Positioning support system for construction sites

Abstract

To provide a positioning support system that can calculate the difference between real-time position information of materials, etc., being moved at a construction site, etc., and the coordinates where the materials should be placed, and can display the difference so that it can be visually confirmed. [Solution] A positioning support system A for use on a construction site, comprising: a plurality of position sensors 4 that are attached to an object 5 such as a material O1 to acquire position information via GNSS; a memory unit 1 that stores the position information, point cloud data 7, and design information which is the planned placement coordinates of the object 5; a calculation unit 2 that places an object 6 having coordinates in a virtual space based on the position information and point cloud data 7; and a display unit 3 that displays the results of calculation by the calculation unit 2, wherein the position information is updated in real time and the calculation results include the coordinate difference between the position information and the design information.

Description

[Technical Field]

[0001] The present invention relates to a positioning system for use at construction sites, and more particularly to a positioning system that can reflect the coordinates of real objects in a digital space and simulate the positioning of real objects in the digital space. [Background technology]

[0002] The concept of digital twins, which acquire real-world information and recreate it in a digital space, has been proposed, and various industrial sectors are exploring its use for real-time monitoring and simulation.

[0003] For example, the digital twin collaboration method, digital twin collaboration system, and digital twin collaboration program of Patent Document 1 are systems that enable simulation of the relationship between the logistics of materials, etc. and the manufacturing process in the field of product manufacturing. Similarly, the information processing device, vehicle, and shading method disclosed in Patent Document 2 are systems that make it possible to simulate how light appears from the viewpoint of a car driver based on the positional relationship of light sources.

[0004] Similarly, digital twins are highly useful on construction sites. The measurement display system of Patent Document 3 is a system that can store actual measurement value-related information, including coordinate information that is the actual measurement value of the measurement object and extension direction vector information of the actual measurement value 3D model, in a memory unit and display the information within the space of the target 3D model. In the measurement display system of Patent Document 3, the target 3D model contains vector information indicating the extension direction of the measured value 3D model, so if the coordinates of a part of the target 3D model can be identified, the vector information can be used to display the object, including its inclination, etc. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7457063 [Patent Document 2] Patent No. 7511606 [Patent Document 3] Patent No. 7265296 Summary of the Invention [Problem to be solved by the invention]

[0006] At construction sites, structures such as buildings and bridges are constructed by combining various materials. In other words, since work involves using various heavy machinery to place materials in designed locations, digital twins are highly useful as they reflect the coordinate information of materials being moved by heavy machinery in real time. However, in the system of Patent Document 3, although it is possible to reflect the coordinates of materials being moved in real time, it is not possible to check the exact difference between the coordinates at which the materials should be placed on the display screen in real time. This makes it difficult to properly guide materials, which is inconvenient.

[0007] The present invention was developed in response to the above-mentioned problems. In other words, the objective is to provide a positioning support system that can calculate the difference between the real-time location information of materials being moved at a construction site, etc., and the coordinates where the materials should be placed, and display this information in a visually verifiable manner. [Means for solving the problem]

[0008] After extensive research, the inventors discovered that the above problem can be solved by storing the coordinates where materials O1, etc. are to be placed as design information in memory unit 1, and displaying on display unit 3 the difference between this and the position information obtained by multiple position sensors. The present invention is based on this finding.

[0009] The present invention resides in a positioning support system A for use on a construction site, which comprises a plurality of position sensors 4 that are attached to objects 5 such as materials O1 to acquire position information via GNSS, a memory unit 1 that stores the position information, point cloud data 7, and design information which is the planned placement coordinates of the objects 5, a calculation unit 2 that places an object 6 having coordinates in a virtual space based on the position information and point cloud data 7, and a display unit 3 that displays the results of calculation by the calculation unit 2, wherein the position information is updated in real time and the calculation results include the coordinate difference between the position information and the design information.

[0010] The present invention resides in the above-described positioning support system A, in which the coordinate difference between the position information and the design information is displayed on the display unit 3 as multiple two-dimensional coordinates G1, the point cloud data 7 or the design information includes coordinate information of a fixed object 6 in the real space RS, and the display unit 3 further displays weather information.

[0011] The present invention resides in the above-described positioning support system A, in which the point cloud data 7 is acquired by a 3D scanner.

[0012] The present invention may also be implemented by appropriately combining the above configurations. [Effects of the Invention]

[0013] The positioning support system A of the present invention updates position information in real time, and the calculation results include the coordinate difference between the position information and the design information, making it possible to place material O1 at the desired location at the construction site with high precision. Specifically, by obtaining position information for a single object using multiple position sensors, it is possible to calculate the difference between the position information, including the orientation and tilt of the object, and the design information. This allows the positioning of materials to be performed with high precision. Furthermore, since it is possible to check the object 6 linked to real-world location information in the digital space DS, it is possible to perform highly accurate simulations.

