Integrated three-dimensional data generation system, integrated three-dimensional data generation method, and piping as-built drawing creation system

Abstract

To make it possible to automatically generate integrated three-dimensional data including all piping that has been installed and constructed up to that point, even at sites where the installation situation progresses over time and the past installation state of piping cannot be confirmed due to soil covering or the like.SOLUTION: An integrated three-dimensional data generation system includes: a validity derivation unit S6 that derives the validity of connection between three-dimensional data generated in a first installation situation and three-dimensional data generated in a second installation situation; and an integrated three-dimensional data generation unit S2 that derives the validity by the validity derivation unit S6 regarding all the three-dimensional data sets generated in two different installation situations selected from a plurality of installation situations, connects each piece of the three-dimensional data generated in the plurality of installation situations in a format that superimposes a marker M based on the derived validity, and generates integrated three-dimensional data having information included in each piece of the three-dimensional data generated in the plurality of installation situations.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an integrated three-dimensional data generation system and an integrated three-dimensional data generation method for generating three-dimensional data reflecting the ongoing installation status of piping at a site where piping installation work progresses over time, and a piping as-built drawing creation system for creating an as-built drawing of all piping that has been laid and constructed up to that point using the integrated three-dimensional data generation unit.

[0002] Recently, as shown in Patent Document 1, a known piping completion drawing creation system for creating piping completion drawings for gas piping and the like includes a pipe information acquisition device that acquires piping information based on photographic information from pipe information labels affixed to piping placed at the site, a GPS receiving device that acquires site location information, and an image acquisition device that acquires images of the joints of the piping, a construction management information server that acquires and stores the piping information, location information, and image information obtained via communication means, and an information processing terminal that has a mapping processing unit that generates a completion drawing on a map based on the piping information, location information, and image information received from the construction management information server.

[0003] In this piping completion drawing creation system, pipe information, location information, and image information are collected at the construction site and uploaded to the construction management information server, without the need for on-site workers to take notes on piping information, measure the location with a surveying device, or take photographs, so that completion drawings can be created on an information processing terminal regardless of location. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-75927 Summary of the Invention [Problem to be solved by the invention]

[0005] At a site where pipe laying work is being carried out, pipes are connected to each other with joints, but these joints have various connection angles and are connected according to the installation conditions at the site, so in order to create as-built drawings that appropriately reflect the installation conditions at the site, it is necessary to appropriately understand the installation angles, etc. However, with the technology disclosed in Patent Document 1, no on-site photography is performed, and information such as the installation angles of joints at the site is not transmitted to the construction management information server, so there is a risk that as-built drawings that appropriately reflect the installation conditions of the pipes and joints at the site may not be created.

[0006] Furthermore, at a pipe laying construction site, the laying status changes from moment to moment over time. Also, at some construction sites, areas where previous laying work was done are covered with soil, etc. Therefore, when creating an as-built drawing that reflects the current pipe laying status, for example, it is necessary to create the as-built drawing by appropriately utilizing information on both the past laying status and the current laying status while aligning them. However, the technology disclosed in Patent Document 1 does not create as-built drawings using multiple laying statuses that change over time, and therefore there is room for improvement.

[0007] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide an integrated three-dimensional data generation system and an integrated three-dimensional data generation method that can automatically generate integrated three-dimensional data including all of the piping that has been laid and constructed up to that point, even at sites where the laying situation has progressed over time and the past laying status of the piping cannot be confirmed due to covering soil, etc., and a piping as-built drawing creation system that uses the integrated three-dimensional data to create an as-built drawing of all of the piping that has been laid and constructed up to that point. [Means for solving the problem]

[0008] The integrated 3D data generation system for achieving the above object comprises: An integrated three-dimensional data generation system that generates three-dimensional data reflecting the ongoing construction status of a pipe at a site where the construction work for laying the pipe progresses over time, and has the following characteristic configuration: an imaging device for photographing the pipe having markers attached to one end and the other end; a three-dimensional data generation unit that, when in a predetermined laying situation, generates three-dimensional data of the site in the laying situation from site image data that includes at least a first site laying work site image, which is an image of the site of the laying work taken with the imaging device from a first site while including the marker, and a second site laying work site image, which is an image of the site of the laying work taken with the imaging device from a second site different from the first site while including the marker; a depth agreement deriving unit that derives a depth agreement as an agreement in depth from the ground surface between the marker included in the three-dimensional data generated by the three-dimensional data generating unit in a predetermined first installation situation as the installation situation and the marker included in the three-dimensional data generated by the three-dimensional data generating unit in a second installation situation different from the first installation situation; a pipe end material coincidence deriving unit that derives a pipe end material coincidence as a coincidence between a pipe end material including a joint provided in the vicinity of the marker included in the three-dimensional data generated by the three-dimensional data generating unit in the first laying situation and the pipe end material provided in the vicinity of the marker included in the three-dimensional data generated by the three-dimensional data generating unit in the second laying situation; a validity derivation unit that derives validity of joining the three-dimensional data generated in the first laying situation and the three-dimensional data generated in the second laying situation based on the depth coincidence derived by the depth coincidence derivation unit and the pipe end material coincidence derived by the pipe end material coincidence derivation unit; The system is characterized in that it is equipped with an integrated three-dimensional data generation unit that derives the validity in the validity derivation unit for all sets of three-dimensional data generated in two different installation conditions selected from the multiple installation conditions, and based on the derived validity, connects each of the three-dimensional data generated in the multiple installation conditions in a form that superimposes the markers, thereby generating integrated three-dimensional data containing information contained in each of the three-dimensional data generated in the multiple installation conditions.

