Pneumatic caisson construction management method and construction management device

Abstract

To provide a construction management method and a construction management device of a pneumatic caisson capable of removing the effect of an obstacle when acquiring three-dimensional shape data without labor at low cost.SOLUTION: A construction management method of a pneumatic caisson further includes: a step S4 of acquiring a difference between acquired three-dimensional shape data and acquired three-dimensional shape data acquired just before the same; a step S5 of detecting an obstacle different from an excavation residue portion based on the acquired difference; and a step S8 of forming an image from which the detected obstacle has been removed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a construction management method and a construction management device for a pneumatic caisson. [Background technology]

[0002] Traditionally, in the pneumatic caisson method, a remaining excavation area is left inside the cutting edge during subsidence excavation, and this support area ensures the bearing capacity of the ground and supports the weight of the caisson. Because the caisson is sunk while the remaining excavation area supports the main body, it is important to properly manage the shape of the remaining excavation area (remaining excavation width), which will serve as the supporting ground. Therefore, in recent years, technology has been developed to accurately measure the shape of the remaining excavation area using 3D scanning, and its application to on-site work has begun.

[0003] The present patent applicant has already proposed such a technology, as described in Patent Document 1. The construction management method described in Patent Document 1 is a method in which, during subsidence excavation in a pneumatic caisson construction method, a remaining excavation area is provided inside the cutting edge of the cutting edge of the caisson body, and the bearing capacity of the ground is ensured by the support area to support the weight of the caisson body, and includes the steps of: acquiring 3D shape data of the remaining excavation area using a 3D scanner; comparing the acquired 3D shape data with a predetermined planned value for the remaining excavation area to determine areas in the remaining excavation area that require excavation; generating an image that, when projected onto the surface of the ground including the remaining excavation area, allows the areas that require excavation to be visually recognized; and projecting the generated image onto the corresponding surface of the ground.

[0004] On the other hand, as conventional techniques for recognizing obstacles ahead of a vehicle, those described in Patent Documents 2 and 3, for example, are known. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Application No. 2020-093611 (currently unpublished) [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-283392 [Patent Document 3] Japanese Patent Application Laid-Open No. 2000-329852 Summary of the Invention [Problem to be solved by the invention]

[0006] In the pneumatic caisson construction method, when a 3D scanner is used to measure the shape of the remaining excavated area, an excavating shovel may pass in front of the scanner. In this case, the excavating shovel blocks the laser beam from the scanner onto the object being measured, which can cause the scanner, which acquires the 3D shape data (point cloud data), to detect abnormal values ​​and prevent accurate measurement of the remaining excavated area shape. At caisson construction sites in particular, many overhead excavating shovels are operating in a small workroom, and interference with the scanner can be a major problem.

[0007] Figure 3 (1) shows an example of point cloud data of the shape of the excavation residue captured by a scanner, and (2) shows an image of the interference of an excavator with the scanner. To address this issue, the conventional approach has been to increase the number of scanners to minimize the measurement range that is the excavator's blind spot, but this could increase the cost and effort required to install the scanners.

[0008] The present invention has been made in consideration of the above, and aims to provide a construction management method and construction management device for pneumatic caissons that can easily and at low cost eliminate the influence of obstacles when acquiring three-dimensional shape data. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the objectives, the construction management method for pneumatic caissons of the present invention comprises the steps of acquiring three-dimensional shape data of the remaining excavated portion at predetermined time intervals, comparing the acquired three-dimensional shape data with a predetermined planned value for the remaining excavated portion to determine areas in the remaining excavated portion that require excavation, generating an image that allows the areas that require excavation to be visually recognized when projected onto the surface of the ground including the remaining excavated portion, and projecting the generated image onto the corresponding surface of the ground, and is characterized by further comprising the steps of calculating the difference between the acquired three-dimensional shape data and the three-dimensional shape data acquired immediately before it, detecting obstacles that are different from the remaining excavated portion based on the calculated difference, and generating an image in which the detected obstacles have been removed.

