reference horizontal plane and a reference inclined plane in a virtual space based on a reference horizontal plane generated by expanding point cloud data of a reference plate captured and included in the measurement target portion, and a reference inclined plane generated by applying a predetermined inclination and angle to each point cloud of the reference horizontal plane; By calculating the difference in elevation between the reference horizontal plane, the reference inclined plane, and the point cloud data in virtual space, Detect the tilt of the real world in the virtual world, The gradient inspection mode further comprises: The system described in claim 1 is characterized in that by overlaying the drainage drain position of point cloud data on a reference slope surface, a drainage ditch reference model having a slope standard around the drainage drain and the width and slope of the drainage ditch leading to the drainage drain is generated in a virtual space, and by overlaying the reference slope surface, the drainage ditch reference model, and the drainage drain reference model in sequence, the drainage standard gradient indicated by the design standards is generated in the virtual space, thereby measuring whether the slope angle of a surface other than a flat surface conforms to the construction standards.

3. The system has a construction thickness inspection mode for determining the thickness and unevenness of a construction based on the distance of each point cloud from the reference horizontal plane, In the construction thickness inspection mode By calculating the distance difference between the reference horizontal plane and the point cloud data in virtual space, Irregularities in the real world are detected in the virtual space, and the difference in distance between the reference object and the reference horizontal plane in the real world is used as a reference distance of ±0 to determine whether the irregularities in the real world pass or fail. A system characterized by: The construction thickness inspection mode further includes: Detecting the thickness of construction work carried out in real space in virtual space 2. The system of claim 1.

4. A program that executes the system according to claim 1.

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