[0014] The positioning support system A of the present invention displays the coordinate difference between the position information and the design information as multiple two-dimensional coordinates G1 on the display unit 3, allowing the operator to intuitively understand the deviation between the current coordinates of material O1, etc. and the target coordinates. Therefore, the material O1 can be easily transported to the target coordinates.

[0015] The positioning support system A of the present invention can simulate the transportation of materials O1 including information on objects that may become obstacles in the real space RS, because the point cloud data 7 includes coordinate information of fixed objects 6 in the real space RS.

[0016] The positioning support system A of the present invention is such that the design information further includes coordinate information of fixed objects 6 in the real space RS, thereby reducing the processing burden on the system while still displaying materials O1, etc. that have been completely placed.

[0017] In the positioning support system A of the present invention, the display unit 3 further displays weather information, making it possible to carry out transportation or simulation while visually checking information necessary for operating the heavy machine O2.

[0018] The positioning support system A of the present invention is capable of simulating the transportation of materials O1, including information on the terrain and information on objects that may become obstacles in the real space RS, because the point cloud data 7 is acquired by a 3D scanner. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a positioning support system. [Figure 2] FIG. 2 is an example of a screen displayed on the display unit. [Figure 3] FIG. 3 is an example of a screen displayed on the display unit. [Figure 4]FIG. 4 is a diagram showing an example of drawing an object. [Figure 5] FIG. 5 is an example of a screen displayed on a display unit using the object of FIG. [Figure 6] Figure 6 shows an example of a stationary model superimposed on point cloud data. [Figure 7] FIG. 7 is an example of a screen displayed on the display unit that includes heavy machinery as an object, which is the target. [Figure 8] FIG. 8 is an explanatory diagram showing the guidance of heavy machinery for transporting materials using a positioning assistance system. [Figure 9] Figure 9 is an example of a screen showing the operating status of heavy machinery. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings as necessary. In the drawings, the same elements are denoted by the same reference numerals, and redundant explanations will be omitted. Furthermore, unless otherwise specified, the positional relationships such as up, down, left, and right will be based on the positional relationships shown in the drawings. Furthermore, the dimensional ratios of the drawings are not limited to those shown in the drawings.

[0021] FIG. 1 is an explanatory diagram showing the configuration of a positioning support system A. As shown in FIG. The positioning support system A of the present invention is a system for supporting the positioning of materials O1 such as steel frames at a construction site to a designed location (coordinates). The positioning support system A includes a position sensor 4 that is attached to an object 5 such as a material O1 to acquire position information, a memory unit 1 that stores the position information, point cloud data 7, and design information that is the planned placement coordinates of the object 5, a calculation unit 2 that places an object 6 having coordinates in a virtual space based on the position information and point cloud data 7, and a display unit 3 that displays the results of calculations performed by the calculation unit 2.

[0022] The storage unit 1 and the calculation unit 2 can be suitably implemented using a known computer, server, or the like. Furthermore, the display unit 3 can suitably be a known computer, smartphone, or the like. The system configuration of the positioning support system A may be standalone or may operate on the cloud via a network. In this embodiment, the positioning support system A is connected to each terminal via a network and operates on the cloud. In this case, the system can be used anywhere, and a normal browser can be used as the display unit 3, making it highly versatile. It is also useful when working on a construction site, comparing the actual object with a digital simulation. In addition, each person involved in the construction, such as the site supervisor who oversees the entire construction project and the operators in charge of each heavy machine, can select the information they need and obtain it from the display.

[0023] The position sensor 4 is appropriately attached to the material O1 to be placed or to heavy machinery O2 such as a crane that transports the material O1. Herein, in this specification, the object such as the material O1 or heavy machinery O2, whose position information is acquired by the position sensor 4, is referred to as an object 5. A plurality of position sensors 4 are attached to one object 5 . This makes it possible to detect the direction and angle of the object 5 from the position information. The position information acquired by the position sensor 4 is transmitted to the storage unit 1 and stored therein. This makes it possible to display the object 5 on the positioning system in a state where the position information is reflected. Furthermore, by attaching a plurality of position sensors 4 to one object 5, it becomes possible to obtain information on the orientation and inclination of the object 5. In the case where the target object 5 is a heavy machine O2, it is possible to grasp the installation position of the heavy machine O2 in the target space (construction site) and the difference from the target coordinates. This allows for appropriate placement and ensures the safety of the construction work.

[0024] In the positioning support system A of the present invention, coordinates based on GNSS such as GPS are preferably used as position information. In GNSS, position information is updated approximately 10 times per second, and the position information of the object 5 equipped with the position sensor 4 is updated in real time.