[0009] The integrated 3D data generation method for achieving the above object comprises: An integrated three-dimensional data generation method for generating three-dimensional data that reflects the ongoing construction status of a pipe at a site where the construction work for laying the pipe progresses over time, the method comprising the following features: Using an imaging device that photographs the pipe with markers attached to one end and the other end, a three-dimensional data generation process for generating three-dimensional data of the site in the specified laying situation from site image data including at least a first site laying work site image, which is an image of the site of the laying work taken with the imaging device from a first site while including the marker, and a second site laying work site image, which is an image of the site of the laying work taken with the imaging device from a second site different from the first site while including the marker; a depth agreement deriving step of deriving a depth agreement as an agreement in depth from the ground surface between the marker included in the three-dimensional data generated in the three-dimensional data generating step in a predetermined first installation situation as the installation situation and the marker included in the three-dimensional data generated in the three-dimensional data generating step in a second installation situation different from the first installation situation; a pipe end material coincidence deriving step of deriving a pipe end material coincidence as a coincidence between a pipe end material including a joint provided in the vicinity of the marker included in the three-dimensional data generated in the three-dimensional data generating step in the first laying situation and the pipe end material provided in the vicinity of the marker included in the three-dimensional data generated in the three-dimensional data generating step in the second laying situation; a validity deriving step of deriving validity of joining the three-dimensional data generated in the first laying situation and the three-dimensional data generated in the second laying situation based on the depth coincidence derived in the depth coincidence deriving step and the pipe end material coincidence derived in the pipe end material coincidence deriving step; The method includes a validity derivation process for deriving the validity for all sets of three-dimensional data generated in two different installation conditions selected from the plurality of installation conditions, and an integrated three-dimensional data generation process for connecting each of the three-dimensional data generated in the plurality of installation conditions in a form in which the markers are superimposed based on the derived validity to generate integrated three-dimensional data containing information contained in each of the three-dimensional data generated in the plurality of installation conditions.

[0010] According to the above characteristic configuration, first, when obtaining basic data for three-dimensional data at a time when a specified laying situation is occurring, the three-dimensional data generation unit (three-dimensional data generation process) generates three-dimensional data of the site in the laying situation from site image data that includes at least a first site laying work site image, which is an image of the laying work site photographed from a first site with a marker included in the imaging device, and a second site laying work site image, which is an image of the laying work site photographed from a second site different from the first site with a marker included in the imaging device.Therefore, even when multiple pipes are connected in various connection directions using pipe end materials with various connection angles, the connection angles of the pipe end materials and the connection directions (connection situation) of the connected multiple pipes can be easily grasped from the generated three-dimensional data. Furthermore, in the above characteristic configuration, when connecting different three-dimensional data generated under different installation conditions, the validity of the connection is derived, and based on the validity of the connection, the three-dimensional data is connected to generate integrated three-dimensional data. Specifically, the depth coincidence derivation unit (depth coincidence derivation process) derives a depth coincidence as a coincidence of depths from the ground surface between markers included in different three-dimensional data, and the pipe end material coincidence derivation unit (pipe end material coincidence derivation process) derives a pipe end material coincidence as a coincidence of type, shape, etc. between pipe end materials installed proximate to markers included in different three-dimensional data. The validity derivation unit (validity derivation process) derives the validity of joining different three-dimensional data based on the depth coincidence and pipe end material coincidence. Furthermore, based on the derived validity, integrated three-dimensional data is generated by combining three-dimensional data such that the validity of the joining is high. In this way, by joining multiple three-dimensional data corresponding to different installation situations, integrated three-dimensional data with high validity can be automatically generated. As a result, an integrated three-dimensional data generation system and an integrated three-dimensional data generation method can be realized that can automatically generate integrated three-dimensional data including all the piping that has been laid and constructed up to that point, even at sites where the installation situation has progressed over time and the past installation status of the piping cannot be confirmed due to covering soil, etc. In this context, the pipe end material includes not only joints but also sockets that directly connect pipes together, caps that seal the ends of pipes, and the like.

[0011] Further features of the integrated 3D data generation system include: the validity deriving unit increases the validity of the joining as the depth matching degree derived by the depth matching degree deriving unit increases, The integrated three-dimensional data generating unit generates the integrated three-dimensional data as having higher reliability as the validity derived by the validity deriving unit increases.

[0012] According to the above characteristic configuration, when deriving validity, the validity derivation unit increases the validity of the stitching the higher the depth coincidence derived by the depth coincidence derivation unit, so that the closer the depths of the markers in the different three-dimensional data are and the more likely the markers on the different three-dimensional data are to be the same, the higher the validity of the stitching. As a result, for example, by stitching multiple three-dimensional data together so as to increase the validity of the stitching, the generated integrated three-dimensional data can be made to more closely match the actual on-site conditions. Here, depth agreement refers to the degree of agreement between the depth of one marker from the ground surface and the depth of another marker from the ground surface, and the smaller the difference between the two depths, the higher the agreement.

[0013] Further features of the integrated 3D data generation system include: The pipe end material coincidence deriving unit increases the pipe end material coincidence as the degree of overlap of the pair of pipe end materials that are the target of deriving the pipe end material coincidence on the three-dimensional data increases, and The validity deriving unit increases the validity of the joining as the pipe end material consistency derived by the pipe end material consistency deriving unit increases, The integrated three-dimensional data generating unit generates the integrated three-dimensional data as having higher reliability as the validity derived by the validity deriving unit increases.