[0010] In addition, the construction management device for pneumatic caissons of the present invention is a construction management device for pneumatic caissons that has a three-dimensional shape data acquisition means for acquiring three-dimensional shape data of the remaining excavated portion, a determination means for comparing the acquired three-dimensional shape data with a predetermined planned value of the remaining excavated portion to determine areas that require excavation in the remaining excavated portion, an image generation means for generating an image that allows the areas that require excavation to be visually recognized when projected onto the surface of the ground including the remaining excavated portion, and a projection means for projecting the generated image onto the corresponding ground surface, and further has a difference calculation means for calculating the difference between the acquired three-dimensional shape data and the three-dimensional shape data acquired immediately before that, and an obstacle detection means for detecting obstacles other than the remaining excavated portion based on the calculated difference, and is characterized in that the image generation means generates an image in which the detected obstacles have been removed. [Effects of the Invention]

[0011] According to the construction management method for pneumatic caissons of the present invention, the construction management method for pneumatic caissons includes the steps of acquiring three-dimensional shape data of the remaining excavated portion at predetermined time intervals, comparing the acquired three-dimensional shape data with a predetermined planned value for the remaining excavated portion to determine the areas in the remaining excavated portion that require excavation, generating an image that allows the areas that require excavation to be visually recognized when projected onto the surface of the ground including the remaining excavated portion, and projecting the generated image onto the corresponding surface of the ground.The method further includes the steps of calculating the difference between the acquired three-dimensional shape data and the three-dimensional shape data acquired immediately before it, detecting obstacles that are different from the remaining excavated portion based on the calculated difference, and generating an image with the detected obstacles removed, thereby achieving the effect of being able to remove the influence of obstacles when acquiring three-dimensional shape data without hassle and at low cost.

[0012] In addition, according to the construction management device for pneumatic caissons of the present invention, the construction management device for pneumatic caissons has a 3D shape data acquisition means for acquiring 3D shape data of the remaining excavated portion, a determination means for comparing the acquired 3D shape data with a predetermined planned value for the remaining excavated portion to determine areas that require excavation in the remaining excavated portion, an image generation means for generating an image that allows the areas that require excavation to be visually recognized when projected onto the surface of the ground including the remaining excavated portion, and a projection means for projecting the generated image onto the corresponding ground surface, and further has a difference calculation means for calculating the difference between the acquired 3D shape data and the 3D shape data acquired immediately before it, and an obstacle detection means for detecting obstacles other than the remaining excavated portion based on the calculated difference, and the image generation means generates an image from which the detected obstacles have been removed, thereby achieving the effect of being able to remove the influence of obstacles when acquiring 3D shape data without hassle and at low cost. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing an embodiment of a construction management method and a construction management device for a pneumatic caisson according to the present invention. [Figure 2]FIG. 2 is an explanatory diagram of the operation of this embodiment. [Figure 3] Figure 3 is an explanatory diagram of conventional measurement of the shape of the excavation residue, where (1) is an example of point cloud data of the shape of the excavation residue measured by a scanner, and (2) is an image of interference between the excavation shovel and the scanner. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, an embodiment of a construction management method and a construction management device for a pneumatic caisson according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the embodiment.

[0015] In this embodiment, as in Patent Document 1, during subsidence excavation using the pneumatic caisson method, a remaining excavation area is provided inside the cutting edge of the caisson body, and this support area ensures the bearing capacity of the ground and supports the weight of the caisson body. The width of the remaining excavation area is calculated in advance before construction begins by calculating the apparent weight change according to the caisson depth and the subsidence for each change in caisson depth and soil layer. Planned values ​​for construction management are set based on these calculated values.

[0016] The construction management device for a pneumatic caisson according to this embodiment includes a 3D scanner, a projector, and a processing device installed in the caisson compressed air work chamber, similar to the device in Patent Document 1. The 3D scanner, projector, and processing device may be separate or integrated.

[0017] A 3D scanner is a 3D shape data acquisition device that acquires 3D shape data of the remaining excavated area in a target area, and is installed, for example, on the ceiling of a caisson workroom or on an excavation shovel. The 3D scanner irradiates the target area with laser light and receives the laser light reflected off the irradiated object, thereby acquiring 3D shape data (point cloud data) at predetermined time intervals. The acquired 3D shape data is recorded in memory in chronological order and can be read at any time by a processing device.

[0018] The processing device includes a determination means, an image generation means, a difference calculation means, and an obstacle detection means. The determination means compares the acquired 3D shape data with a preset planned value to determine the area and extent of deformation (excavation) required in the remaining excavation area. The image generation means includes an image generation unit 1 that generates an image that, when projected onto the ground surface including the remaining excavation area, allows the area and extent of deformation (excavation) to be visually recognized, and an image generation unit 2 that generates an image in which obstacles detected by the obstacle detection means have been removed. The difference calculation means calculates the difference between the acquired 3D shape data and the 3D shape data acquired immediately before that. The obstacle detection means detects obstacles other than the remaining excavation area based on the calculated difference. It is desirable to set a threshold value for the difference so that changes in shape due to excavation are not detected as obstacles. The determination of the area and extent of deformation required by the determination means and the generation of an image by the image generation unit 1 of the image generation means can be performed using the following procedure.