[0025] After the material O1 is placed at a predetermined position, the position sensor 4 attached to the material O1 is removed and attached to the next material O1 to be transported. This makes it possible to effectively utilize the limited number of position sensors 4 to position and arrange the material O1. The position sensor 4 attached to the heavy machine O2 may be removed and attached as appropriate when using another heavy machine O2.

[0026] 2 is an example of a screen displayed on the display unit 3. The screen shows a state in which point cloud data 7 and an object 6 are displayed overlapping each other. As described above, in this embodiment, the monitor of a computer or a smartphone is used as the display unit 3, and a browser is used as the display software. The browser displays a 3D model (object 6) of the target object 5 based on point cloud data 7 and position information obtained from the position sensor 4. Also displayed are a plurality of two-dimensional coordinates G1 that indicate the difference between the object 6 and the design information that is the planned placement coordinate of the object 6. Other information displayed includes weather data such as wind speed and the output of the heavy equipment O2, but these will be discussed later.

[0027] The point cloud data 7 is a set of coordinates of objects obtained by measuring the construction site in advance using a 3D scanner or the like, and can be said to be data on objects that will not be changed by construction work at the construction site, such as existing buildings and terrain. By aligning the installation location of the 3D scanner in advance based on the plane rectangular coordinate system defined by the Ministry of Land, Infrastructure, Transport and Tourism, coordinate information compatible with the coordinate information obtained by the above-mentioned GNSS can be obtained. Furthermore, the coordinate information of the point cloud data 7 and the coordinates of the position information may be made compatible by performing positioning by surveying or the like without using a plane rectangular coordinate system. This makes it possible to perform simulation or monitoring using the positioning support system A of the present invention with higher accuracy.

[0028] 3 is an example of a screen displayed on the display unit 3. It shows a state in which the point cloud data 7 and the object 6 are not superimposed. The 3D data of the object 5 is designed in advance using software such as CAD and stored in the storage unit 1. By reflecting the mounting position of the position sensor 4 of the object 5 in the stored 3D data, or by mounting the position sensor 4 at a predetermined position, it becomes possible to display the object 5 in 3D space.

[0029] At this time, the 3D data of the object 5 is stored in the storage unit 1 in a state where it is linked to the coordinates where it is to be placed as design information. This makes it possible to calculate the difference between the position information, which is the current coordinates of the object 5, and the design information, which is the target coordinates, and display it on the display unit 3, as will be described later.

[0030] The display unit 3 simultaneously displays the point cloud data 7 and the object 6 obtained from the position information displayed in coordinates compatible with the point cloud data 7, thereby making it possible to display the object 6 in the digital space DS at a position corresponding to the position of the target object 5 in the real world.

[0031] FIG. 4 is a diagram showing an example of drawing of the object 6. FIG. 5 is an example of a screen displayed on the display unit 3 using the object 6 of FIG. FIG. 6 shows an example in which a stationary model OF is displayed superimposed on point cloud data 7. In addition to the point cloud data 7, the object 6 information may be fixed data (a stationary model OF) that does not acquire position information. Specifically, when construction progresses and some parts are already completed, such as in the case of bridge construction, once the main structure is completed and the main girders are being constructed, although the structure is displayed in 3D data, it will no longer be moved, so there is no need to obtain location information. In such a case, by displaying the body as the object 6 on the display unit 3 as an immovable model OF with fixed coordinates, it is possible to reduce the amount of data and lighten the processing load on the system. Furthermore, by generally limiting the number of moving models (i.e., the material to be moved O1 and the heavy equipment O2 that transports it) to one set, the burden on the system processing is reduced while ensuring safety at the construction site.

[0032] The point cloud data 7 and the object 6 can be freely enlarged, reduced and / or rotated in the digital space DS. This allows for more detailed monitoring of construction sites and enables accurate simulation of transportation, taking into account factors such as whether or not there will be interference.

[0033] On the display unit 3, the difference between the position information, which is the current coordinates of the object 5, and the design information is displayed as a plurality of two-dimensional functions. While the real space RS and the digital space DS are both three-dimensional, the display unit 3 is usually two-dimensional. Therefore, by displaying them as multiple two-dimensional coordinates G1, the difference between the position information and the design information, i.e., the deviation, can be displayed in an intuitively recognizable manner. Specifically, considering x and y axes that intersect at right angles on a horizontal plane and z axes that intersect at right angles to the x and y axes, the design information is displayed on each of the xy, yz, and zy coordinate planes with the position information as the origin.

[0034] A window G2 showing weather information such as wind direction and wind force is displayed on the display unit 3. In particular, when materials O1 are placed using a crane or the like, they are greatly affected by the wind. Therefore, by simultaneously checking this information in addition to the positional relationship of the object 5, the worker operating or guiding the crane can operate or guide the crane more appropriately. In addition to wind information, other weather information such as weather, temperature, humidity, etc. may also be displayed.