[0014] According to the above characteristic configuration, when deriving validity, the validity derivation unit increases the validity of the joining as the degree of overlap of the pipe end material on the three-dimensional data of the pipe end material increases, so that the more similar the shapes (types) of the pipe end material in different three-dimensional data are and the more likely it is that the pipe end material in the different three-dimensional data is the same, the higher the validity of the joining. As a result, for example, by joining multiple three-dimensional data so as to increase the validity of the joining, the generated integrated three-dimensional data can be made to more closely match the actual on-site conditions.

[0015] Further features of the integrated 3D data generation system include: a complex region extraction unit that extracts, as a complex region, a portion where at least two or more of the pipe end materials are detected as overlapping at the same position in the longitudinal direction of the pipe in the three-dimensional data generated by the three-dimensional data generation unit; The pipe end material coincidence derivation unit excludes the pipe end material located in the complex region from the target of deriving the pipe end material coincidence.

[0016] At actual pipe installation sites, there are areas where multiple pipe end materials are densely packed together, but such areas are unlikely to become areas where pipes are connected to each other. Therefore, in the above characteristic configuration, the complex area extraction unit extracts areas where multiple pipe end materials are densely present as complex areas, and the pipe end material consistency derivation unit excludes pipe end materials located in complex areas from the targets for deriving the pipe end material consistency, thereby preventing the pipe end material consistency derivation unit from performing unnecessary calculations and preventing the validity derivation unit from unnecessarily lowering the validity for three-dimensional data including complex areas.

[0017] Further features of the integrated 3D data generation system include: the imaging device has a satellite positioning system receiver that receives signals from multiple satellites and identifies its own position; a storage unit that stores absolute coordinates of the markers received by the receiver in association with each of the markers when the image of the installation site is acquired by the imaging device; the validity derivation unit determines whether the validity of the joining is higher as the sum of the deviation amounts, which is calculated for each pair of superimposed markers and added together in the integrated three-dimensional data generated by the integrated three-dimensional data generation unit, is smaller; The integrated three-dimensional data generating unit generates the integrated three-dimensional data as having higher reliability as the validity derived by the validity deriving unit increases.

[0018] According to the above characteristic configuration, the validity of joining two pieces of three-dimensional data is derived based on the amount of deviation in the absolute coordinates of a pair of markers to be superimposed, and therefore the validity can be evaluated numerically. Furthermore, for multiple three-dimensional data, the amount of deviation in absolute coordinates is derived for each pair of markers to be superimposed, and the validity is evaluated from the sum of these, which is the total amount of deviation.This makes it possible to numerically evaluate the validity of the overall joining of multiple three-dimensional data, making it easier to objectively judge the validity of the joining.

[0019] Further features of the integrated 3D data generation system include: The integrated 3D data generation system explained so far, a piping as-built drawing generation unit that generates a piping as-built drawing of the piping from the integrated three-dimensional data generated by the integrated three-dimensional data generation unit; and, The point is that it has the following features.

[0020] According to the above characteristic configuration, it is possible to realize a piping as-built drawing creation system that effectively achieves the effects achieved by the integrated three-dimensional data generation system described above. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a schematic configuration diagram of an integrated three-dimensional data generation system and a piping as-built drawing creation system according to an embodiment. [Figure 2] 10A and 10B are diagrams for explaining a process of generating integrated three-dimensional data from three-dimensional data. [Figure 3] FIG. 10 is a diagram for explaining a process of deriving the validity of joining using the absolute coordinates of markers. [Figure 4] FIG. 10 is a diagram showing a complex area in which pipe end materials such as multiple joints overlap one another on a pipe. DETAILED DESCRIPTION OF THE INVENTION

[0022] The integrated three-dimensional data generation system 100 according to an embodiment of the present invention and the integrated three-dimensional data generation method using the same can automatically generate integrated three-dimensional data including all of the piping that has been laid and constructed up to that point, even at a site where the installation situation progresses over time and the past installation state of the piping cannot be confirmed due to covering soil, etc., and the piping as-built drawing creation system 200 using the integrated three-dimensional data generation system 100 can create an as-built drawing of all of the piping that has been laid and constructed up to that point using the integrated three-dimensional data. Hereinafter, an integrated three-dimensional data generation system 100, a piping as-built drawing creation system 200, and an integrated three-dimensional data generation method according to the embodiment will be described with reference to FIGS.

[0023] As shown in Fig. 1, the integrated three-dimensional data generation system 100, piping as-built drawing creation system 200, and integrated three-dimensional data generation method according to the embodiment create integrated three-dimensional data and piping as-built drawings that reflect the progress of piping P installation work at a site where piping P installation work progresses over time. The system includes a smartphone terminal T1 (an example of an imaging device) having a compound eye camera (not shown: a dual camera in this embodiment) that photographs piping P (e.g., a gas pipe carrying city gas 13A) with markers M attached at one end and the other along the entire circumference of the pipe during installation work, a processing server S that executes various arithmetic processing to generate the integrated three-dimensional data and piping as-built drawings, and a display terminal T2 that generates and displays the piping as-built drawings generated by the processing server S. In this embodiment, the smartphone terminal T1, the processing server S, and the display terminal T2 are electrically connected via a network such as optical communication, and each terminal is configured to be able to transmit and receive information to and from each other. Here, the construction of the pipe P includes the construction of connecting a straight pipe to a pipe end material such as a joint.