[0019] First, the determination means extracts measurement points on the ceiling from the acquired 3D shape data and estimates the average value z1 of the vertical coordinate values. The measurement points on the ceiling can be extracted by setting an arbitrary threshold value from the maximum value of the vertical coordinate values.

[0020] Next, the measurement points of the openings are extracted from the acquired 3D shape data, and the average value z2 of the vertical coordinate values ​​is estimated. The measurement points of the openings can be extracted by setting an arbitrary threshold value from the minimum value of the vertical coordinate values.

[0021] Next, if the measurement point of the vertical coordinate value zi in the acquired 3D shape data satisfies the following conditional expression, that measurement point is extracted as a measurement point in the remaining excavation area. a and b are values ​​set so that an opening is not mistaken for an remaining excavation area. z1-a>zi>z2+b

[0022] Next, the determination means compares the coordinates of the measurement points extracted using the above conditional expressions with coordinates corresponding to the preset planned values ​​to determine the area and degree of deformation in the remaining excavation area. The image generation unit 1 then generates an image that allows the determined area and degree of deformation to be visually recognized in space. This image may be, for example, a color-contoured image corresponding to the information on the difference in elevation between the height of the remaining excavation area and the planned value. The image can be generated, for example, by the method described in Patent Document 1 above.

[0023] The projector is a projection device that projects the generated image onto the ground surface as colored light (projection mapping), and is installed, for example, on the ceiling of a caisson workroom or on an excavation shovel. The projector visualizes the excavation area by color-coding whether the excavation is excessive or insufficient, allowing the area and extent of excavation to be seen at a glance, and enabling the subsidence excavation to proceed efficiently.

[0024] Next, an example of an obstacle removal procedure according to a construction management method using the above construction management device will be described with reference to FIG.

[0025] First, as shown in Figure 1, a 3D scanner is used to scan the remaining excavation area (step S1). Specifically, during subsidence excavation, a remaining excavation area is created inside the cutting edge of the cutting edge of the caisson body, and then a laser beam is irradiated from the 3D scanner toward the remaining excavation area. By receiving the reflected laser beam, point cloud data (3D shape data) of the remaining excavation area is acquired as input point cloud data at a predetermined time interval (step S2).

[0026] Next, the input point cloud data is converted into a depth image (step S3). This conversion can be performed using a known method. The difference between the converted depth image and the irradiation image corresponding to the input point cloud data acquired immediately before is detected by a difference calculation means (step S4).

[0027] As a result, if a difference equal to or greater than a preset threshold is detected (Yes in step S5), an obstacle is detected by the obstacle detection means. When an obstacle is detected in this way, the image generation unit 2 of the image generation means performs image processing to remove a portion corresponding to the obstacle (obstacle detection range) in the illuminated image corresponding to the input point cloud data (step S6). The image processing to detect a portion corresponding to the obstacle from the image and the image processing to remove this portion from the image can be performed using well-known image processing methods. By the image processing to remove the portion corresponding to the obstacle from the image, an image is obtained in which a hole has opened in the portion corresponding to the obstacle.

[0028] Next, a hole filling process is performed to fill holes in the image (step S7). This hole filling process uses the most recently acquired point cloud data, as shown in Fig. 2. Specifically, a portion corresponding to an obstacle is extracted from the irradiation image corresponding to the most recently acquired point cloud data, and the extracted portion is used to fill the hole in the image, thereby performing the hole filling process.

[0029] Next, based on the image that has been filled, the image generating unit 1 of the image generating means generates illumination point cloud data (step S8). Subsequently, the generated illumination point cloud data is converted into a depth image to generate a predetermined illumination image, and this image is projected onto the remaining excavation area by a projector (step S9). During the excavation work, the processes of steps S1 to S9 are repeated at predetermined time intervals.

[0030] In addition, in the above step S5, if there is no difference greater than the threshold value (No in step S5), illumination point cloud data is generated from the input point cloud data (step S10), the illumination point cloud data is converted into a depth image to generate an illumination image, and this image is projected onto the remaining excavation area using a projector (step S9).

[0031] According to this embodiment, the shape of the remaining excavation area can be grasped unmanned and in real time by using a 3D scanner, which can improve the efficiency of construction management. The remaining excavation area can be visually confirmed by projecting an image using a projector, which can reduce the possibility of the caisson body tilting more than planned or excessive settlement.