[0035] FIG. 7 is an example of a screen displayed on the display unit 3, which includes a heavy machine O2 as an object 6, which is the target object 5. The display unit 3 may display a window showing the operation of the heavy machine O2 transporting the material O1. For example, if the heavy machine O2 is a crane, the data displayed in the window include the elevation angle, extension degree, output, and other data of the crane. This information is used in the operation or guidance of the heavy machine O2, which will be described later.

[0036] FIG. 8 is an explanatory diagram showing the guidance of a heavy machine O2 for transporting a material O1 using the positioning support system A. The positioning system of the present invention can use the monitoring of materials O1 and heavy equipment O2 by position sensors 4 to guide or operate the heavy equipment O2 in real space RS. In FIG. 8 and FIG. 8 described later, an example will be described in which a crane truck is used as the heavy machine O2.

[0037] When using the positioning support system A for operating the heavy machine O2, it is useful to omit the overall view of the construction site and display the deviation between the detailed position information for operation and the design information. This operation screen displays the difference between the design information and the position information obtained by the position sensors 4 attached to both ends of the material O1, and further displays these differences in the center. If the difference between the position information at both ends displayed in the center and the design information is 0, it can be seen that material O1 is horizontal. These guidance screens and the 3D model display including the point cloud data 7 etc. may be displayed separately or overlapping on the same browser, or the display may be switched using multiple tabs or windows etc. By making it possible to select the information and display format to be displayed on the display unit 3, it becomes possible to view only the information required depending on the task at hand on the display unit 3. In this case, it is useful to round up the displayed scale appropriately. As described above, location information using GNSS is updated approximately 10 times per second, and the resolution can be 1 cm or less, but information on such a fine scale places a heavy processing load on the system and is difficult for people to understand immediately, making it unsuitable for transporting the target object 5 or guiding heavy machinery O2 for its placement. In this embodiment, location information is displayed in units of 0.1 m.

[0038] On the operation screen, if there is a risk that other position information or point cloud data 7 may interfere with the object 5 (heavy machinery O2 or material O1) being operated, a warning is displayed. This will prevent contact accidents and ensure the safety of construction work.

[0039] FIG. 9 is an example of a screen showing the operating status of heavy equipment O2. On this screen, the operator can check the operating status of the heavy equipment O2, more specifically, the current operation of the heavy equipment O2. Figure 9 shows an example in which heavy equipment O2 is a crane truck.

[0040] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.

[0041] In this embodiment, the point cloud data 7 was measured by a 3D scanner, but it may also be drawn using CAD etc. In this case, by matching the reference points in the real space RS with the reference points on the drawing, the real space RS and the digital space DS are matched, enabling simulation or monitoring using the positioning system support of the present invention.

[0042] The display unit 3 may further display real-time images taken with an optical camera. This makes it possible to check the situation on-site from a more multifaceted perspective.

[0043] A position sensor 4 may also be provided to detect the position information of each worker working at the construction site, and a warning message may be displayed if there is a risk of interference between the position information of the worker and the position information of the object 5, i.e., if there is a risk that the worker will come into contact with heavy machinery O2 or materials O1. In this case, the safety of the construction work can be ensured.

[0044] In this embodiment, an example is shown in which the material O1 is transported by a crane, but the positioning support system A can also be suitably used in other types of transport such as sending out. [Industrial Applicability]

[0045] The positioning support system A of the present invention can be widely used in construction sites where materials O1 are transported. [Explanation of symbols]

[0046] A. Positioning support system 1...Storage section 2... Arithmetic section 3...Display section 4. Position sensor 5...Object 6. Objects 7. Point cloud data O1···Materials (object) O2...Heavy equipment (object) OF....Still model RS...Real Space DS...Digital Space G1...2-dimensional coordinates G2...Weather information window

Claims

1. A positioning support system at a construction site, a plurality of position sensors that are attached to targets such as materials to acquire position information using GNSS; a storage unit that stores the position information, point cloud data, and design information that is the planned placement coordinates of the object; a calculation unit that places an object having coordinates in a virtual space based on the position information and the point cloud data; a display unit that displays the calculation results by the calculation unit; Equipped with A positioning support system in which the position information is updated in real time, and the calculation result includes a coordinate difference between the position information and the design information.

2. a difference in coordinates between the position information and the design information is displayed on the display unit as a plurality of two-dimensional coordinates; the point cloud data or the design information includes coordinate information of a fixed object in real space, 2. The positioning support system according to claim 1, wherein the display unit further displays weather information.

3. The positioning support system according to claim 1 , wherein the point cloud data is acquired by a 3D scanner.

Images