[0024] In this embodiment, the smartphone terminal T1 employs a main body in which hardware and software work together to perform various calculations, and a dual camera for photographing the installation work of the piping P, which are provided separately. Incidentally, the smartphone terminal T1 serving as an imaging device is provided with an alarm function unit (not shown) that, when photographing installation work, determines whether the pipe P and the markers M attached to both ends of it are correctly within the field of view, and if they are not, notifies the photographer by at least one of sound or vibration.

[0025] As shown in FIG. 1, the processing server S includes a three-dimensional data generation unit S1 that generates three-dimensional data of a site in a laying situation from site image data that includes at least a first site laying work site image, which is an image of the site of laying work taken with a smartphone terminal T1 from a first site while including a marker M, and a second site laying work site image, which is an image of the site of laying work taken with a smartphone terminal T1 from a second site different from the first site while including the marker M; a depth agreement derivation unit S4 that derives a depth agreement as an agreement of depths from the ground surface between the marker M included in the three-dimensional data (e.g., FIG. 2(a)) generated by the three-dimensional data generation unit S1 in a predetermined first laying situation as the laying situation and the marker M included in the three-dimensional data (e.g., FIG. 2(b)) generated by the three-dimensional data generation unit S1 in a second laying situation different from the first laying situation; and a depth agreement derivation unit S5 that calculates a depth agreement as an agreement of depths from the ground surface between the marker M included in the three-dimensional data generated by the three-dimensional data generation unit S1 in the first laying situation. a pipe end material coincidence derivation unit S5 that derives a pipe end material coincidence as the coincidence of the pipe end material provided nearest to the marker M included in the three-dimensional data generated by the three-dimensional data generation unit S1 in the second laying situation; a validity derivation unit S6 that derives the validity of joining the three-dimensional data generated in the first laying situation and the three-dimensional data generated in the second laying situation based on the depth coincidence derived by the depth coincidence derivation unit S4 and the pipe end material coincidence derived by the pipe end material coincidence derivation unit S5; and an integrated three-dimensional data generation unit S2 that derives validity in the validity derivation unit S6 for all sets of three-dimensional data generated in two different laying situations selected from the plurality of laying situations, and joins together each of the three-dimensional data generated in the plurality of laying situations in a form where the marker M is superimposed, based on the derived validity, to generate integrated three-dimensional data having information contained in each of the three-dimensional data generated in the plurality of laying situations. Furthermore, the processing server S includes a piping as-built drawing generating unit S3 that generates a piping as-built drawing of the piping P from the integrated three-dimensional data generated by the integrated three-dimensional data generating unit S2.

[0026] In this embodiment, the first point installation construction site image can be taken by one eye of the dual camera of the smartphone terminal T1, and the second point installation construction site image can be taken by the other eye of the dual camera of the smartphone terminal T1. In other words, in this case, the first point is the point where one eye of the dual camera is located at the time of shooting, and the second point is the point where the other eye of the dual camera is located at the time of shooting. In this way, by generating three-dimensional data as described above using a smartphone terminal T1 with a dual camera, it is possible to generate three-dimensional data with higher accuracy and speed compared to generating three-dimensional data from two or more images of the installation work site with parallax taken with a monocular camera, achieving a measurement error of less than 1% for a pipe P of approximately 30 m.

[0027] That is, the processing server S has the following steps: a three-dimensional data generation step of generating three-dimensional data of a site in a predetermined laying situation from site image data including at least a first site laying work site image, which is an image of the site of laying work taken with the smartphone terminal T1 from a first site while including the marker M, and a second site laying work site image, which is an image of the site of laying work taken with the smartphone terminal T1 from a second site different from the first site while including the marker M; a depth agreement derivation step of deriving a depth agreement as a degree of agreement of depths from the ground surface between the marker M included in the three-dimensional data generated in the three-dimensional data generation step in a predetermined first laying situation as the laying situation (for example, FIG. 2(a)) and the marker M included in the three-dimensional data generation step in a second laying situation different from the first laying situation (for example, FIG. 2(b)); and a depth agreement derivation step of deriving a depth agreement as a degree of agreement of depths from the ground surface between the marker M included in the three-dimensional data generated in the three-dimensional data generation step in the first laying situation. The method includes a pipe end material coincidence derivation process for deriving a pipe end material coincidence as the coincidence between the pipe end material including the fitting to be installed nearest and the pipe end material installed nearest to the marker M included in the three-dimensional data generated in the three-dimensional data generation process in the second laying situation; a validity derivation process for deriving the validity of joining the three-dimensional data generated in the first laying situation and the three-dimensional data generated in the second laying situation based on the depth coincidence derived in the depth coincidence derivation process and the pipe end material coincidence derived in the pipe end material coincidence derivation process; and an integrated three-dimensional data generation process for deriving validity for all sets of three-dimensional data generated in two different laying situations selected from the multiple laying situations in the validity derivation process, and connecting each of the three-dimensional data generated in the multiple laying situations in a form where the marker M is superimposed based on the derived validity, to generate integrated three-dimensional data having information contained in each of the three-dimensional data generated in the multiple laying situations.