[0032] In particular, the effects of obstacles such as shovels can be easily and inexpensively removed when acquiring 3D shape data, making it possible to accurately grasp the remaining excavated shape of the entire caisson with a small number of scanners.

[0033] As described above, according to the construction management method for pneumatic caissons of the present invention, it is a construction management method for pneumatic caissons that includes the steps of acquiring three-dimensional shape data of the remaining excavated portion at predetermined time intervals, comparing the acquired three-dimensional shape data with a predetermined planned value for the remaining excavated portion to determine areas in the remaining excavated portion that require excavation, generating an image that allows the areas that require excavation to be visually recognized when projected onto the surface of the ground including the remaining excavated portion, and projecting the generated image onto the corresponding ground surface.The method further includes the steps of calculating the difference between the acquired three-dimensional shape data and the three-dimensional shape data acquired immediately before it, detecting obstacles that are different from the remaining excavated portion based on the calculated difference, and generating an image with the detected obstacles removed, so that the influence of obstacles when acquiring three-dimensional shape data can be removed without hassle and at low cost.

[0034] In addition, according to the construction management device for pneumatic caissons of the present invention, the construction management device for pneumatic caissons has a 3D shape data acquisition means for acquiring 3D shape data of the remaining excavated portion, a determination means for comparing the acquired 3D shape data with a predetermined planned value for the remaining excavated portion to determine areas that require excavation in the remaining excavated portion, an image generation means for generating an image that allows the areas that require excavation to be visually recognized when projected onto the surface of the ground including the remaining excavated portion, and a projection means for projecting the generated image onto the corresponding ground surface, and further has a difference calculation means for calculating the difference between the acquired 3D shape data and the 3D shape data acquired immediately before it, and an obstacle detection means for detecting obstacles other than the remaining excavated portion based on the calculated difference, and the image generation means generates an image from which the detected obstacles have been removed, so that the influence of obstacles when acquiring 3D shape data can be removed without hassle and at low cost. [Industrial Applicability]

[0035] As described above, the pneumatic caisson construction management method and construction management device of the present invention are useful for pneumatic caisson construction methods, and are particularly suitable for improving the efficiency of construction management for subsidence excavation.

Claims

1. A construction management method for a pneumatic caisson, comprising the steps of: acquiring three-dimensional shape data of the remaining excavation area at predetermined time intervals; comparing the acquired three-dimensional shape data with a preset planned value of the remaining excavation area to determine an area in the remaining excavation area that needs to be excavated; generating an illumination image that, when projected onto the surface of the ground including the remaining excavation area, enables visual recognition of the area that needs to be excavated; and projecting the generated illumination image onto the corresponding surface of the ground, A construction management method for pneumatic caissons, further comprising the steps of: determining the difference between a first image corresponding to the acquired three-dimensional shape data and a second image corresponding to the three-dimensional shape data acquired immediately before; detecting a portion of the first image corresponding to an obstacle other than the remaining excavation portion if the determined difference is greater than or equal to a predetermined threshold; removing the portion corresponding to the detected obstacle from the first image to obtain a third image in which a hole is made in the portion corresponding to the obstacle; and extracting the portion corresponding to the obstacle from the second image and assigning the extracted portion to the hole in the third image to generate a fourth image in which the obstacle has been removed, wherein the illumination image is generated based on the fourth image.

2. A construction management device for a pneumatic caisson, comprising: a three-dimensional shape data acquisition means for acquiring three-dimensional shape data of the remaining excavation area; a determination means for comparing the acquired three-dimensional shape data with a preset planned value of the remaining excavation area to determine areas in the remaining excavation area that require excavation; an image generation means for generating an irradiation image that, when projected onto the surface of the ground including the remaining excavation area, allows visual recognition of areas that require excavation; and a projection means for projecting the generated irradiation image onto the corresponding surface of the ground, The system further includes a difference calculation means for calculating a difference between a first image corresponding to the acquired three-dimensional shape data and a second image corresponding to the three-dimensional shape data acquired immediately before that, and an obstacle detection means for detecting a portion corresponding to an obstacle other than the remaining excavation portion from the first image when the calculated difference is equal to or greater than a preset threshold value, The image generation means removes the portion corresponding to the detected obstacle from the first image to obtain a third image in which a hole is made in the portion corresponding to the obstacle, extracts the portion corresponding to the obstacle from the second image and assigns the extracted portion to the hole in the third image to generate a fourth image in which the obstacle has been removed, and generates the illuminated image based on the fourth image, characterized in that the image generation means is

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