[0028] 1 has a relatively high visibility color (e.g., red), and as described above, is laid around the entire periphery of the pipe at the end. As a result, even in a sunny, sunlight-illuminated environment where a portion of the marker M is difficult to see in the installation work site image 3 due to the reflection of sunlight, the remaining portion of the marker M is visible in the periphery of the pipe, so that the marker M is represented in the three-dimensional data to a degree that it can be recognized. Note that in FIGS. 2 and 3, the marker M is shown thicker than the circumference of the pipe P in order to clearly show it.

[0029] When generating three-dimensional data using the smartphone terminal T1, the three-dimensional data generation unit S1 performs point cloud measurement to acquire images (or videos) as multiple construction site images with parallax from at least two points: a first point and a second point different from the first point. After that, the three-dimensional data is supplemented and corrected for missing surfaces that were missing in the point cloud measurement, measurement defects due to reflective or absorbing surface materials, etc., and the imaged subject is made three-dimensional by reproducing edge parts such as road surface cuts included in the site and using known pipe shapes stored in memory unit S8. Furthermore, in order to separate the three-dimensional data into component parts such as pipes P and road surfaces contained in the site, segmentation is performed to separate the boundaries of each component part using the colors and brightness contained in the construction site image, extract the edges of the boundaries, and improve the accuracy of the shapes of the component parts. Finally, object recognition is performed on the 3D data to recognize the components separated by segmentation as meaningful objects. This object recognition enables dedicated processing for the important piping P in the piping as-built drawing.

[0030] Now, since the installation status of the piping P progresses over time, in order to generate integrated three-dimensional data by integrating three-dimensional data and a piping completion drawing, it is necessary to generate multiple three-dimensional data at different times, which are generated at a single point in time by the three-dimensional data generation unit S1, and then add them together to generate the data. Furthermore, a relatively large amount of three-dimensional data may be generated in accordance with the ever-increasing laying status of the piping P, and manually connecting a large amount of three-dimensional data appropriately would require time and effort. Therefore, in order to realize a system that can automatically connect a large amount of three-dimensional data while determining the validity of the connection, the integrated three-dimensional data generation system 100 and the piping as-built drawing creation system 200 according to this embodiment execute the following processing. Hereinafter, the methods for generating the integrated three-dimensional data and the piping as-built drawing will be described with reference to Figs. 1, 2, and 4.

[0031] The example shown in Figure 2 illustrates the process of generating integrated three-dimensional data (Figure 3(d)) from first three-dimensional data (Figure 2(a)) generated based on the installation status of the pipe P on the first day, second three-dimensional data (Figure 2(b)) generated based on the installation status of the pipe P on the second day, and third three-dimensional data (Figure 2(c)) generated based on the installation status of the pipe P on the third day. Incidentally, Figures 2(a) to 2(c) show that the pipe P that was installed in the past is covered with covering soil and is not shown in the figures. Here, in the integrated three-dimensional data generation system 100 according to this embodiment, when integrating three-dimensional data, the "pipe end material nearest to the marker M in the pipe P" and the "depth of the marker M from the ground surface" are used. Specific examples of these in the example shown in Figure 2 are shown in Table 1.

[0032] [Table 1]

[0033] The integrated three-dimensional data generation system 100 first derives the depth consistency and the pipe end material consistency for the combinations (eight pairs shown in Table 2) of marker M(1A) at one end and marker M(1B) at the other end of one three-dimensional data (first three-dimensional data) with marker M(2A), marker M(2B), marker M(3A), and marker M(3B) of other three-dimensional data (second three-dimensional data and third three-dimensional data) as shown in Table 2. Although not shown, the depth agreement deriving unit S4 derives the vertical distance between the ground surface and the marker M from the three-dimensional data, and derives the depth agreement by, for example, indicating whether the depths of the compared markers M roughly match (◯ in Table 2), are slightly different (△ in Table 2), or are significantly different (× in Table 2). Here, the depth agreement may numerically represent the difference. In the example shown in Table 2, the combination of marker M(1B) and marker M(2A) and the combination of marker M(1B) and marker M(3B) have roughly the same depth.

[0034] [Table 2]

[0035] For each of the above-mentioned combinations of markers M, the pipe end material consistency derivation unit S5 derives a higher pipe end material consistency for the pair of pipe end materials located closest to the marker M and for which the pipe end material consistency is being derived. The higher the degree of overlap in the three-dimensional data of the pair of pipe end materials (i.e., the higher the degree of shape consistency), the higher the pipe end material consistency. As shown in Table 2, the pipe end material consistency can be derived as roughly consistent (◯ in Table 2) or different (× in Table 2), or the shape difference can be expressed numerically. In the example shown in Table 2, the combination of markers M(1A) and M(3B) and the combination of markers M(1B) and M(2A) have roughly identical pipe end material shapes. Incidentally, while a vertical elbow VEX is shown in Figure 2, this is not the pipe end material closest to marker M and is therefore not included in the calculation of the pipe end material consistency.

[0036] At the actual construction site where the pipe P is laid, there are locations where multiple pipe end materials are densely located. For example, as shown in Figure 4, there are cases where a first elbow L1, a second elbow L2, a third elbow L3, and a tee T are overlapping at the same position in the longitudinal direction of the pipe P. However, such locations are unlikely to be used as locations where pipes are connected to each other. Therefore, the integrated three-dimensional data generation system 100 is equipped with a complex region extraction unit S7 that extracts, as a complex region, a location in the three-dimensional data generated by the three-dimensional data generation unit S1 where at least two or more pipe end materials are detected superimposed at the same position in the longitudinal direction of the pipe P, and the pipe end material coincidence derivation unit S5 excludes pipe end materials located in a complex region from the scope of derivation of the pipe end material coincidence.

[0037] The validity derivation unit S6 derives the validity of joining the first three-dimensional data generated in the first laying situation, the second three-dimensional data generated in the second laying situation, and the third three-dimensional data generated in the third laying situation based on the derived depth agreement and pipe end material agreement as described above. For example, the validity derivation unit S6 derives that the higher the depth agreement and the pipe end material agreement, the higher the validity of the joining. The validity derivation unit S6 weights the respective agreements depending on which of the depth agreement and the pipe end material agreement is to be prioritized, and derives the validity of the joining. In the example shown in FIG. 2 and Table 1, the combination of marker M(1B) and marker M(2A) is determined to have the highest joining validity, as shown in Table 2. Therefore, it is determined that marker M(1B) of the first three-dimensional data and marker M(2A) of the second three-dimensional data are joined. Next, as shown in Table 3, the joining validity of the remaining combinations of marker M(1B) of the first three-dimensional data and marker M(2A) of the second three-dimensional data is derived from the pipe end material agreement and depth agreement. In the example of Table 3, the second derivation of validity derives the combination of marker M(2B) and marker M(3A) as having the highest joining validity.

[0038] [Table 3]

[0039] Based on the derived validity, the integrated three-dimensional data generator S2 connects each of the three-dimensional data generated in a plurality of installation situations (three in this embodiment) in a form that superimposes the markers M, thereby generating integrated three-dimensional data containing information contained in each of the three-dimensional data generated in the plurality of installation situations. At this time, the integrated three-dimensional data generator S2 generates integrated three-dimensional data assuming that the higher the validity derived by the validity derivation unit S6, the higher the reliability of the integrated three-dimensional data. Furthermore, the integrated three-dimensional data generation unit S2 determines whether a first photographed object having a linear-shaped portion at the site (e.g., a cut surface of asphalt on the ground surface) included in the three-dimensional data corresponding to the first laying situation and a second photographed object having a linear-shaped portion at the site (e.g., a cut surface of asphalt on the ground surface) included in the three-dimensional data corresponding to the second laying situation are the same based on the photographed object information stored in the memory unit S8 provided in the processing server S, and if they are the same, can perform angle correction between the three-dimensional data corresponding to the first laying situation and the three-dimensional data corresponding to the second laying situation by superimposing the linear-shaped portions of both.

[0040] As described above, the piping as-built drawing generating unit S3 generates a piping as-built drawing of the piping P from the integrated three-dimensional data generated by the integrated three-dimensional data generating unit S2. In this embodiment, the smartphone terminal T1 has a receiver J of a satellite positioning system that receives signals from a plurality of satellites and identifies its own position, and when the smartphone terminal T1 acquires an image of the installation work site, the absolute coordinates of the markers M received by the receiver J are stored in a memory unit S8 that stores the absolute coordinates in association with each of the markers M. This allows the piping as-built drawing generation unit S3 to display the piping as-built drawing on the composite map system in a form in which the absolute coordinates of the markers M stored in the memory unit S8 correspond to the absolute coordinates on the map. In addition, the piping as-built drawing generating unit S3 can display the piping as-built drawing on the composite map system in a form in which the buildings and the like at the site included in the integrated three-dimensional data are superimposed on the buildings and the like in the composite map system.

[0041] [Another embodiment] (1) The above embodiment shows an example of using a smartphone terminal T1 that can perform various calculation processes through collaboration between hardware and software as an imaging device, but various devices such as a digital camera or digital video with imaging function can also be used. In addition, in the above embodiment, the smartphone terminal T1 is configured to have a dual camera (two lenses), capture an image (or video) with parallax between one camera and the other camera, and generate three-dimensional data. As another configuration, a configuration may be adopted in which a monocular smartphone terminal T1 is used to generate three-dimensional data from two images with parallax captured from different points. That is, in point cloud measurement using the monocular smartphone terminal T1, an operator moves the position of the smartphone terminal T1 to at least a first point and a second point that are different from each other while capturing images (or videos) with the smartphone terminal T1.

[0042] (2) In the above embodiment, an example of a configuration in which various calculation processes for generating integrated three-dimensional data and piping completion drawings are executed by the processing server S is shown. However, if a smartphone terminal T1 is used as the imaging device, a configuration in which these calculation processes are executed on the smartphone terminal T1 side may also be adopted.

[0043] (3) In the above embodiment, an example of a configuration is shown in which the integrated three-dimensional data generation system 100 and the piping as-built drawing creation system 200 are included as a single system, but it is also possible to have only the integrated three-dimensional data generation system 100.

[0044] (4) In the above embodiment, an example was shown in which three pieces of three-dimensional data were joined together to generate integrated three-dimensional data, but more than three pieces of three-dimensional data may be joined together. It is also possible to join two pieces of three-dimensional data together. In this case, a joining state is determined for a pair of three-dimensional data by matching the marker M displayed in one piece of three-dimensional data with the marker M displayed in the other piece of three-dimensional data.

[0045] (5) In the above embodiment, a configuration was exemplified in which pipe end materials located in complex regions extracted by the complex region extraction unit S7 are excluded from the calculation of pipe end material consistency, but a configuration in which they are not excluded may also be adopted.

[0046] (6) In the above embodiment, the integrated three-dimensional data generation unit S2 determines one connection between the three-dimensional data relating to the first laying condition, the three-dimensional data relating to the second laying condition, and the three-dimensional data relating to the third laying condition and generates only one integrated three-dimensional data, but it may also generate multiple integrated three-dimensional data. In this case, it is preferable to generate the integrated three-dimensional data in such a manner that each of the multiple pieces of data is associated with reliability based on the validity of the connection. It should be noted that the reliability associated with the integrated three-dimensional data does not necessarily have to be generated.

[0047] (7) In the integrated three-dimensional data generation system 100, when an image of the site of the pipe P installation work is acquired using the smartphone terminal T1, the memory unit S8 stores the absolute coordinates of the markers M received by the receiver J in a manner linked to each of the markers M. The validity derivation unit S6 may be configured to derive the validity of the joining of three-dimensional data using the absolute coordinates of the marker M in addition to the depth consistency and pipe end material consistency described above, as shown below. To further explain, the validity derivation unit S6 determines the validity of the stitching in the integrated three-dimensional data generated by the integrated three-dimensional data generation unit S2, the smaller the total amount of deviation obtained by deriving and adding up the deviation amounts of the absolute coordinates between each pair of superimposed markers M for each pair of superimposed markers M, and the higher the validity derived by the validity derivation unit S6, the more reliable the integrated three-dimensional data generated by the integrated three-dimensional data generation unit S2. Specifically, when connecting the first three-dimensional data, second three-dimensional data, and third three-dimensional data shown in Figure 2, consider an example in which marker M(1B) and marker M(2A) are connected and marker M(2B) and marker M(3A) are connected (illustrated in Figure 3(a)), and an example in which marker M(1A) and marker M(3B) are connected and marker M(3A) and marker M(2B) are connected (illustrated in Figure 3(b)). In FIG. 3, the circles indicate the absolute coordinates of each marker M. In the joining example shown in Figure 3(a), the deviation in absolute coordinates between marker M(1B) and marker M(2A) is Xα, the deviation in absolute coordinates between marker M(2B) and marker M(3A) is Xβ, and the total deviation in absolute coordinates is Xα + Xβ = 10 cm. On the other hand, in the joining example shown in Figure 3(b), the deviation in absolute coordinates between marker M(1A) and marker M(3B) is Xγ, the deviation in absolute coordinates between marker M(3A) and marker M(3B) is Xδ, and the total deviation in absolute coordinates is Xγ + Xδ = 1500 cm. As a result, the validity derivation unit S6 derives that the validity of the joining using absolute coordinates is higher in the joining shown in FIG. 3(a) than in the joining shown in FIG. 3(b).

[0048] (8) The integrated three-dimensional data generation system 100 and the piping as-built drawing creation system 200 according to the embodiment may preferably include the following auxiliary function units (not shown). For example, the three-dimensional shape of the pipe end material can be stored in memory unit S8, and an auxiliary function unit can be provided that automatically extracts items from the three-dimensional data (or integrated three-dimensional data) that match the three-dimensional shape of the pipe end material stored in memory unit S8 and counts them by three-dimensional shape (by type). The auxiliary function unit can also be provided with a function to automatically calculate the length of the pipes, the distance between pipe ends, etc. on the three-dimensional data (or integrated three-dimensional data). Furthermore, this auxiliary function can be used to calculate the planned excavation area and planned excavation depth in a plan view of the planned excavation location, and by adding up the planned excavation area and planned excavation depth, the planned excavation volume can be calculated.

[0049] (9) In the above embodiment, gas piping was used as an example of piping. However, the present invention can also be effectively applied to the construction of other piping such as water supply and sewerage piping.

[0050] Furthermore, the configurations disclosed in the above embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Furthermore, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited to these, and can be modified as appropriate within the scope that does not deviate from the purpose of the present invention. [Industrial Applicability]

[0051] The integrated three-dimensional data generation system, integrated three-dimensional data generation method, and piping as-built drawing system of the present invention can be effectively used as an integrated three-dimensional data generation system and integrated three-dimensional data generation method that can automatically generate integrated three-dimensional data including all of the piping that has been laid and constructed up to that point, even at sites where the installation situation progresses over time and the past installation status of the piping cannot be confirmed due to covering soil, etc., and as a piping as-built drawing system that uses the integrated three-dimensional data to create an as-built drawing of all of the piping that has been laid and constructed up to that point. [Explanation of symbols]

[0052] 100: Integrated 3D data generation system 200: Piping completion drawing creation system J: Receiver M: Marker P: Piping S: Processing server S1: 3D data generation unit S2: Integrated 3D data generation unit S3: Piping completion drawing generation section S4: Depth matching calculation section S5: Piping end material consistency derivation part S6: Validity derivation part S7: Complex region extraction unit S8: Storage section T1: Smartphone device T2: Display terminal

Claims

1. An integrated three-dimensional data generation system that generates three-dimensional data that reflects the ongoing construction status of a pipe at a site where the construction work of the pipe progresses over time, an imaging device for photographing the pipe having markers attached to one end and the other end; a three-dimensional data generation unit that, when in a predetermined laying situation, generates three-dimensional data of the site in the laying situation from site image data that includes at least a first site laying work site image, which is an image of the site of the laying work taken with the imaging device from a first site while including the marker, and a second site laying work site image, which is an image of the site of the laying work taken with the imaging device from a second site different from the first site while including the marker; a depth agreement deriving unit that derives a depth agreement as an agreement in depth from the ground surface between the marker included in the three-dimensional data generated by the three-dimensional data generating unit in a predetermined first installation situation as the installation situation and the marker included in the three-dimensional data generated by the three-dimensional data generating unit in a second installation situation different from the first installation situation; a pipe end material coincidence deriving unit that derives a pipe end material coincidence as a coincidence between a pipe end material including a joint provided in the vicinity of the marker included in the three-dimensional data generated by the three-dimensional data generating unit in the first laying situation and the pipe end material provided in the vicinity of the marker included in the three-dimensional data generated by the three-dimensional data generating unit in the second laying situation; a validity derivation unit that derives validity of joining the three-dimensional data generated in the first laying situation and the three-dimensional data generated in the second laying situation based on the depth coincidence derived by the depth coincidence derivation unit and the pipe end material coincidence derived by the pipe end material coincidence derivation unit; an integrated three-dimensional data generation system comprising: an integrated three-dimensional data generation unit that derives the validity for all sets of three-dimensional data generated under two different laying conditions selected from the plurality of laying conditions using the validity derivation unit; and based on the derived validity, connects each of the three-dimensional data generated under the plurality of laying conditions in a form in which the markers are superimposed, to generate integrated three-dimensional data containing information contained in each of the three-dimensional data generated under the plurality of laying conditions.

2. the validity deriving unit increases the validity of the joining as the depth matching degree derived by the depth matching degree deriving unit increases, The integrated three-dimensional data generation system according to claim 1 , wherein the integrated three-dimensional data generation unit generates the integrated three-dimensional data as being more reliable as the validity derived by the validity derivation unit increases.

3. The pipe end material coincidence deriving unit increases the pipe end material coincidence as the degree of overlap of the pair of pipe end materials that are the target of deriving the pipe end material coincidence on the three-dimensional data increases, and The validity deriving unit increases the validity of the joining as the pipe end material consistency derived by the pipe end material consistency deriving unit increases, The integrated three-dimensional data generation system according to claim 1 or 2, wherein the integrated three-dimensional data generation unit generates the integrated three-dimensional data as being more reliable as the validity derived by the validity derivation unit increases.

4. a complex region extraction unit that extracts, as a complex region, a portion where at least two or more of the pipe end materials are detected as overlapping at the same position in the longitudinal direction of the pipe in the three-dimensional data generated by the three-dimensional data generation unit; The integrated three-dimensional data generation system according to claim 1 or 2, wherein the pipe end material consistency derivation unit excludes the pipe end material located in the complex region from the target for deriving the pipe end material consistency.

5. the imaging device has a satellite positioning system receiver that receives signals from multiple satellites and identifies its own position; a storage unit that stores absolute coordinates of the markers received by the receiver in association with each of the markers when the image of the installation site is acquired by the imaging device; the validity derivation unit determines whether the validity of the joining is higher as the sum of the deviation amounts, which is calculated for each pair of superimposed markers and added together in the integrated three-dimensional data generated by the integrated three-dimensional data generation unit, is smaller; The integrated three-dimensional data generation system according to claim 1 or 2, wherein the integrated three-dimensional data generation unit generates the integrated three-dimensional data as being more reliable as the validity derived by the validity derivation unit increases.

6. 3. A piping as-built drawing creation system comprising: the integrated three-dimensional data generation system according to claim 1 or 2; and a piping as-built drawing generation unit that generates a piping as-built drawing of the piping from the integrated three-dimensional data generated by the integrated three-dimensional data generation unit.

7. 1. An integrated three-dimensional data generation method for generating three-dimensional data that reflects the ongoing construction status of a pipe at a site where the construction work of the pipe progresses over time, comprising: Using an imaging device that photographs the pipe with markers attached to one end and the other end, a three-dimensional data generation process for generating three-dimensional data of the site in the specified laying situation from site image data including at least a first site laying work site image, which is an image of the site of the laying work taken with the imaging device from a first site while including the marker, and a second site laying work site image, which is an image of the site of the laying work taken with the imaging device from a second site different from the first site while including the marker; a depth coincidence deriving step of deriving a depth coincidence as a degree of coincidence in depth from the ground surface between the marker included in the three-dimensional data generated in the three-dimensional data generating step in a predetermined first laying situation as the laying situation and the marker included in the three-dimensional data generated in the three-dimensional data generating step in a second laying situation different from the first laying situation; a pipe end material coincidence deriving step of deriving a pipe end material coincidence as a coincidence between a pipe end material including a joint provided in the vicinity of the marker included in the three-dimensional data generated in the three-dimensional data generating step in the first laying situation and the pipe end material provided in the vicinity of the marker included in the three-dimensional data generated in the three-dimensional data generating step in the second laying situation; a validity deriving step of deriving validity of joining the three-dimensional data generated in the first laying situation and the three-dimensional data generated in the second laying situation based on the depth coincidence derived in the depth coincidence deriving step and the pipe end material coincidence derived in the pipe end material coincidence deriving step; An integrated three-dimensional data generation method that executes an integrated three-dimensional data generation process that derives the validity for all sets of three-dimensional data generated under two different laying conditions selected from the multiple laying conditions in the validity derivation process, and based on the derived validity, connects each of the three-dimensional data generated under the multiple laying conditions in a form that superimposes the markers, thereby generating integrated three-dimensional data containing information contained in each of the three-dimensional data generated under the multiple laying conditions.

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